This work aims at presenting, in a comprehensive manner, several approaches to model
and simulate closed loop topologies using the classical Lagrangian formulation. One of the …

In the present paper, a dynamic analysis is presented, comparing three snake-like robot
gaits: lateral undulation, sidewinding locomotion, and sinus-lifting motion. To simplify …

This paper presents a novel modeling approach for the mechanics of multisegment, rod-
driven continuum robots. This modeling approach utilizes a high-fidelity lumped parameter …

This paper presents a finite-time sideslip differentiator-based line-of-sight (LOS) guidance
method for robust path following of snake robots. Firstly, finite-time stable sideslip …

The main intent of this paper is to represent a symbolic algorithm, capable of deriving the
equations of motion of N-rigid link manipulators with revolute–prismatic (R–P) joints, which …

This paper focuses on the study of dynamic modeling of nonholonomic wheeled mobile
robotic manipulators, which consist of a serial manipulator with elastic joints and an …

This paper proposes a systematic methodology to obtain a closed-form formulation for
dynamics analysis of a new design of a fully spherical robot that is called a 3 (RSS)-S …

The goal of this paper is to describe the application of Gibbs–Appell (G–A) formulation and
the assumed modes method to the mathematical modeling of N-viscoelastic link …

This paper presents an investigation into the development of modeling of n-viscoelastic
robotic manipulators. The dynamic model of the system is derived using Gibbs-Appell …

This article presents a general innovative technique for dynamically modeling and control of
trajectory tracking in an industrial manipulator with multi-rigid links (connected by rotary …