... . 15 05 2024 14 11 2024 14 11 2024 12 12 2024 grasping fixturing and multi-finger hands kinematics dynamics and control of mechanical systems mechanism synthesis and analysis mechanisms and robots theoretical and computational kinematics The design of grippers...

.... A. , 2010 , “ In Vivo 3D Kinematics of Normal Forearms: Analysis of Dynamic Forearm Rotation ,” Clin. Biomech. , 25 ( 10 ), pp. 979 – 983 . 10.1016/j.clinbiomech.2010.07.006 [37] Siciliano , B. , and Khatib , O. , 2016 , Springer Handbook of Robotics , Springer , Berlin . [38...

... 22 11 2024 tendon−sheath mechanism backlash-like hysteresis control strategy soft robotics cable driven kinematics dynamics and control of mechanical systems The tendon−sheath mechanism (TSM) represents a promising system of power transmission capable of traversing long...

... of M echanisms and R obotics . 05 05 2024 27 10 2024 29 10 2024 22 11 2024 kinematics dynamics and control of mechanical systems With the recent developments in the hardware of miniature unmanned aerial vehicles (UAVs), their application has been pushed...

...Andreas Müller Soft rods and tubular elements are the main building blocks of continuum robots. Kinetostatic models along with a geometrically exact description of the kinematics on S E ( 3 ) are now an established foundation for simulation and control. A key aspect is the reconstruction...

... kinematics dynamics and control of mechanical systems mechanisms and robots motion and manipulation planning Singapore University of Technology and Design 10.13039/501100007040 RTDST230617 In recent years, legged robots’ capabilities have increased significantly [ 1 – 3 ]. Now...

... no boundary conditions are applied. This research provides valuable insights into understanding origami unit kinematic optimization through forward and inverse kinematics. It offers potential applications in the engineering design of foldable structures and precision origami-inspired mechanism, thereby...

... for kinematic reliability analysis and its sensitivity analysis, which incorporates the sparse grid (SPGR) technique and the saddlepoint approximation (SPA) method. To start with, the positioning accuracy reliability and its sensitivity models of industrial robots are established via computational optimization...

..., referred to as a continuum-UVMS. A kinematic model for the continuum-UVMS is derived in order to build an algorithm to resolve the robot’s redundancy and generate joint space commands. Different methods to optimize the trajectory for specific tasks are proposed using both the weighted least norm solution...

... and R obotics . 24 01 2024 27 09 2024 27 09 2024 01 11 2024 cooperative object transport multi-robot systems non-contact mechanisms magnetic pushing leader–follower formation kinematics dynamics and control of mechanical systems mechanisms and robots...

.... Therefore, having a fully articulated arm on top of a legged robot is kinematically redundant. Fig. 1 State-of-the-art six-DoF robotic arm mounted on Boston Dynamics Spot. The arm weighs 8 kg and, when mounted on Spot in, can only lift 25% of the total platform weight. State-of-the-art six-DoF...

...Zhiguang Xing; Guoguo Yang; Pengyuan Wang; Zheng Zheng; Jianwen Zhao Fast inverse kinematics (IK) algorithm is significant for real-time precise motion control for continuum and soft manipulators. In this paper, we studied an explicit expression of a two-segment continuum manipulator based...

.... Kinematic analysis illustrates that the mechanism contains totally 11 motion branches including three types of effective joints, i.e., non-overconstrained 7R motion branches, overconstrained 6R motion branches, and planar 4R motion branches. Reconfiguration analysis of the mechanism is presented...

... support phase is modeled as a suspended pendulum. Based on the motion of the SIP model, the hip and leg trajectories of a 10-degree-of-freedom (DOF) humanoid robot are generated. The joint trajectories of the robot are obtained from inverse kinematics. The motion of the center of mass is analyzed...

.... , 2008 , “ Kinematic and Dynamic Performance Analysis of Artificial Legged Systems ,” Robotica , 26 ( 1 ), pp. 19 – 39 . 10.1017/S0263574707003554 [34] Lang , L. , Wang , J. , Rao , J. , Ma , H. , and Wei , Q. , 2015 , “ Dynamic Stability Analysis of a Trotting Quadruped...

... and used for path planning and for the synthesis of both object and rover trajectories. The rover uses a tether as the towing medium, which is modeled as an elastic unilateral constraint. Moreover, a kinematic model of the rover that includes steering asymmetrical joint limits is taken into account...

.... The developed model adeptly captures the kinematic and dynamic constraints of various robot segments, serving as the foundation for a robust optimized control strategy. This strategy, which integrates computed torque control and particle swarm optimization, enables real-time computation of joint torques based...

.... Second, the kinematics of the new deployable mast mechanism is established based on its structural symmetry and modular features. Third, the deploying dynamics of the new mechanism are built based on the Lagrange equation. Fourth, the deployed/folded ratio, interference, and singularity of the new...

... reconfigurable closed-chain leg, allowing for flexible trajectory by adjusting the length of the hydraulic cylinder. Kinematic model and system dynamics are analyzed considering the multi-body dynamics of the proposed system. To actively adapt to different terrains with flexible footprints, a variable-domain...

... Anthropometric data Body mass (68.5 kg) Thigh length (mm), shank length (mm), and ankle height (mm) Temporal data Stance % (101 rows) Frame time (0.00661 s) Kinematic data Hip–knee–ankle marker coordinates (m) Joint angles (deg) GRF data (N) COP coordinates (m) Joint...