Concept

Inverse kinematics

Related publications (287)

Bimanual Skill Learning with Pose and Joint Space Constraints

As humanoid robots become commonplace, learning and control algorithms must take into account the new challenges imposed by this morphology, if we aim to fully exploit their potential. One of the most prominent characteristics of such robots is their biman ...

2018

Input-Constrained Path Following for Autonomous Marine Vehicles with a Global Region of Attraction

Francisco Fernandes Castro Rego

This paper presents a solution to the problem of path following control for autonomous marine vehicles (AMVs) subject to input constraints and constant ocean current disturbances. We propose two nonlinear control strategies: the first is obtained by using ...

ELSEVIER SCIENCE BV2018

Egocentric Mapping of Body Surface Constraints

Ronan Boulic, Eray Molla, Henrique Galvan Debarba

The relative location of human body parts often materializes the semantics of on-going actions, intentions and even emotions expressed, or performed, by a human being. However, traditional methods of performance animation fail to correctly and automaticall ...

2018

SCALAR - Simultaneous Calibration of 2D Laser And Robot's Kinematic Parameters Using Three Planar Constraints

Teguh Santoso Lembono

Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However, the existing ca ...

2018

Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics

Sylvain Calinon

How do I automate this task? This is a crucial question for production engineers. In classical industrial automation (think of a car factory) robots perform a small set of tasks for long periods of time. They were selected because their kinematic structure ...

2018

Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics

Sylvain Calinon

2018

A reconfigurable interactive interface for controlling robotic origami in virtual environments

Jamie Paik, Harshal Arun Sonar, Zhenishbek Zhakypov, Jian-Lin Huang

Origami shape transformation is dictated by predefined folding patterns and their folding sequence. The working principle of robotic origami is based on the same principle: we design quasi-two-dimensional tiles and connecting hinges and define and program ...

2018

All‐Fabric Wearable Electroadhesive Clutch

Dario Floreano, Vivek Ramachandran, Jun Shintake

A lightweight, textile fabricated, haptic device consisting of an electrostatic adhesive clutch is introduced, which can constrain body movement when activated at low power (≈1 mW). The clutch electrodes are composite structures, prepared by coating copper ...

2018

A Closed-Loop EMG-Assisted Shoulder Model

Ehsan Sarshari

The human shoulder is a complex musculoskeletal system. Knowledge about its kinematics and dynamics can help improve associated treatments. However, to date direct measurements of these quantities can be only granted through invasive investigations or expe ...

EPFL2018

Higher-order continuation method for the rigid-body kinematic design of compliant mechanisms

Simon Nessim Henein, Lennart Rubbert

Compliant mechanisms are of great interest in precision engineering. In this paper we propose a higher order continuation method to help their rigid-body kinematic design. The method helps to investigate the choice of a mechanism configuration through the ...

Elsevier2017

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