We present a novel and simple procedure for identifying the kinematics parameters of a human foot. This is important, among other uses, in tuning robotics physiotherapy devices. Foot kinematics at the ankle follows that of 2R serial manipulator but, since internal joint angles are not measurable, conventional calibration is not applicable. In our approach, each axis is moved while the other rem...

Vision is an effective robotic sensor, since it imitates the human perception of vision and allows for non-contact measurement of the environment. The camera as a vision sensor can be employed to manipulate the robotic arm in 3D world. This means that the camera is a tool by which the robot manipulator positions itself―this is referred to as visual servoing. The visual servo systems considered ...

Grasping and manipulation force distribution optimization of multi-fingered robotic hands can be formulated as a problem for minimizing an objective function subject to form-closure constraints, kinematics, and balance constraints of external force. In this paper we present a novel neural network for dexterous hand-grasping inverse kinematics mapping used in force optimization. The proposed opt...

It has been almost two decades since the first globally tracking convergent adaptive controllers were derived for robot with dynamic uncertainties. However, the problem of concurrent adaptation to both kinematic and dynamic uncertainties has never been systematically solved. This is the subject of this paper. We derive a new adaptive Jacobian controller for trajectory tracking of robot with unc...

Abstract The kinematic redundancy is considered as a way to improve the performance of parallel mechanism. In this paper, kinematics three degree-of-freedom mechanism with (3-DOF PM-KR) and influence redundant parts on PM-KR are analyzed. Firstly, model established. inverse solutions, Jacobian matrix, workspace solved. Secondly, Since there exists redundancy, possesses fault-tolerant performanc...

A continuum robot is a unique type of robots which move because the elastic deformation their bodies. The kinematics such typically described using constant curvature assumption. Such an assumption, however, does not completely describe real-life robot. As result, variable assumptions better, they are more complicated to formulate and work with. In particular, existing methods solving inverse p...

Films like Shrek, Madagascar, The Chronicles of Narnia and Charlotte’s web all have something in common: realistic quadruped animations. While the animation of animals has been popular for a long time, the technical challenges associated with creating highly realistic, computer generated creatures have been receiving increasing attention recently. The entertainment, education and medical indust...

Films like Shrek, Madagascar, The Chronicles of Narnia and Charlotte’s web all have something in common: realistic quadruped animations. While the animation of animals has been popular for a long time, the technical challenges associated with creating highly realistic, computer generated creatures have been receiving increasing attention recently. The entertainment, education and medical indust...