In McGeer's 1990 work on Passive Dynamic Walking, the angular momentum equation that you have posted is the angular momentum of the system just before the impact of the swing foot, about the impending ...

You are correct in claiming that both PID and LQR can be applied to the linearized form of the cart-pole problem. If you have a look at the answers to the related question Ugo linked to in the ...

Unfortunately it is not as simple as just shifting the a and alpha columns, as the locations of the frames and the directions of their axes can also change when moving from one DH formulation to ...

There are very limited options for effectively transmitting force across a distance, other than with projectiles of some kind which won't achieve your goals or be allowed under the rules. Based on ...

Due to the way that frames are defined in the Modern Robotics book (and in this type of vector-field mechanics in general, such as those of Featherstone), both the spatial frame and the body frames ...

The easiest way to validate a set of DH parameters is to plug them directly into a simulator which can build a robot model from a DH table. Once you've got the DH-generated robot model, you can verify ...

As far as how to heat the nylon muscles, one of the articles that you have linked to provides a number of methods for doing so. The two most promising from an experimental perspective are submersing ...

For building a dynamic model from scratch of any differential drive mobile robot (i.e., a tank), the best resource I've found so far is a paper by Dhaouadi and Hatab (PDF link) titled "Dynamic ...

In these equations from Modern Robotics (by Park and Lynch), the fixed inertial frame ${b}$ is both the reference frame used to define all of the coordinate vectors and has its origin located at the ...

My initial response would be that your angular variables are being measured in the opposite direction from the matrix in the slide you shared. In other words, theta should actually be negative theta, ...

The easiest way to do this would be to use the trplot function (documented for v9 at http://www.petercorke.com/RTB/r9/html/trplot.html). You can simply call this function with the transformation ...

In general, when teaching my students how to do IK my first recommendation is always to find a variable (length/angle/value/etc) that is only a function of one joint so that they have one equation ...

To answer your first question: $v_b$ is the linear velocity of the centre of mass of the body relative to a fixed inertial frame coincident with the body frame with its origin at the centre of mass. ...

Something to remember about rotation matrices is that they have multiple applications (that each has a different role in rigid-body motion): representing an orientation relative to a reference frame, ...

The matrix you have termed the "mapping matrix" is meant to translate between the twist (linear and angular velocity) of the robot and the linear velocity of the centre of each individual ...

I think you are correct that the equals sign in equation (33) should not be there, as reinforced by the first author's thesis. The purpose of those equations are to constrain the MPC-generated ...