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ROBOTICA
2008
121views more  ROBOTICA 2008»
8 years 4 months ago
Kinematic and dynamic performance analysis of artificial legged systems
This paper studies the mechanical configuration and the periodic gaits of multi-legged locomotion systems based on its kinematic and dynamic models. The purpose is to determine the...
Manuel F. Silva, José António Tenrei...
SMA
2008
ACM
136views Solid Modeling» more  SMA 2008»
8 years 4 months ago
Kinematic convexity of spherical displacements and its application to collision prediction
In recent years, there has been an increasing interest in developing geometric algorithms for kinematic computations. The aim of this paper is to present the notion of kinematic c...
Qiaode Jeffrey Ge, Anurag Purwar, Jun Wu
CORR
2007
Springer
83views Education» more  CORR 2007»
8 years 4 months ago
Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity ...
Stéphane Caro, Philippe Wenger, Fouad Benni...
CORR
2007
Springer
80views Education» more  CORR 2007»
8 years 4 months ago
Uniqueness Domains in the Workspace of Parallel Manipulators
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given ...
Philippe Wenger, Damien Chablat
CORR
2008
Springer
97views Education» more  CORR 2008»
8 years 4 months ago
Self-Motions of General 3-RPR Planar Parallel Robots
We study the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large ...
Sébastien Briot, Ilian A. Bonev, Damien Cha...
IJCAI
1989
8 years 5 months ago
Reasoning about Kinematic Topology
t ion which is much more abstract than a place vocabulary, the kinematic topology. Kinematic topology does not define qualitative inference rules, but provides a characterization o...
Boi Faltings, Emmanuel Baechler, J. Primus
ISMB
1994
8 years 5 months ago
Kinematic Manipulation of Molecular Chains Subject to Rigid Constraint
Wepresent algorithms for kinematic manipulation of molecular chains subject to fixed bond lengths and bond angles. They are useful for calculating conformations of a molecule subj...
Dinesh Manocha, Yunshan Zhu
MVA
2007
127views Computer Vision» more  MVA 2007»
8 years 5 months ago
Assessment of Post-Stroke Functioning Using Machine Vision
We present a system to automatically assess the functional performance of stroke survivors along axes defined by the Arm Motor Ability Test (AMAT). The upper body motion of seven...
Sonya Allin, Deva Ramanan
ICRA
1993
IEEE
95views Robotics» more  ICRA 1993»
8 years 8 months ago
Closed-Loop Kinematic Calibration of the RSI 6-DOF Hand Controller
A method is presented for autonomous kinematic calibrationof the RSI 6-DOFhand controller,a two-loopparallel mechanism comprised of three 6-DOF arms with potentiometers on the firs...
John M. Hollerbach, David M. Lokhorst
IROS
2006
IEEE
93views Robotics» more  IROS 2006»
8 years 10 months ago
General Kinematic Synthesis Method for a Discretely Actuated Robotic Manipulator (D-ARM)
— A “Discretely Actuated Robotic Manipulator”, or “D-ARM”, is any member of a class of robotic manipulators powered by actuators that have only discrete positional stable...
Keizo Miyahara, Gregory S. Chirikjian
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