The aim of this work is to propose a robust musculoskeletal model of the upper limb to serve
as the basis for the study of different types of shoulder pathologies, including the use of …

Instability and risk of fall during standing and walking are common challenges for biped
robots. While existing criteria from state-space dynamical systems approach or ground …

Energy consumption is an important issue in robotics. This article deals with the problem of
reducing the energy consumption of compliant electro-mechanical systems while performing …

This paper presents a disturbance rejection control strategy for hybrid dynamic systems
exposed to model uncertainties and external disturbances. The focus of this work is the gait …

There are many studies analyzing human motion. However, we do not yet fully understand
the mechanisms of our own bodies. We believe that mimicking human motion and function …

In this paper, an asymptotically stable optimal control is proposed for the trajectory tracking
of a cylindrical robotic arm. The proposed controller uses the linear quadratic regulator …

This study presents a novel uncertainty estimation algorithm that aims to enhance the
accuracy of a reduced-order dynamic model for a flexible-joint lever arm (FJLA). The model …

In this paper, a novel scheme is presented to estimate the uncertainty and disturbance of the
spacecraft system by a compensatory vector calculated online from the information of …

Legged mechanisms can walk and run but sometimes encounter a risk of falling. In this
article, a general numerical framework of balance criteria for a single-support legged …

This study deals with constructing an enhanced two-degree-of-freedom finite element-based
model for a cantilever flexible beam (FB) with a dynamic solution near the actual beam …