The dynamic behaviour of robots: characterization and use of models
The study of the manipulator arm in the space shuttle, which is very long (about 15 metres) but with a relatively low mass, and must allow the manipulation of loads of several tons: its behaviour and the definition of the telecontrol systems were studied using dynamic models and three-dimensional graphics, with computer simulations of the arm and its environment in real time.139
The analysis of monopodal or multipodal locomotion 140–145 aimed at the design of walking vehicles or robots, including mechanisms capable of running and jumping, and motorized apparatus for the handicapped.
KeywordsCoriolis Force Extended Body Motor Torque Inertia Tensor Cerebellar Model Articulation Controller
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