An inertial actuation magnetohydrodynamic wheel (2) comprising a torus-shaped fluid ring (3) filled with a conductive liquid, at least one effective area (24, 26, 28) for setting the liquid into motion, and at least one magnetohydrodynamic pump (4, 6, 8). The ratio of the set back distance of any magnetic conduction element (24, 26, 28) of the air gap of any electromagnetic pump (4, 6, 8) over the internal size of the fluid ring (3) is greater than or equal to 0.5 and the fluid ring (3) comprises at least two distinct effective areas (24, 26), for setting the conductive liquid into motion, angularly spaced apart by at least 120.

An inertial actuation magnetohydrodynamic wheel (2) comprising a torus-shaped fluid ring (3) filled with a conductive liquid, at least one effective area (24, 26, 28) for setting the liquid into motion, and at least one magnetohydrodynamic pump (4, 6, 8). The ratio of the set back distance of any magnetic conduction element (24, 26, 28) of the air gap of any electromagnetic pump (4, 6, 8) over the internal size of the fluid ring (3) is greater than or equal to 0.5 and the fluid ring (3) comprises at least two distinct effective areas (24, 26), for setting the conductive liquid into motion, angularly spaced apart by at least 120.

A hybrid MEMS microfluidic gyroscope is disclosed. The hybrid MEMS microfluidic gyroscope may include a micro-machined base enclosure having a top fluid enclosure, a fluid sensing enclosure and a bottom fluid enclosure. The hybrid MEMS microfluidic gyroscope may include a plurality of cantilevers disposed within the bottom semi-circular portion of the micro-machined base enclosure or a single membrane disposed within the bottom semi-circular portion of the micro-machined base enclosure.

A hybrid MEMS microfluidic gyroscope is disclosed. The hybrid MEMS microfluidic gyroscope may include a micro-machined base enclosure having a top fluid enclosure, a fluid sensing enclosure and a bottom fluid enclosure. The hybrid MEMS microfluidic gyroscope may include a plurality of cantilevers disposed within the bottom semi-circular portion of the micro-machined base enclosure or a single membrane disposed within the bottom semi-circular portion of the micro-machined base enclosure.

A method of estimating one or more mass characteristics of a payload manipulated by a robot includes moving the payload using the robot, determining one or more accelerations of the payload while the payload is in motion, sensing, using one or more sensors of the robot, a wrench applied to the payload while the payload is in motion, and estimating the one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the sensed wrench.

A method and apparatus for determining a rotational orientation of an object is provided. Embodiments of the present invention utilize an electrically conductive fluid enclosed within a shell attached to the object such that the conductive fluid contacts different portions of electrically conductive nodes, located on the inner wall of the shell, depending on the rotational orientation of the shell. The electrically activated nodes in contact with the conductive fluid act as sensors and individually transmit electric signals to a microcontroller for transformation into an indicator of a rotational orientation of the object. The indicator of the rotational orientation is then output.

A method and apparatus for determining a rotational orientation of an object is provided. Embodiments of the present invention utilize an electrically conductive fluid enclosed within a shell attached to the object such that the conductive fluid contacts different portions of electrically conductive nodes, located on the inner wall of the shell, depending on the rotational orientation of the shell. The electrically activated nodes in contact with the conductive fluid act as sensors and individually transmit electric signals to a microcontroller for transformation into an indicator of a rotational orientation of the object. The indicator of the rotational orientation is then output.