Mechanical teleoperated device for remote manipulation
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Flexures are enjoying a new boom in numerous high-precision and extreme-environment applications. This paper presents some general aspects of flexure design, showing simple principles, and also some subtler issues concerning kinematic design, stiffness com ...
This paper introduces a state estimation framework for legged robots that allows estimating the full pose of the robot without making any assumptions about the geometrical structure of its environment. This is achieved by means of an Observability Constrai ...
Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoi ...
In the high-precision industry, most operations require the use of robots able to accomplish highly accurate and repeatable motions. In order to meet the desired level of absolute accuracy, one has to limit or even suppress the effects of different sources ...
To date, most modular robotic systems lack flexibility when increasing the number of modules due to their hard building blocks and rigid connection mechanisms. In order to improve adaptation to environmental changes, softness on the module level might be b ...
The machine tool industry is a well established, old and extremely important branch of today's manufacturing industry. With the ongoing globalization and the resulting increase of competition in this industry, the manufacturers have to push their technolog ...
A machine-tool is able to manufacture precisely only when it is calibrated. Calibration consists in correcting the model of the machine so that it represents the real kinematics. On no account calibrating a structure consists in changing some parts of the ...
The rapid evolution in microsystems and optoelectronics creates the demand for robotic production means with increased performance. The required precision for specific tasks in machining, positioning and assembly is a factor 10 to 100 better than 1 microme ...
Motion capture data is now widely available to create realistic character animation. However, it is difficult to reuse without any additional information. For this reason, annotating motion data with kinematic constraints is a clever step to ease further o ...
Robot Programming by Demonstration (PbD) aims at developing adaptive and robust controllers to enable the robot to learn new skills by observing and imitating a human demonstration. While the vast majority of PbD works focused on systems that learn a speci ...
