The paper proposes a novel method for extremely fast inverse kinematics computation suitable for animation of anthropomorphic limbs, and fast moving lightweight manipulators. In the information intensive preprocessing phase, the workspace of the robot is decomposed into small cells, and joint angle vectors (configurations) and end-effector position/ orientation (posture) data sets are generated...

In this paper one anthropomorphic modular reconfigurable gripper for robots are described , including a prototype. For the first time the stages of synthesis, analysis design and functional simulation are presented. The structural synthesis of the anthropomorphic grippers for robots can be made regarding the following main criteria: the number of fingers, the number of phalanxes, the relative d...

Compared to human locomotion capabilities, today’s bipedal robots are still lacking in efficiency, velocity, and robustness. Thus, a control concept for dynamic walking based on insights into human motion control is suggested. Key features include the exploitation of passive dynamics, no usage of a full dynamic model, and hierarchical, distributed control. Walking robustness in presence of unkn...

While the focus of robotic bipedal walking to date has been the development of anthropomorphic gait, the community has been unable to agree on a model for such gait. In this paper, we propose a universal ordering of events for bipedal walking based on motion capture data collected from a walking experiment. We process the motion capture data using persistent homology to automatically determine ...

The problem of generating optimal sagittal reference gaits in bipedal walking is addressed. In our study the single-support phase during which the biped reaches its highest instability will be considered. The approach developed allows for a fully dynamic model of the biped, and is based on minimizing the integral of quadratic joint actuating torques. Impactless and non-sliding heel-touch will b...