Thesiss

Analytical models of avian flight have previously been used to predict mechanical and metabolic power consumption during cruise. These models are limited, in that they neglect details of wing kinematics, and model power by assuming a fixed or rotary wing (actuator disk) weight s…

Multiple robot manipulators cooperating in a common manipulation task can accomplish complex tasks that a single manipulator would be unable to complete. To achieve physical cooperation with multiple manipulators working on a common object, interaction forces need to be controll…

Moment arms are important in many contexts. Various methods have been used to estimate moment arms. It has been shown that a moment arm changes as a function of joint angle and contraction state. However, besides the influence of these anatomical factors, results from recent stu…