Inverse kinematics techniques of the interactive posture control of articulated figures
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We describe a methodology for the interactive definition of curves and motion paths using a stochastic formulation of optimal control. We demonstrate how the same optimization framework can be used in different ways to generate curves and traces that are g ...
Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...
This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...
The synthesis of shoulder kinematics, either for simulation in a model or imitation in a robot, is a challenging task because of the contact between shoulder blade and ribcage. As the shoulder moves, the shoulder blade glides over the ribcage. In kinematic ...
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Production in a controlled environment is becoming an increasingly important issue in various branches of industry. In the food, pharmaceutical, optical and semiconductor industries, today’s mass production would not be possible without so-called “cleanroo ...
A new rehabilitation and fitness robot called the “Lambda Robot” is presented. This paper introduces a concept of a parallel robot that may be used for mobilization of the lower extremities. Hence, it may be used for fitness as well as for rehabilitation f ...
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 ...
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 ...
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 ...