...Zhiguang Xing; Guoguo Yang; Pengyuan Wang; Zheng Zheng; Jianwen Zhao Fast inverse kinematics (IK) algorithm is significant for real-time precise motion control for continuum and soft manipulators. In this paper, we studied an explicit expression of a two-segment continuum manipulator based...

.... Kinematic analysis illustrates that the mechanism contains totally 11 motion branches including three types of effective joints, i.e., non-overconstrained 7R motion branches, overconstrained 6R motion branches, and planar 4R motion branches. Reconfiguration analysis of the mechanism is presented...

... support phase is modeled as a suspended pendulum. Based on the motion of the SIP model, the hip and leg trajectories of a 10-degree-of-freedom (DOF) humanoid robot are generated. The joint trajectories of the robot are obtained from inverse kinematics. The motion of the center of mass is analyzed...

.... , 2008 , “ Kinematic and Dynamic Performance Analysis of Artificial Legged Systems ,” Robotica , 26 ( 1 ), pp. 19 – 39 . 10.1017/S0263574707003554 [34] Lang , L. , Wang , J. , Rao , J. , Ma , H. , and Wei , Q. , 2015 , “ Dynamic Stability Analysis of a Trotting Quadruped...

... and used for path planning and for the synthesis of both object and rover trajectories. The rover uses a tether as the towing medium, which is modeled as an elastic unilateral constraint. Moreover, a kinematic model of the rover that includes steering asymmetrical joint limits is taken into account...

.... The developed model adeptly captures the kinematic and dynamic constraints of various robot segments, serving as the foundation for a robust optimized control strategy. This strategy, which integrates computed torque control and particle swarm optimization, enables real-time computation of joint torques based...

.... Second, the kinematics of the new deployable mast mechanism is established based on its structural symmetry and modular features. Third, the deploying dynamics of the new mechanism are built based on the Lagrange equation. Fourth, the deployed/folded ratio, interference, and singularity of the new...

... reconfigurable closed-chain leg, allowing for flexible trajectory by adjusting the length of the hydraulic cylinder. Kinematic model and system dynamics are analyzed considering the multi-body dynamics of the proposed system. To actively adapt to different terrains with flexible footprints, a variable-domain...

... for the Stride in Human Walking ,” Math. Modell. , 4 ( 5 ), pp. 391 – 415 . 10.1016/0270-0255(83)90045-3 [2] Tutsoy , O. , Erol Barkana , D. , and Colak , S. , 2017 , “ Learning to Balance an NAO Robot Using Reinforcement Learning With Symbolic Inverse Kinematic ,” Trans. Inst. Meas...

... (POC), DOF, and coupling degree are analyzed. Second, using the kinematic modeling method based on topological characteristics, the unified symbolic forward and inverse position solutions of the two configurations of the PM (I and II) are derived together with the workspace, rotational capacity...

... foundations of kinematics and statics are first presented. Based on this, the limitations of conventional modeling approaches in the context of topological reconfiguration are outlined and necessary adaptations of the modeling are made. Afterward, impacts of topological adaptations are analyzed, followed...

... wrapped on a frictionless surface included in a handful of surfaces, including cylinders and spheres, can be solved analytically. Then, the cable path and inverse velocity kinematics of a CDPR with cables, every of which wraps on a frictionless cylinder or a frictionless sphere, are solved. A CDPR...

... efficient algorithm requiring few data points to maintain accurate calibration. In addition, the PDOP and ODOP provide a means to assess when sufficient calibration data have been collected. Numerical results involving an inverse kinematic simulation with rigid cables and a dynamic simulation with flexible...

.... In general, a flat kirigami sheet cannot be simply folded into a polygonal tube since this creates kinematic incompatibilities along the polygon edges. We resolve this issue by replacing the edge folds with an origami mechanism consisting of a pair of triangular facets. This approach eliminates...

.... , and Liu , C. , 2021 , “ Human Motion Prediction Using Adaptable Recurrent Neural Networks and Inverse Kinematics ,” IEEE Contr. Syst. Lett. , 5 ( 5 ), pp. 1651 – 1656 . 10.1109/LCSYS.2020.3042609 [9] Li , Q. , Zhang , Z. , You , Y. , Mu , Y. , and Feng , C. , 2020...

.... Motors are attached to the frame, controlling a system of pulleys, and connecting arms to drive the hot-end's motion. Due to the length of the arms, the hot end will be unable to fully explore the entire printing plane. Verification of the angled PPM for 3D printing involved developing kinematic...

... swimming mechanism, which is compounded with the locomotion modes of sway and yaw. The kinematic and dynamic models are established to study the locomotion mechanism of the oscillating fin. The hydrodynamic performance of underwater locomotion is investigated to analyze the velocity, the propulsive force...

... 23 04 2024 Graphical Abstract Figure compliant mechanisms kinematics dynamics control of mechanical systems mechanisms and robots Fonds Wetenschappelijk Onderzoek 10.13039/501100003130 G0A9623N Robots with non-backdrivable drivetrains may fail when...

...Andreas Müller; Zijia Li The configuration space (c-space) of a mechanism is the real-solution variety of a set of loop closure constraints, which is therefore the chief object in kinematic analysis. Singularities of this variety (referred to as c-space singularities) are singular configurations...

... evolution. Then, the kinematic analysis of the proposed suspension mechanism is conducted, and the steering kinematic model of the whole vehicle is established. A compliance analysis is completed, taking into account the actual design characteristics of the suspension mechanism. A multi-degrees-of-freedom...