On Passivity of Fractional Order Systems

Mohsen Rakhshan, Vijay Gupta, Bill Goodwine

Implicit operators for networked mechanical and thermal systems with integer-order components

Mihir Sen, John P. Hollkamp, Fabio Semperlotti +1

Controllability and Accessibility Results for N-Link Horizontal Planar Manipulators with One Unactuated Joint

Tan Chen, Bill Goodwine

The paper derives conditions for accessibility and small‑time local controllability of horizontal planar robot arms with N links when only one joint is unactuated, using Lie‑bracke…