Introduction to robotics: Mechanics and control: John J. Craig

Introduction to robotics: Mechanics and control

Comparative Experiments with a New Adaptive Controller for Robot Arms

[32] Nader Sadegh and Roberto Horowitz. Stability and robustness analysis of a class of adaptive controllers for robotic manipulators. [40] John T. Wen and David S. Bayard. Robust control for robotic manipulators part ii: Adaptive case. Comparative experiments with a new adaptive controller for robot arms.

Dynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains

Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

A Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres

This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...

Clustering of nasopharyngeal carcinoma intensity modulated radiation therapy plans based on k-means algorithm and geometrical features

Background: The design of intensity modulated radiation therapy (IMRT) plans is difficult and time-consuming. The retrieval of similar IMRT plans from the IMRT plan dataset can effectively improve the quality and efficiency of IMRT plans and automate the design of IMRT planning. However, the large IMRT plans datasets will bring inefficient retrieval result. Materials and Methods: An intensity-m...