Concept

Cinématique inverse

Publications associées (287)

Ion implanted dielectric elastomer circuits

Starfish and octopuses control their infinite degree of- freedom arms with panache—capabilities typical of nature where the distribution of reflex-like intelligence throughout soft muscular networks greatly outperforms anything hard, heavy, and man-made. D ...

Springer Verlag2013

Reflexive stability control framework for humanoid robots

Tadej Petric

In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and con ...

2013

Multi-segment foot kinematics after total ankle replacement and ankle arthrodesis during relatively long-distance gait

Kamiar Aminian, Julien Favre, Xavier Crevoisier, Hossein Rouhani

This study aimed to investigate the influence of ankle osteoarthritis (AOA) treatments, i.e., ankle arthrodesis (AA) and total ankle replacement (TAR), on the kinematics of multi-segment foot and ankle complex during relatively long-distance gait.Forty-fiv ...

Elsevier2012

Quadrupedal robots with stiff and compliant actuation

Roland Siegwart, Marco Hutter

In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff act ...

2012

Mechanical positioning system for surgical instruments

Hannes Bleuler, Reymond Clavel, Ricardo Daniel Rita Beira

An external manipulator for positioning surgical instruments within the abdominal cavity, comprising a hybrid kinematics with a parallel structure, able to provide four, active or passive, positional degrees of freedom to a endoscopic unit, placed in the d ...

2012

Heel and Toe Clearance Estimation for Gait Analysis Using Wireless Inertial Sensors

Kamiar Aminian, Benoît Mariani

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

Design and Evaluation of NEUROBike: A Neurorehabilitative Platform for Bedridden Post-Stroke Patients

Silvestro Micera, Martina Coscia

Over the past decades, a large number of robotic platforms have been developed which provide rehabilitative treatments aimed at recovering walking abilities in post-stroke patients. Unfortunately, they do not significantly influence patients' performance a ...

Institute of Electrical and Electronics Engineers2012

Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus

Auke Ijspeert, Konstantinos Karakasiliotis

Morphology is an important factor in locomotion. It may guide the control strategies that an animal or a robot uses for efficient locomotion. In this paper we try to understand the locomotion strategies of a lizard with a distinctive feature, the long-tail ...

Ieee2012

A Comparative Evaluation of Adaptive and Non-adaptive Sliding Mode, LQR and PID Control for Platform Stabilization

Mehmet Hasan Mutlu

During the uniform locomotion of compliant legged robots and other terrain vehicles, the body of the robot often exhibits complex oscillations which may have a disturbing effect on onboard sensors. For a camera mounted on such a robot, due to perspective p ...

IEEE2012

State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU

Roland Siegwart, Marco Hutter

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 ...

2012

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