Humanoid robot with two independent closed loops, F and H, formed by frictionless contact joints at the feet and hands, respectively. The loop-closure link velocities are denoted as VF and VH. The end-link velocities V‾ejm signify instantaneous motions in the unconstrained directions at each ...
To expand the scope of our approach, potential future work could involve adapting the proposed method to different types of joints, such as prismatic or revolute joints. Additionally, it would be valuable to optimize and validate the method on a wider range of robotic systems and scenarios, incl...
Chapter 1 gives an introduction to the terminology and general definitions for the concepts used in this book: kinematic chains, types of joints, configuration space, task space, redundancy, singular configurations, architectures of robot manipulators, robot characteristics; – Chapter 2 sets out the ...
RoboticmanipulatorKinematicanalysisTwo-DOFjointThis paper aims to introduce a new design concept for robotic manipulator driven by the special two degrees of freedom (DOF) joints. Joint as a basic but essential component of the robotic manipulator is analysed emphatically.Design/methodology/approach The...
[17,18], but it lacks the continuity in the special case of two consecutive parallel joints. To overcome this singularity, Hayati model [19], Veitschegger & Wu model [20], S model [21,22] and CPC model [23] were successively produced. For all of these models, there are two types ...
The joints considered were: metacarpophalangeal flexion (MCP1_F to MCP5_F, 1 to 5 meaning thumb to little digits), interphalangeal flexion of the thumb (IP1_F), proximal interphalangeal flexion of the fingers (PIP2 to PIP5), flexion and abduction of the carpometacarpal joint of the ...
Thesenetworks are not applicable to motion retargetting as they directly generate the xyz-coordinates of joints and thus requirea further post-processing to ensure bone length consistency.Instead, our method predicts quaternions that represent therotation of each joint with respect to the T-pose ...
Walking appears to be the most performed human motor task1. However, healthy human gait may be compromised by neurological diseases (such as stroke and spinal cord injury)2,3. Robotic assistive devices (namely, active orthosis and exoskeletons) have been recommended to foster repetitive gait rehabi...
Chang Jun Lee2, Youn Tae Kim2, Xavier Lepró3, Ray H. Baughman3 & Seon Jeong Kim1 Stretchable fiber and yarn triboelectric nanogenerator are sought for such applications as wearable sensing system such as cloth communication devices, electronic textiles, and robotic sensory sk...
The commonly used joints allow either 1,2 or 3 DoF. Figure 8.2 shows several types of joints. Fig. 8.1 Independent motions of a free body in space. 3 translations and 3 rotations along and about the 3 axes (x, y, z) 4 1 5 X 3 62 Z Y 8 Kinematic Design 269 Revolute joint ...