We present an investigation into the genotypephenotype map in Position Independent Grammatical Evolution (πGE). Previous studies have shown πGE to exhibit a performance increase over standard Grammatical Evolution (GE). The only difference between the two approaches is in how the genotype-phenotype mapping process is performed. GE uses a leftmost non terminal expansion, while πGE evolves the or...

This paper presents the one-dimensional gait kinematic principle, in order to identify the kinematic parameters for normal and pathological (transtibial amputation) gait of two subjects with similar anthropometry. Each type of gait is associated with uniform linear motion and uniformly accelerated motion. We used the Manuela Beltrán University Biomechanics Laboratory. The developed physical mod...

The kinematic analysis of parallel kinematic machines (PKM) is a challenging field, since PKM are complex multi-body systems involving a couple of closed kinematic loops. It is well-known that the forward kinematic function has in general no closed-form solution, and that up to 40 different real solutions may exist for general geometry (Husty, 1996; Dietmaier, 1998). Therefore, an efficient and...

A method for efficiently planning one-dimensional pop-limited trajectories is presented, along with a direct method for synchronizing trajectories across multiple dimensions. This heuristic is designed for a double integrator utilizing acceleration commands passed through a 4th-order cascaded filter, the model for which is presented along with the system solution for an arbitrary time step and ...

This article shows that time derivatives of twists and wrenches are indeed screws, in contrast to many classical kinematicians’ believe. Furthermore, it is proven that the “centripetal screw,” as well as the momentum of a rigid body together with all its derivatives, are also screws, and that a rigid body’s dynamics can be geometrically expressed as a screw equation. The paper relies on a somew...

Programming a humanoid robot to perform an action that takes into account the robot’s complex dynamics is a challenging problem. Traditional approaches typically require highly accurate prior knowledge of the robot’s dynamics and the environment in order to devise complex control algorithms for generating a stable dynamic motion. Training using human motion capture (mocap) data is an intuitive ...

BACKGROUND The purpose of this paper was to examine differences in ball release speed and throwing kinematics between male and female team-handball players in a standing throw with run-up. Other research has shown that this throwing type produces the highest ball release speeds and comparing groups with differences in ball release speed can suggest where this difference might come from. If thro...

In this paper, we attempt to present the design algorithm of the windshield wiper mechanisms. In order to analyze the windshield wiper mechanisms, three mechanical models are developed: kinematic model – to evaluate and optimize the kinematic function of the mechanism; inverse dynamic model – to determine the crank turning torque applied to the input element in order to generate the kinematical...

Introduction we aimed to introduce a 6-universal-prismatic-spherical (UPS) parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. We proposed a strategy to provide a fast and accurate solution to the kinematic problem. The proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required ...