Calibration of the 5-dof parallel kinematics HITA-STT
Graph Chatbot
Chat with Graph Search
Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.
DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.
We present a new method for solving the motion retargeting problem, by using an intermediate skeleton. This allows us to convert movements between hierarchically and geometrically different characters. An inverse kinematics engine is then used to enforce C ...
In this paper, we present a new method for solving the Motion Retargeting Problem, by using an intermediate skeleton. This allows us to convert movements between hierarchically and geometrically different characters. An Inverse Kinematics engine is then us ...
In robotics we depend on software tools during design, modeling, programming and testing. These tools are essentials, often indispensable aids for developing and operating sophisticated robotic systems. At the same time, these tools are complex and usually ...
The main objective of this thesis is the accuracy improvement of parallel robots. Accuracy can be improved either by precise manufacturing and assembly or by calibration of each individual robot using a kinematic model which takes geometric deviations into ...
We compare two formulations for the kinematic control of redundant manipulators, based on task prioritization. We also propose an incremental method to speed up the evaluation of the solution. This is especially interesting when dealing with multiple task- ...
In virtual human modeling, the shoulder is usually composed of clavicular, scapular and arm segments related by rotational joints. Although the model is improved, the realistic animation of the shoulder is hardly achieved. This is due to the fact that it i ...
We present a posture design paradigm for the positioning of complex characters. It is illustrated here on human figures. We exploit the inverse kinetics technique which allows the center of mass position control for postures with either single or multiple ...
A global approach to the problem of model-based control of fast parallel robots is proposed in this work. Fundamental differences between the well-known serial arms and parallel manipulators are first explained. A formalism inspired from Denavit-Hartenberg ...
The phenomenon of nano-indentation into a thin film bonded to a rigid substrate is simulated using a recently developed technique whereby a fully atomistic region is coupled to a continuum region. There are three unique features of the model, as compared t ...
The context of this thesis is the interactive manipulation of complex articulated figures by means of geometric constraints (here called tasks), for the purpose of posture control and design. The goal is to determine a posture satisfying a set of prescribe ...