Using an intermediate skeleton and inverse kinematics for motion retargeting
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In the field of marine robotics, the problem of range based underwater target localization can be defined as that of localizing an unknown - fixed or moving - target from a surface vehicle called the tracker, using range information available about the tar ...
The study provides derivation and application of novel formula for the calculation of general imposed constraints for kinematic chains (including mechanisms and zero-degrees-of-freedom Assur groups) depending on the types of kinematic pairs and numbers of ...
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 ...
This paper is aimed at addressing the need for physically accurate and computationally effective models for predicting the response of shear-dominated reinforced concrete walls. The presented theory is based on a three-degree-of-freedom kinematic model for ...
Background: Common scales for clinical evaluation of post-stroke upper-limb motor recovery are often complemented with kinematic parameters extracted from movement trajectories. However, there is no a general consensus on which parameters to use. Moreover, ...
We present a theoretical and numerical framework to compute bifurcations of equilibria and stability of slender elastic rods. The 3D kinematics of the rod is treated in a geometrically exact way by parameterizing the position of the centerline and making u ...
We analyze the observability properties of the kinematic model of an autonomous underwater vehicle (AUV) moving in 3D, under the influence of ocean currents, using range and depth measurements. The results obtained shed light into the types of trajectories ...
Background and Objective. Kinematic analysis of reaching movements is increasingly used to evaluate upper extremity function after cerebrovascular insults in humans and has also been applied to rodent models. Such analyses can require time-consuming frame- ...
Tripping is considered a major cause of fall in older people. Therefore, foot clearance (i.e., height of the foot above ground during swing phase) could be a key factor to better understand the complex relationship between gait and falls. This paper presen ...
Institute of Electrical and Electronics Engineers2012
Minimally invasive surgery (MIS) is one of the most challenging techniques for robot designers due to the limited size of access points, the high miniaturization level, and the dexterity needed for performing surgical tasks. Conversely, only a few microfab ...