Related papers: Simple inverse kinematics computation considering …
In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential to enforce controller feasibility and hardware integrity. We observe a considerable prediction error of a commonly-used approach in robotics…
Inverse problems occur in a variety of parameter identification tasks in engineering. Such problems are challenging in practice, as they require repeated evaluation of computationally expensive forward models. We introduce a unifying…
Conventional inverse optimization inputs a solution and finds the parameters of an optimization model that render a given solution optimal. The literature mostly focuses on inferring the objective function in linear problems when accepted…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
This is the second and final article on the tutorial on manipulator differential kinematics. In Part 1, we described a method of modelling kinematics using the elementary transform sequence (ETS), before formulating forward kinematics and…
Inverse design of morphing slender structures with programmable curvature has significant applications in various engineering fields. Most existing studies formulate it as an optimization problem, which requires repeatedly solving the…
Redundant manipulators are well understood to offer infinite joint configurations for achieving a desired end-effector pose. The multiplicity of inverse kinematics (IK) solutions allows for the simultaneous solving of auxiliary tasks like…
We present an analytical solution for the inverse kinematics (IK) of a robotic arm with one prismatic joint and four revolute joints. This 5-DoF design is a result of minimizing weight while preserving functionality of the device in a…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the 3-subchains of the manipulator with a quasi-projective…
Optimal control in general, and flatness-based control in particular, of robotic arms necessitate to compute the first and second time derivatives of the joint torques/forces required to achieve a desired motion. In view of the required…
Inverse optimization describes a process that is the "reverse" of traditional mathematical optimization. Unlike traditional optimization, which seeks to compute optimal decisions given an objective and constraints, inverse optimization…
J-PARSE is an algorithm for smooth first-order inverse kinematic control of a serial manipulator near kinematic singularities. The commanded end-effector velocity is interpreted component-wise, according to the available mobility in each…
This paper presents an inverse optimal control methodology and its application to training a predictive model of human motor control from a manipulation task. It introduces a convex formulation for learning both objective function and…
Sensor-to-segment calibration is a crucial step in inertial motion tracking. When two segments are connected by a hinge joint, for example in human knee and finger joints as well as in many robotic limbs, then the joint axis vector must be…
Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure can lead to undesired oscillations. Therefore, the applied…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
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…
In traditional facility location problems, a set of points is provided, and the objective is to determine the best location for a new facility based on criteria such as minimizing cost, time, and distances between clients and facilities.…
For an expensive to evaluate computer simulator, even the estimate of the overall surface can be a challenging problem. In this paper, we focus on the estimation of the inverse solution, i.e., to find the set(s) of input combinations of the…