Journal of
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f1VOLUME128' NUMBER1 . MARCH2006~
GUEST EDITORIAL
Special Issue on Novel Robotics and Control
Sun il Agrawal, Venkat Krovi, and Marcia O'Maliey
TECHNICAL PAPERS
3 Design of Machines With Compliant Bodies for Biomimetic Locomotion in Liquid Environments
Pablo Valdivia y Alvarado and Kamal Youcef-Toumi 14 The Berkeley Lower Extremity Exoskeleton
H.Kazerooni and R. Steger
26 The Effect of Leg Specialization in a Biomimetic Hexapedal Running Robot
Jonathan E. Clark and Mark R. Cutkosky
36 Design Methodology for Biomimetic Propulsion of Miniature Swimming Robots
Bahareh Behkam and Metin Sitti
44 Controlling the Apparent Inertia of Passive Human-Interactive Robots Tom Worsnopp, Michael Peshkin, Kevin Lynch, and
J. Edward Colgate
53 Stable Forbidden-Region Virtual Fixtures for Bilateral Telemanipulation Jake J. Abbott and Allison
M.
Okamura65 Haptic Manipulation of Seriai-Chain Virtual Mechanisms Daniela Constantinescu, Septimiu E. Salcudean, and Elizabeth A. Croft
75 Shared Control in Haptic Systems for Performance Enhancement and Training
Marcia K. O'Malley, Abhishek Gupta, Matthew Gen, and Yanfang Li 86 Internet-Based Bilateral Teleoperation Based on Wave Variable With
Adaptive Predictor and Direct Drift Control Ho Ching and Wayne J. Book
94 Model-Based Cancellation of Biodynamic Feedthrough Using a Force-Reflecting Joystick
R. Brent Gillespie and Szabolcs Sôvényi
104 Band-Limited Trajectory Planning and Tracking for Certain Dynamically Stabilized Mobile Systems
Kaustubh Pathak and Sunil K. Agrawal
112 Kinetostatic Design Considerations for an Articulated Leg-Wheel Locomotion Subsystem
Seung Kook Jun, Glenn D. White, and Venkat N. Krovi 122 Dynamics, Design and Simulation of a Novel Microrobotic Platform
Employing Vibration Microactuators
Panagiotis Vartholomeos and Evangelos Papadopoulos 134 Equilibrium Point Control of a 2-DOF Manipulator
Damien J. Clapa, Elizabeth A. Croft, and Antony J. Hodgson
(Contents continued on inside back Gaver)
This journal is printed on acid-free paper, which exceeds the ANSI Z39.48- 1992 specification for permanence 01 paper and library materials. @ITM
@ 85% recycled content, including 10% rosI-consumer libers.
