Publications

Chung, W & Waldron, K 1995, 'An Integrated Control Strategy For Multifingered Systems', Journal Of Dynamic Systems Measurement And Control-transactions Of The ASME, vol. 117, no. 1, pp. 37-42.
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A method of force allocation by optimizing the friction angles at finger contacts was combined with the computed torque method to find the torques to be commanded at finger joints for multifingered systems. In this way, slip can be avoided when the objec

Chung, W & Waldron, K 1995, 'Wrench Reconstruction By Using A 6-axis Force Sensor', Mechanism And Machine Theory, vol. 30, no. 3, pp. 383-389.
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The methods of reconstructing the applied wrench by using a six-axis force/torque sensor are discussed. Various types of contact, such as soft point and soft line contacts, are investigated. The ambiguity problem in reconstructing the wrench for soft poi

Nanua, P & Waldron, K 1995, 'Energy Comparison Between Trot, Bound, And Gallop Using A Simple Model', Journal Of Biomechanical Engineering-transactions Of The ASME, vol. 117, no. 4, pp. 466-473.
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In this paper, the dynamics of quadruped trot, gallop, and bound will be examined using a simple model for the quadruped. The body of the quadruped is modeled as a uniform bar and the legs are modeled by massless springs. It will be shown that symmetry c