Related papers: The Orthoglide: Kinematics and Workspace Analysis
Computer vision/deep learning-based 3D human pose estimation methods aim to localize human joints from images and videos. Pose representation is normally limited to 3D joint positional/translational degrees of freedom (3DOFs), however, a…
This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse kinematics to obtain valid workspace data and corresponding actuator lengths for the moving…
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
We study the motion of discrete interfaces driven by ferromagnetic interactions on the two-dimensional triangular lattice by coupling the Almgren, Taylor and Wang minimizing movements approach and a discrete-to-continuum analysis, as…
The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…
Invariant manifolds are the skeleton of the chaotic dynamics in Hamiltonian systems. In Celestial Mechanics, for instance, these geometrical structures are applied to a multitude of physical and practical problems, such as to the…
This monograph describes a Riemannian geometric reduction approach to the three-body problem. The fundamental theorems are presented in the introductory part, whereas their proofs are provided in later chapters where specific topics are…
Wheel-legged robots combine the advantages of both wheeled robots and legged robots, offering versatile locomotion capabilities with excellent stability on challenging terrains and high efficiency on flat surfaces. However, existing…
In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the…
The paper proposes an efficient algebraic solution to the problem of forward kinematics for a general Stewart-Gough platform. The problem involves determining all possible postures of a mobile platform connected to a fixed base by six legs,…
A mathematical model featuring the motion of a multilink wheeled vehicle is developed using a nonholonomic model. A detailed analysis of the inertial motion is made. Fixed points of the reduced system are identified, their stability is…
This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient…
Robots able to run, fly, and grasp have a high potential to solve a wide scope of tasks and navigate in complex environments. Several mechatronic designs of such robots with adaptive morphologies are emerging. However, the task of landing…
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed…
In dynamic systems that adapt to users' needs and changing environments, dependability needs cannot be avoided. This paper proposes an orthogonal fault tolerance model as a means to manage and reason about multiple fault tolerance…