State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many of these methods rely significantly on vision and often fail when visual tracking is lost due to lighting or scarcity of features. This paper presents a sta...

:D AEDF .=G . The spectrum H $ I(KJEL of its complexification is called the Mather spectrum [M]. Anosov showed that and , called the unstable and stable bundles, are Hölder continuous. One an give lower bounds for attainable values of the Hölder exponent in terms of contraction and expansion rates of ! . Optimal estimates and reasons for wanting them are given in [H2, HW]. They are not exceeded...

Many animation systems rely on key-frames or poses to produce animated sequences of figures we interpret as articulated, e. g. the skeleton of a character. The production of poses is a difficult problem which can be solved by using techniques such as forward and inverse kinematics. However, animators often find these techniques difficult to work with. The work, presented in this thesis, propose...

Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. Te inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control also developed ...

Abstract: The legged robot can only walk very similar to human walking pattern. Therefore, many robots have been researched and developed in recent years. However, the biped robots still have many issues for the natural human walking in terms of the redundant degree of freedom, complexity of the kinematics, and stability. In this paper, we have described our biped robot modeling in the forward ...

Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot’s configurations are represented in...