Proceedings

actuation scheme algorithm analysis angle anthropomorphism application automatic automation axis biomechanical bond graph chain coefficient configuration constraints control system coordinates defined degrees of freedom determined developed devices display dynamic end effector end point energy equations evaluation feedback fingers force-torque friction function given grasping gripper hand handling hexapod Industrial Robots inertia input jigs joint kinematic knee layout legs linear linear actuators linear programming load load transfer locomotion mechanism method microprocessor mode MODSYS modules moments of inertia motion motor move movement muscle object obtained operator optimal orientation parameters performed phase Plücker coordinates position possible potentiometers problem prosthesis reaction forces Robots and Manipulators rotation sensor servo shown in Fig signal simulation solution Symposium task telechir tion tool torque trajectory transformation vector velocity vertical walking machine walking vehicle welding wheel work-place wrist