Due to the impulsive foot actuation, there exists a dis+ - continuous change in the velocity states.
Other limitations are: limited life cycle, nonlinear operation owing to hysteretic behavior and still low actuation strains.
The rise time of steering actuation was about 0.7 s, and the settling time was about l.0 s with an accurate steering angle tracking.
These capabilities are combined into a single, compact device in order to provide stiff, multi-degreeof-freedom actuation as end-of-arm tooling.
The main challenge in this environment is the need to achieve precision operation at high speed with low-cost sensing and actuation.
The trunk's motion realization must depend on appropriate actuation of each joint and contact forces transformed from wheels.
Moreover, the actuation of the second proposed hand can be either pneumatic or electric.
The arm module could run freely along the rail, but vertical actuation was fixed.
