In this paper, a quasi-closed solution method is presented to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator. It is shown, that on the contrary to series manipulators, the forward kinematic map of the parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed method uses a comb...

Aimed at solving the misplaced body trajectory problem caused by the rolling of semi-round rigid feet when a robot is walking, a legged kinematic trajectory correction methodology based on the Least Squares Support Vector Machine (LS-SVM) is proposed. The concept of ideal foothold is put forward for the three-dimensional kinematic model modification of a robot leg, and the deviation value betwe...

accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need....

This paper proposes a Finger-Knuckle-Print (FKP) recognition algorithm using Band-Limited Phase-Only Correlation (BLPOC)-based local block matching. The phase information obtained from 2D Discrete Fourier Transform (DFT) of images contains important information of image representation. The phase-based image matching, especially BLPOC-based image matching, is successfully applied to image recogn...

In this paper, three numerical methods are presented to solve the forward kinematics of a three DOF actuator-redundant hydraulic parallel manipulator. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance...

In this paper, kinematic modeling and singularity analysis of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that th...

Knuckle biometrics is one of the current trends in biometric human identification which offers a reliable solution for verification. This paper analysis FKP recognition based on the behaviour of two different filtering and classification methods. Firstly, Gabor Filter Banks techniques are applied for finger knuckle print recognition and then the same database is analysed against Dual Tree Compl...

The inverse kinematic (IK) relationship of a manipulator is a one-to-many map which can not be learnt using a feed-forward neural network (FFN). The usual method is to learn the forward kinematic relationship using a FFN and then obtaining the IK solution through inversion of the approximate forward model. The accuracy of the inverse kinematic solution thus obtained is limited by the accuracy o...