The inverse kinematics problem in robotics requires the determination of the joint angles for a desired position of the end-effector. For this underconstrained and ill-conditioned problem we propose a solution based on structured neural networks that can be trained quickly. The proposed method yields multiple and precise solutions and it is suitable for real-time applications. © 1999 Elsevier S...

Modular robot designers confront inherent tradeoffs between size and power. Smaller, more numerous modules increase the adaptability of a given volume or mass of robot, allowing the aggregate robot to take on a wider variety of configurations, but do so at a cost of reducing the power and complexity budget of each module. Fewer, larger modules can incorporate more powerful actuators and stronge...

Studies on motion control of robot manipulators with elastic joints are basically aimed at improving robot performance in tracking or regulation tasks. In the interaction between robots and environment, instead, the main objective of a control strategy should be the reduction of the vibrational and chattering phenomena that elasticity in the robot joints can cause. This work takes into account ...

This paper presents a novel human-robot interaction approach to grid mapping of an indoor environment based on a 3D Kinect sensor and the Grid-based mapping algorithm. It mainly includes three modules: Skeleton Tracking, Robot Control and GMapping. Firstly, the Skeleton Tracking module builds a human skeleton model, extracts the skeleton joints’ position information from 3D visual data and gene...

This paper describes a new driving mechanism for a miniature robot hand. In developing miniature robot hands for dexterous manipulation, it is necessary to consider miniaturizing and minimalizing. The proposed mechanism uses elastic torsion springs and hinges as joints, and the finger is wire-driven from actuators placed outside the robot hand. First, the driving mechanism of a one joint finger...