Related papers: Data-driven Shoulder Inverse Kinematics
Frozen shoulder (FS) is a shoulder condition that leads to pain and loss of shoulder range of motion. FS patients have difficulties in independently performing daily activities. Inertial measurement units (IMUs) have been developed to…
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable but typically only produce a single solution and rely on…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…
Hand motion capture data is now relatively easy to obtain, even for complicated grasps; however this data is of limited use without the ability to retarget it onto the hands of a specific character or robot. The target hand may differ…
This paper presents a method of reconstructing full-body locomotion sequences for virtual characters in real-time, using data from a single inertial measurement unit (IMU). This process can be characterized by its difficulty because of the…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require…
The motion capture system that supports full-body virtual representation is of key significance for virtual reality. Compared to vision-based systems, full-body pose estimation from sparse tracking signals is not limited by environmental…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
To control humanoid robots, the reference pose of end effector(s) is planned in task space, then mapped into the reference joints by IK. By viewing that problem as approximate quadratic programming (QP), recent QP solvers can be applied to…
In this work, a deep learning-based technique is used to study the image-to-joint inverse kinematics of a tendon-driven supportive continuum arm. An eye-off-hand configuration is considered by mounting a camera at a fixed pose with respect…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…
Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However,…
The aim of this study is to produce a kinematic analysis of movements of the shoulder complex when hemiparetic patients achieve the grasping of weighted objects. We propose to describe the influence of the weight on kinematic…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…
This paper presents an analytical solution to the inverse kinematic problem(IKP) for the seven degree-of-freedom (7-DOF) Moz1 Robot Arm with offsets on wrist. We provide closed-form solutions with the novel arm angle . it allow fully…
This paper presents ETA-IK, a novel Execution-Time-Aware Inverse Kinematics method tailored for dual-arm robotic systems. The primary goal is to optimize motion execution time by leveraging the redundancy of both arms, specifically in tasks…
3D hand pose estimation is a long-standing challenge in both robotics and computer vision communities due to its implicit depth ambiguity and often strong self-occlusion. Recently, in addition to the hand skeleton, jointly estimating hand…