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The goal of this paper is to study how a surface force profile may be estimated from the information on strain or stress distribution detected by tactile sensors. This problem is referred to as the inverse problem since ...

A multibody system simulation architecture capable of generating the dynamical equations of the multibody system symbolically, automatically create the computer code to simulate these equations numerically, run the simulation ...

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This paper studies the dynamics of coupled planar rigid bodies, concentrating on the case of two bodies coupled with a hinge joint. The Hamiltonian structure is non-canonical and is obtained using the methods of reduction, ...

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In this paper we derive a Poisson bracket on the phase space so(3)*x so(3)*x S0(3) such that the dynamics of two three- dimensional rigid bodies coupled by a ball and socket joint can be written as a Hamiltonian system.

Integrated tactile sensors appear to be essential for dextrous control of multifingered robotic hands. Such sensors would feature (1) compliant contact surfaces, (2) high resolution surface stress transduction, (3) local ...

In this paper we examine the application of artificial neural networks to low level processing of tactile sensory data. In analogy to the term early msion, we call the first level of processing required in tactile sensing ...

The hamiltonian dynamics of coupled structures is discussed. There are geometric parallels in earlier work on the Newtonian (gravitational) many-body problem. In the study of relative equilibria, a theorem due to Smale has ...

This report describes a method to formulate the dynamic equations of a robot manipulator with N links and with either revolute or prismatic joints using a Newton-Euler formulation. A general- purpose tool for analysis and ...