Concept

Cinématique

Publications associées (318)

Calculation of the General Number of Imposed Constraints of Kinematic Chains

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 ...

Elsevier2017

Higher-order continuation method for the rigid-body kinematic design of compliant mechanisms

Simon Nessim Henein, Lennart Rubbert

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 ...

Elsevier2017

A singularity-tolerant inverse kinematics including joint position and velocity limitations

Auke Ijspeert, Salman Faraji

Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...

2017

Generating Calligraphic Trajectories with Model Predictive Control

Sylvain Calinon

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 ...

2017

Interface Stresses in Cracked Concrete: Testing for Review of Its Fundamentals, High Tech Concrete: Where Technology and Engineering Meet

Aurelio Muttoni, Guillaume Anciaux, Miguel Fernández Ruiz, Max Tirassa

Aggregate interlock is one of the most significant stress transfer actions in cracked concrete and its understanding is fundamental in order to predict the strength of many concrete structures, particularly members failing in shear. Several test programmes ...

2017

Interactive Locomotion of Mechanically Coupled Bipedal Agents: Modeling and Experiments

Auke Ijspeert, Jessica Lanini

This paper investigates the interactive locomotion for physically coupled bipedal agents using a human-human object carrying experiment and a simple mathematical model. The model is based on the Spring Loaded Inverted Pendulum (SLIP) and on the assumption ...

Springer International Publishing Ag2017

Spine Controller for a Sprawling Posture Robot

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat

More and more biologically inspired robots present spines with multiples degrees of freedom to resemble their biological counterparts. The function of the spine on both animal and robot can play an important role in locomotion. If it has enough degrees of ...

2017

A simulation framework for humeral head translations

Dominique Pioletti, Alexandre Terrier, Alain Farron, Philippe Müllhaupt, Ehsan Sarshari

Humeral head translations (HHT) play a crucial role in the glenohumeral (GH) joint function. The available shoulder musculoskeletal models developed based on inverse dynamics however fall short of predicting the HHT. This study aims at developing a simulat ...

Elsevier2017

A simple tool to measure spasticity in spinal cord injury subjects

Maurizio Molinari, Arash Arami, Etienne Burdet

This work presents a wearable device and the algorithms for quantitative modelling of joint spasticity and its application in a pilot group of subjects with different levels of spinal cord injury. The device comprises light-weight instrumented handles to m ...

IEEE2017

Assessment of the lower limb soft tissue artefact at marker-cluster level with a high-density marker set during walking

Kamiar Aminian, Arnaud Barré

The estimation of joint kinematics from skin markers is hindered by the soft tissue artefact (STA), a well-known phenomenon although not fully characterized. While most assessments of the STA have been performed based on the individual skin markers displac ...

Elsevier2017

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