This paper deals with the design and analysis of a two-translation and one-rotation (2T1R) mechanism for a novel cooking robot. Firstly the motions involved in stir-fry, the most representative operation in the cooking processes used in Chinese cuisine, are analyzed in details. Then the featured motions are decomposed into four main movements that are used as a design base for a wok motion mech...

The traditional methods for representing forward kinematics of manipulators have been the homogeneous matrix in line with the D-H algorithm. In this paper a new method known as quaternion algebra is described and it is used for three dimensional representation and orientation in robot kinematics. This method is compared with homogeneous transform in terms of easiness of representation, computat...

The wingbeat kinematics of a thrush nightingale Luscinia luscinia were measured for steady flight in a wind tunnel over a range of flight speeds (5-10 m s(-1)), and the results are interpreted and discussed in the context of a detailed, previously published, wake analysis of the same bird. Neither the wingbeat frequency nor wingbeat amplitude change significantly over the investigated speed ran...

OBJECTIVE Powered robotic prostheses create a need for natural-feeling user interfaces and robust control schemes. Here, we examined the ability of a nonlinear autoregressive model to continuously map the kinematics of a transtibial prosthesis and electromyographic (EMG) activity recorded within socket to the future estimates of the prosthetic ankle angle in three transtibial amputees. APPROA...

This paper presents a simple but efficient way to numerically calculate the inverse displacement problem of calibrated decoupled 6R serial robots. The method is iterative and works with any type of calibrated robot model, such as level-3 models, since it requires no algebraic computation and no resolution of high-order polynomials, only the computation of the forward displacement problem of the...

A numerical wave tank (NWT) with fully nonlinear free-surface boundary conditions is developed to investigate nonlinear wave–wave and wave–current interactions and the resulting kinematics. In the present paper, the variation of wave amplitude and wave length of a monochromatic wave under several different speeds of steady uniform currents is studied through direct numerical simulations in the ...

The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musc...

Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-e ector. Most such methods use robots and cameras that have been calibrated. In this report we suggest a non-metric formulation of visual servoing that works with an uncalibrated stereo rig, i.e. in the projective space associated with it. In consequenc...