Related papers: Simple inverse kinematics computation considering …
This paper is concerned with a finite-horizon inverse control problem, which has the goal of reconstructing, from observations, the possibly non-convex and non-stationary cost driving the actions of an agent. In this context, we present a…
Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator…
Joint inversion refers to the simultaneous inference of multiple parameter fields from observations of systems governed by single or multiple forward models. In many cases these parameter fields reflect different attributes of a single…
Muscle force sharing is typically resolved by minimizing a specific objective function to approximate neural control strategies. An inverse optimal control approach was applied to identify the "best" objective function, among a positive…
The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two…
The goal of inversion is to estimate the model which generates the data of observations with a specific modeling equation. One general approach to inversion is to use optimization methods which are algebraic in nature to define an objective…
This paper addresses second-order stochastic optimization for estimating the minimizer of a convex function written as an expectation. A direct recursive estimation technique for the inverse Hessian matrix using a Robbins-Monro procedure is…
The dynamic matrix inverse problem is to maintain the inverse of a matrix undergoing element and column updates. It is the main subroutine behind the best algorithms for many dynamic problems whose complexity is not yet well-understood,…
This paper describes a unified method solving for inverse, forward, and hybrid dynamics problems for robotic manipulators with either open kinematic chains or closed kinematic loops based on factor graphs. Manipulator dynamics is considered…
We propose a new model-based algorithm solving the inverse rig problem in facial animation retargeting, exhibiting higher accuracy of the fit and sparser, more interpretable weight vector compared to SOTA. The proposed method targets a…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
$k$-diagonal circulant matrices and cyclic banded matrices are widely used in numerical simulations and signal processing of circular linear systems. Algorithms that directly involve or specify linear or quadratic complexity for the…
This work introduces a general numerical technique to invert one dimensional analytic or tabulated nonlinear functions in assigned ranges of interest. The proposed approach is based on an optimal version of the k-vector range searching, an…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The presence of passive joint limits as well as the…
The Bayesian approach has proved to be a coherent approach to handle ill posed Inverse problems. However, the Bayesian calculations need either an optimization or an integral calculation. The maximum a posteriori (MAP) estimation requires…
The inversion problem for rational B\'ezier curves is addressed by using resultant matrices for polynomials expressed in the Bernstein basis. The aim of the work is not to construct an inversion formula but finding the corresponding value…
The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the…
The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of…
The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools.…