In general, the identification and verification are done by passwords, pin number, etc., which are easily cracked by others. In order to, overcome this issue biometrics is a unique tool to authenticate an individual person. Biometric is a quantity which consists of an individual physical characteristics of fingerprint, Finger Knuckle Print (FKP), iris, face and so on. These characteristics are ...

In this article the homotopy continuation method (HCM) to solve the forward kinematic problem of the 3-PRS parallel manipulator is used. Since there are many difficulties in solving the system of nonlinear equations in kinematics of manipulators, the numerical solutions like Newton-Raphson are inevitably used. When dealing with any numerical solution, there are two troublesome problems. One is ...

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg...

A visualized dynamic simulation platform of picking robot based on OpenGL and Matlab is established in order to verify the validity of kinematics analysis and visually reflect the motion process. The robot kinematic model is established with D-H method and the forward kinematic solution for the robot is obtained. The inverse kinematic solution is solved by using the simplified inverse transform...

To advancement in security applications, for the first time, a bio-chaotic key generated from emerging biometric trait “finger knuckle print (FKP)” has been proposed data and authentication. In system, feasibility to generate multiple keys single FKP image exploited secure information, which results significant enhancement of strength. The encryption decryption processes keep user-specificity p...

Charged particle multiplicities are studied in proton-proton collisions in the forward region at a centre-of-mass energy of √ s = 7 TeV with data collected by the LHCb detector. The forward spectrometer accesses a kinematic range of 2.0 < η < 4.8 in pseudorapidity, momenta greater than 2 GeV/c and transverse momenta greater than 0.2 GeV/c. The measurements are performed using events with at lea...

Previous kinematic and dynamic analysis has demonstrated the singularity-free workspace and the high force-bearing characteristics of the Wrist. This chapter completes the dynamic model of the Carpal Wrist by presenting a closed-form solution and algorithm to the time response (forward dynamic) problem. With this model, simulation of the Wrist in an application environment can be performed to g...

This paper addresses the problem of hand-eye coordination and, more specifically, tool-eye recalibration of humanoid robots. Inspired by results from neuroscience, a novel method to learn the forward kinematics model as part of the body schema of humanoid robots is presented. By making extensive use of techniques borrowed from the field of computer-aided geometry, the proposed Kinematic Bezier ...

5.1 ROOT MOTION .....................................................................................................................................................4 5.2 KINEMATIC CONSTRAINTS....................................................................................................................................5 5.3 MOTION CYCLIFICATION .................................................