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- On the statistical/harmonic modelling of mechanical manipulatorsPublication . Tenreiro Machado, J. A.; Galhano, AlexandraMechanical manipulators are developed according to engineering and scientific principles which are based on fundamental concepts such as those arising from mathematics and physics. Based on these formulations, the first step on the study of a physical phenomena is the development of an adequate model. Usually the fundamental concepts are the differential and matrix calculus and the classical Newtonian physics, while the model consists on a set of differential equations. Nevertheless, several phenomena, such as quantum physics and thermodynamics, may be studied through different mathematical tools namely using statistical methods.
- Kinematic analysis of robotic biped locomotion systemsPublication . Silva, Filipe M.; Tenreiro Machado, J. A.The research interest on biped walking machines have been increasing in recent years because of the many advantages over wheeled vehicles on rough terrain. Legged vehicles can traverse uneven terrain, manoeuvre in confined spaces and climb stairs with a minimum of swinging and lurching. In early work, biped walking has been studied by using simple models (e.g. inverted pendulum models) as approximation to bipeds and then analyzing various methods of control.