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Journal articles on the topic 'Anthropomorphic kinematics'

Author: Grafiati

Published: 24 January 2024

Last updated: 31 July 2025

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1

Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "ABOUT THE ANTHROPOMORPHIC ROBOTS." Engevista 17, no. 1 (2014): 1. http://dx.doi.org/10.22409/engevista.v17i1.565.

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure of the anthropomorphic robots. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with

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2

Kabanov, Aleksey, and Aleksey Balabanov. "The modeling of an anthropomorphic robot arm." MATEC Web of Conferences 224 (2018): 02034. http://dx.doi.org/10.1051/matecconf/201822402034.

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This paper considers the anthropomorphic manipulator kinematics modeling problem. The considered anthropomorphic robot SAR-400 manipulator with five-fingered gripper has twelve degrees of freedom. In the paper the robot SAR-400 arm kinematic model and the simulation results are presented.

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Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "DIRECT AND INVERSE KINEMATICS TO THE ANTHROPOMORPHIC ROBOTS." Engevista 18, no. 1 (2016): 109. http://dx.doi.org/10.22409/engevista.v18i1.729.

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If on

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4

Ren, Bin, Jianwei Liu, Xurong Luo, and Jiayu Chen. "On the kinematic design of anthropomorphic lower limb exoskeletons and their matching movement." International Journal of Advanced Robotic Systems 16, no. 5 (2019): 172988141987590. http://dx.doi.org/10.1177/1729881419875908.

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The lower limb exoskeleton is a wearable device for assisting medical rehabilitation. A classical lower limb exoskeleton structures cannot precisely match the kinematics of the wearer’s limbs and joints in movement, so a novel anthropomorphic lower limb exoskeleton based on series–parallel mechanism is proposed in this article. Then, the human lower limb movements are measured by an optical gait capture system. Comparing the simulation results of the series–parallel mechanism with the measured human data, the kinematics matching model at the hip joint is established. The results show that the

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5

V. Petrescu, Relly Victoria, Raffaella Aversa, Bilal Akash, et al. "Anthropomorphic Solid Structures n-R Kinematics." American Journal of Engineering and Applied Sciences 10, no. 1 (2017): 279–91. http://dx.doi.org/10.3844/ajeassp.2017.279.291.

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6

Kubik, Ilona, and Paweł Kwiatoń. "Algorytm rozwiązywania kinematyki prostej manipulatorów antropomorficznych." Prace Naukowe Akademii im. Jana Długosza w Częstochowie. Technika, Informatyka, Inżynieria Bezpieczeństwa 5 (2017): 39–51. http://dx.doi.org/10.16926/tiib.2017.05.03.

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7

Silva, Sérgio Ricardo Xavier da, Leizer Schnitman, and Vitalino Cesca Filho. "Analysis of computational efficiency for the solution of inverse kinematics problem of anthropomorphic robots using Gröbner bases theory." International Journal of Advanced Robotic Systems 18, no. 1 (2021): 172988142198954. http://dx.doi.org/10.1177/1729881421989542.

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This article presents an analysis of computational efficiency to solve the inverse kinematics problem of anthropomorphic robots. Two approaches are investigated: the first approach uses Paul’s method applied to the matrix obtained by the Denavit–Hartenberg algorithm and the second approach uses Gröbner bases theory. With each approach, the problem of inverse kinematics for an anthropomorphic robot will be solved. When comparing each method, this article will demonstrate that the method using Gröbner bases theory is more computationally efficient.

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Li, Yanbiao, Peng Sun, Huan Qi, and Yiqin Luo. "Prototyping of a novel anthropomorphic mechanical leg." Advances in Mechanical Engineering 11, no. 12 (2019): 168781401989380. http://dx.doi.org/10.1177/1687814019893802.

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This research aims to explore a better kinematic performance and design scheme for a novel mechanical leg using parameter optimization method. Serial structural mechanisms are widely employed in anthropomorphic mechanism legs but with significant disadvantages of the complex structure and large inertia, particularly, for the multi-objective parameter optimization it is hard to select good parameters to achieve excellent performance. In this article, the plane model of the solution space for multiple parameters and a novel statistics parameter optimization method were proposed for a novel mecha

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9

Petrescu, Florian Ion T., Antonio Apicella, Filippo Berto, et al. "Corrigendum: Anthropomorphic Solid Structures n-R Kinematics." American Journal of Engineering and Applied Sciences 12, no. 1 (2019): 121. http://dx.doi.org/10.3844/ajeassp.2019.131.

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10

BOLOGA, OCTAVIAN, and MIHAI CRENGANIŞ. "Efficient method for position control of a redundant robot." Journal of Engineering Sciences and Innovation 2, no. 2 (2017): 1–8. http://dx.doi.org/10.56958/jesi.2017.2.2.1.

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To begin the work presents some redundancy resolution schemes for robotic arms, i.e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are first recalled. This paper focuses on modeling and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a work

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11

Zainul Azlan, Norsinnira, Mubeenah Titilola Sanni, and Ifrah Shahdad. "Low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications." Applied Research and Smart Technology (ARSTech) 1, no. 2 (2020): 35–42. http://dx.doi.org/10.23917/arstech.v1i2.25.

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This paper presents the design and development of a new low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications. Anthropomorphic robotic arms are weapons similar in scale, appearance, and functionality to humans, and functionality. The developed robotic arm was simple, lightweight, and has four degrees of freedom (DOF) at the hand, shoulder, and elbow joints. The measurement of the link was made close to the length of the human arm. The anthropomorphic robotic arm was actuated by four DC servo motors and controlled using an Arduino UNO microcontroller boa

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Tolani, Deepak, Ambarish Goswami, and Norman I. Badler. "Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs." Graphical Models 62, no. 5 (2000): 353–88. http://dx.doi.org/10.1006/gmod.2000.0528.

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13

WEI, GUOWU, JIAN S. DAI, SHUXIN WANG, and HAIFENG LUO. "KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM." International Journal of Humanoid Robotics 08, no. 03 (2011): 459–79. http://dx.doi.org/10.1142/s0219843611002538.

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A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solutions leading to the workspace investigation of the robotic hand. With characteristic matrix equation, twisting motion of the metamorphic robotic hand is investigated to reveal both dexterity and manipula

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14

Li, Pengbo, Can Wang, Bailin He, Jiaqing Liu, and Xinyu Wu. "Kinematics analysis and gait planning for a hemiplegic exoskeleton robot." Cobot 1 (January 12, 2022): 1. http://dx.doi.org/10.12688/cobot.17434.1.

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Background: As the world's aging population increases, the number of hemiplegic patients is increasing year by year. At present, in many countries with low medical level, there are not enough rehabilitation specialists. Due to the different condition of patients, the current rehabilitation training system cannot be applied to all patients. so that patients with hemiplegia cannot get effective rehabilitation training. Methods: Through a motion capture experiment, the mechanical design of the hip joint, knee joint and ankle joint was rationally optimized based on the movement data. Through the k

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15

Virgala, Ivan, Ľubica Miková, Tatiana Kelemenová, et al. "A Non-Anthropomorphic Bipedal Walking Robot with a Vertically Stabilized Base." Applied Sciences 12, no. 9 (2022): 4108. http://dx.doi.org/10.3390/app12094108.

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The paper deals with the proposed concept of a biped robot with vertical stabilization of the robot’s base and minimization of its sideways oscillations. This robot uses 6 actuators, which gives good preconditions for energy balance compared to purely articulated bipedal robots. In addition, the used linear actuator is self-locking, so no additional energy is required for braking or to keep it in a stable position. The direct and inverse kinematics problems are solved by means of a kinematic model of the robot. Furthermore, the task is aided by a solution for locomotion on an inclined plane. S

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16

Petrescu, Relly Victoria V., Raffaella Aversa, Bilal Akash, et al. "Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method." American Journal of Engineering and Applied Sciences 10, no. 2 (2017): 394–411. http://dx.doi.org/10.3844/ajeassp.2017.394.411.

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17

Petrescu, Relly Victoria Virgil. "Presents the Kinematics and Forces at a Basic Anthropomorphic Robot." Journal of Mechatronics and Robotics 4, no. 1 (2020): 42–73. http://dx.doi.org/10.3844/jmrsp.2020.42.73.

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18

Tarokh, Mahmoud, Kancherla Keerthi, and Malrey Lee. "Classification and characterization of inverse kinematics solutions for anthropomorphic manipulators." Robotics and Autonomous Systems 58, no. 1 (2010): 115–20. http://dx.doi.org/10.1016/j.robot.2009.07.024.

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19

Su, Hang, Nima Enayati, Luca Vantadori, Andrea Spinoglio, Giancarlo Ferrigno, and Elena De Momi. "Online human-like redundancy optimization for tele-operated anthropomorphic manipulators." International Journal of Advanced Robotic Systems 15, no. 6 (2018): 172988141881469. http://dx.doi.org/10.1177/1729881418814695.

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Robot human-like behavior can enhance the performance of human–robot cooperation with prominently improved natural interaction. This also holds for redundant robots with an anthropomorphic kinematics. In this article, we translated human ability of managing redundancy to control a seven degrees of freedom anthropomorphic robot arm (LWR4+, KUKA, Germany) during tele-operated tasks. We implemented a nonlinear regression method—based on neural networks—between the human arm elbow swivel angle and the hand target pose to achieve an anthropomorphic arm posture during tele-operation tasks. The metho

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20

Lee, Chun-Tse, and Jen-Yuan (James) Chang. "A Workspace-Analysis-Based Genetic Algorithm for Solving Inverse Kinematics of a Multi-Fingered Anthropomorphic Hand." Applied Sciences 11, no. 6 (2021): 2668. http://dx.doi.org/10.3390/app11062668.

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Although the solution of inverse kinematics for a serial redundant manipulator has been widely researched, many algorithms still seem limited in dealing with complex geometries, including multi-finger anthropomorphic hands. In this paper, the inverse kinematic problems of multiple fingers are an aggregate problem when the target points of fingers are given. The fingers are concatenated to the same wrist and the objective is to find a solution for the wrist and two fingers simultaneously. To achieve this goal, a modified immigration genetic algorithm based on workspace analysis is developed and

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21

Chen, Weihai, Zhongyi Li, Xiang Cui, Jianbin Zhang, and Shaoping Bai. "Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters." Sensors 19, no. 20 (2019): 4461. http://dx.doi.org/10.3390/s19204461.

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Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. T

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22

ZHAO, Jing. "Analytical Inverse Kinematics of Anthropomorphic Movements for 7-DOF Humanoid Manipulators." Journal of Mechanical Engineering 54, no. 21 (2018): 25. http://dx.doi.org/10.3901/jme.2018.21.025.

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23

Petrescu, Florian Ion Tiberiu. "Kinematics of the Basic Mechatronic Module 3R of an Anthropomorphic Robot." American Journal of Engineering and Applied Sciences 14, no. 1 (2021): 112–28. http://dx.doi.org/10.3844/ajeassp.2021.112.128.

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24

Petrescu, Florian Ion T., Antonio Apicella, Filippo Berto, et al. "Corrigendum: Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method." American Journal of Engineering and Applied Sciences 12, no. 1 (2019): 123. http://dx.doi.org/10.3844/ajeassp.2019.130.

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25

FANG, Cheng, and Xilun DING. "Anthropomorphic Arm Kinematics Oriented to Movement Primitive of Human Arm Triangle." Robot 34, no. 3 (2012): 257. http://dx.doi.org/10.3724/sp.j.1218.2012.00257.

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26

Pfurner, Martin. "Closed form inverse kinematics solution for a redundant anthropomorphic robot arm." Computer Aided Geometric Design 47 (October 2016): 163–71. http://dx.doi.org/10.1016/j.cagd.2016.05.008.

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27

Gong, Shiqiu, Jing Zhao, Ziqiang Zhang, and Biyun Xie. "Task motion planning for anthropomorphic arms based on human arm movement primitives." Industrial Robot: the international journal of robotics research and application 47, no. 5 (2020): 669–81. http://dx.doi.org/10.1108/ir-12-2019-0261.

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Purpose This paper aims to introduce the human arm movement primitive (HAMP) to express and plan the motions of anthropomorphic arms. The task planning method is established for the minimum task cost and a novel human-like motion planning method based on the HAMPs is proposed to help humans better understand and plan the motions of anthropomorphic arms. Design/methodology/approach The HAMPs are extracted based on the structure and motion expression of the human arm. A method to slice the complex tasks into simple subtasks and sort subtasks is proposed. Then, a novel human-like motion planning

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28

Wei, Yuan, and Jing Zhao. "Designing Human-like Behaviors for Anthropomorphic Arm in Humanoid Robot NAO." Robotica 38, no. 7 (2019): 1205–26. http://dx.doi.org/10.1017/s026357471900136x.

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SUMMARYHuman-like motion of robots can improve human–robot interaction and increase the efficiency. In this paper, a novel human-like motion planning strategy is proposed to help anthropomorphic arms generate human-like movements accurately. The strategy consists of three parts: movement primitives, Bayesian network (BN), and a novel coupling neural network (CPNN). The movement primitives are used to decouple the human arm movements. The classification of arm movements improves the accuracy of human-like movements. The motion-decision algorithm based on BN is able to predict occurrence probabi

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MERKURYEV, Igor V., Chan T. CHUNG, Gasan R. SAYPULAEV, Musa R. SAYPULAEV, and Delshan DEEB. "DEVELOPMENT OF A KINEMATICS MODEL OF HUMAN FINGERS FOR APPLICATION IN ROBOTIC GLOVES." Mechanics of Machines, Mechanisms and Materials 4, no. 65 (2023): 106–13. http://dx.doi.org/10.46864/1995-0470-2023-4-65-106-113.

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This paper considers the design of an anthropomorphic manipulator in the form of a human hand. The aim of the work is to describe the kinematics of a robotic hand, using the example of one finger. Based on the Denavit–Hartenberg algorithm, a kinematic model is developed for one finger of the robotic hand. The working area of the robotic finger is determined, taking into account the limitations on the rotation angles of the finger phalanges. These kinematic equations are used to solve the problem of the speeds of one fingertip. According to the results of modeling for given speeds of the finger

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Bogdanov, Alexey, Alexander Permyakov, and Yulia Zhdanova. "Research of kinematics of an actuating group of an anthropomorphic gripper with a common drive." MATEC Web of Conferences 224 (2018): 01029. http://dx.doi.org/10.1051/matecconf/201822401029.

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Anthropomorphic robots (AR): Robonaut (USA), Asimo (Japan), FEDOR (Russia) are similar to human capabilities in performable actions. Whereby the AR efficiency depends on the anthropomorphic gripper (AG) functionality. The key problems while its developing are restrictions imposed on permissible amount of using motors. One of advanced approaches to developing of the AG with capabilities similar to a human hand is the use of a common drive wisawe3dsth a special motion transfer system (MTS). Due to including functioning connections into the MTS construction the variability of a schematic structur

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Carbajal-Espinosa, Oscar, Leobardo Campos-Macías, and Miriam Díaz-Rodriguez. "FIKA: A Conformal Geometric Algebra Approach to a Fast Inverse Kinematics Algorithm for an Anthropomorphic Robotic Arm." Machines 12, no. 1 (2024): 78. http://dx.doi.org/10.3390/machines12010078.

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This paper presents a geometric approach to solve the inverse kinematics for an anthropomorphic robotic arm with seven degrees of freedom (DoF). The proposal is based on conformal geometric algebra (CGA), by which many geometric primitives can be operated naturally and directly. CGA allows for the intersection of geometric entities such as two or more spheres or a plane’s projection over a sphere. Rigid transformations of such geometric entities are performed using only one operation through another geometric entity called a motor. CGA imposes geometric restrictions on the inverse kinematics s

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Е.В., Страшнов, та Мальцев А.В. "Планирование захвата объектов виртуальным антропоморфным роботом с применением инверсной кинематики". Труды НИИСИ РАН 9, № 3 (2019): 66–72. http://dx.doi.org/10.25682/niisi.2019.3.0009.

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В работе рассматривается задача планирования захвата объектов виртуального окружения с помощью антропоморфного робота. Суть этой задачи заключается в том, чтобы определить целевую конфигурацию (положение и ориентацию) кисти руки и пальцев робота, которая обеспечит надежный захват. Для ее решения был разработан алгоритм управления антропоморфным роботом, основанный на применении метода покоординатного спуска для расчета инверсной кинематики и виртуальных датчиков сенсорного очувствления робота. Апробация алгоритма была проведена на примере захвата антропоморфным роботов объектов стандартной фор

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Ashhepkova, Natalja. "Devising a method to analyze the current state of the manipulator workspace." Eastern-European Journal of Enterprise Technologies 1, no. 7 (109) (2021): 63–74. http://dx.doi.org/10.15587/1729-4061.2021.225121.

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This paper has proposed a program analysis method over the current state of the workspace of an anthropomorphic manipulator using the Mathcad software application package (USA). The analysis of the manipulator workspace helped solve the following sub-tasks: to calculate the limits of the grip reach, to determine the presence of "dead zones" within the manipulator workspace, to build the boundaries of the manipulator workspace. A kinematic scheme of the manipulator typically provides for at least five degrees of mobility, which is why in the three-dimensional Cartesian coordinate system the wor

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Luo, Gui Bin, Can Can Zeng, and Li Da Zhu. "Design Optimization and Control Analysis of Mechanical Arm Equipped on Wheelchair." Advanced Materials Research 983 (June 2014): 363–67. http://dx.doi.org/10.4028/www.scientific.net/amr.983.363.

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Aiming at the phenomenon that our country has a large number of disabled due to illness or accident while the corresponding assistive devices is extremely deficient, we have designed a kind of mechanical arm which is intended to be equipped on wheelchair. We adopt articulated mechanical arm with multi-DOF as its mechanical structure, and choose MCU as the main controller; therefore it can make all kinds of flexible action to achieve a variety of functions. In order to improve the accuracy of manipulator, based on experimental results, we optimize the mechanical arm’s structure, improving its s

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Quiñonez, Yadira, Jezreel Mejía, Oscar Zatarain, Carmen Lizarraga, Juan Peraza, and Rogelio Estrada. "Algorithm to Generate Trajectories in a Robotic Arm Using an LCD Touch Screen to Help Physically Disabled People." Electronics 10, no. 2 (2021): 104. http://dx.doi.org/10.3390/electronics10020104.

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In the last two-decade, robotics has attracted a lot of attention from the biomedical sectors, to help physically disabled people in their quotidian lives. Therefore, the research of robotics applied in the control of an anthropomorphic robotic arm to people assistance and rehabilitation has increased considerably. In this context, robotic control is one of the most important problems and is considered the main part of trajectory planning and motion control. The main solution for robotic control is inverse-kinematics, because it provides the angles of robotic arm joints. However, there are dis

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Kim, Je-Seok, Yong-Kwan Ji, and Jahng-Hyon Park. "Inverse Kinematics Analysis of 7-DOF Anthropomorphic Robot Arm using Conformal Geometric Algebra." Journal of the Korean Society of Precision Engineering 29, no. 10 (2012): 1119–27. http://dx.doi.org/10.7736/kspe.2012.29.10.1119.

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Stockman, Isabelle, Katarina Bohman, and Lotta Jakobsson. "Kinematics and Shoulder Belt Position of Child Anthropomorphic Test Devices During Steering Maneuvers." Traffic Injury Prevention 14, no. 8 (2013): 797–806. http://dx.doi.org/10.1080/15389588.2013.766728.

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Uboh, G. Ch, and M. A. Al Akkad. "Modeling and simulation of two ambidextrous anthropomorphic manipulators to perform cooperative tasks." Intellekt. Sist. Proizv. 20, no. 3 (2022): 42–54. http://dx.doi.org/10.22213/2410-9304-2022-3-42-54.

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This paper is focusing on the development of a robotic arm using 3D modeling and simulation. The software used is Blender, which is a 3D modeling and simulation software that also supports programming language python as the scripting language. Blender was chosen over Maya because it is a free software suitable for students to develop their projects, and share the same features, more accessible, and the design is more realistic. The robotic arm was designed after studying the human arm and hand. The kinematics of the robotic arm were derived. The simulation shows the movement of rigged objects,

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Yoganandan, N., A. Sances, and F. Pintar. "Biomechanical Evaluation of the Axial Compressive Responses of the Human Cadaveric and Manikin Necks." Journal of Biomechanical Engineering 111, no. 3 (1989): 250–55. http://dx.doi.org/10.1115/1.3168374.

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Cervical spine injuries such as wedge, burst, and tear drop fractures are often associated with compressive axial loads delivered to the human head-neck complex. Understanding the injury mechanisms, the kinematics of the anatomic structure, and the tissue tolerances can improve clinical prognosis and facilitate a better design for anthropomorphic devices. The axial compressive response of human cadaveric preparations was compared with the 50th percentile anthropomorphic Hybrid III manikin under various loading rates. Ten fresh human cadavers were used in the study. Intact cadaver torsos, head-

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40

JEAN-CHRISTOPHE, PALYART LAMARCHE, BRUNEAU OLIVIER, and FONTAINE JEAN-GUY. "FROM HUMAN MOTION CAPTURES TO HUMANOID SPATIAL COORDINATION." International Journal of Humanoid Robotics 09, no. 03 (2012): 1250019. http://dx.doi.org/10.1142/s0219843612500193.

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This paper describes a methodology translating human spatial coordination in a humanoid robots context. Once the human locomotion is captured, we highlight coordination relations describing motions. Relations and inverse kinematics are applied to a virtual humanoid, which is a tradeoff between human (anthropomorphic proportions) and robot (joints configuration). Further, we quantify all required adaptations for a real humanoid, such as scaling and equilibrium. Finally, this methodology is applied to a specific humanoid robot (called NAO) in order to illustrate and compare some preliminary resu

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Wang, Qi, Huasong Min, and Yixuan Guo. "An algorithm for trajectory optimization of dual-arm coordination based on arm angle constraints." Cobot 1 (April 19, 2022): 10. http://dx.doi.org/10.12688/cobot.17470.1.

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In this paper, the motion planning of a dual-arm robot with kinematic constraints is studied based on arm-angle constraints. When a dual-arm robot moves a common object, a closed kinematic chain is formed between the dual-arm and the object. The standard sampling-based trajectory planning algorithm solves the problem with closed-chain constraint, but this causes other problems; the running time increases, the success rate decreases, and the motion trajectory of the end effector is not smooth resulting in large output error. Therefore, this paper proposes a dual-arm coordinated trajectory optim

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Natalja, Ashhepkova. "Devising a method to analyze the current state of the manipulator workspace." Eastern-European Journal of Enterprise Technologies 1, no. 7(109) (2021): 63–74. https://doi.org/10.15587/1729-4061.2021.225121.

Full text

Abstract:

This paper has proposed a program analysis method over the current state of the workspace of an anthropomorphic manipulator using the Mathcad software application package (USA). The analysis of the manipulator workspace helped solve the following sub-tasks: to calculate the limits of the grip reach, to determine the presence of "dead zones" within the manipulator workspace, to build the boundaries of the manipulator workspace. A kinematic scheme of the manipulator typically provides for at least five degrees of mobility, which is why in the three-dimensional Cartesian coordinate syst

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GRAVEZ, FABRICE, OLIVIER BRUNEAU, and FETHI BEN OUEZDOU. "ANALYTICAL AND AUTOMATIC MODELING OF DIGITAL HUMANOIDS." International Journal of Humanoid Robotics 02, no. 03 (2005): 337–59. http://dx.doi.org/10.1142/s021984360500051x.

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The aim of this article is to achieve a parametric modeling of kinematics, geometrical and inertial properties of the various joints and links which constitute an anthropomorphic biped. The result is the automatic creation of virtual models of humanoid bipeds while respecting intrinsically the inertial and geometrical distribution of each link, according only to two parameters: the total mass and the total height of the system. Future developments are to use the analytical parameters of masses and inertia in analytical dynamic models in order to control humanoids having different masses and he

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Prasanna, J., Lakshmi Narashiman Aswin, M. Venkat Raman, Sai Prashanth, and Chordia D. Raj. "Design and Control of a Dexterous Anthropomorphic Five Fingered Robotic Arm." Applied Mechanics and Materials 541-542 (March 2014): 1097–101. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.1097.

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The primary objective of this research involves designing and fabrication of a wireless controlled five-fingered anthropomorphic dexterous robotic arm. Multiple joints are provided in the arms and fingers to mimic a realistic human-like motion. The mechanism is designed with the prime aim of increasing its efficiency in terms of performance, energy consumption and economy while reducing the total system weight. The design is followed up by the fabrication of mechanical sections of the arm and the assembly of the complete system. Finally, interfacing of the robotic arm with an external glove th

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Li, Tian, Magnenat Thalmann Nadia, Thalmann Daniel, and Zheng Jianmin. "Nature grasping by a cable-driven under-actuated anthropomorphic robotic hand." TELKOMNIKA Telecommunication, Computing, Electronics and Control 17, no. 1 (2019): 1–7. https://doi.org/10.12928/TELKOMNIKA.v17i1.11006.

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Human hand is the best sample for humanoid robotic hand and a nature grasping is the final target that most robotic hands are pursuing. Many prior researches had been done in virtual and real for simulation the human grasping. Unfortunately, there is no perfect solution to duplicate the nature grasping of human. The main difficulty comes from three points. 1. How to 3D modelling and fabricate the real hand. 2. How actuated the robotic hand as real hand. 3. How to grasp objects in different shapes like human hand. To deal with these three problems and further to provide a partial solution for d

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Semasinghe, Chathura, Drake Taylor, and Siavash Rezazadeh. "The Design and Manufacturing of Mithra: A Humanoid Robot with Anthropomorphic Attributes and High-Performance Actuators." Robotics 14, no. 3 (2025): 28. https://doi.org/10.3390/robotics14030028.

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While the concept of humanoid robots stems from the goal of replicating human movement, these systems have yet to match the elegance and efficiency of human locomotion. A key reason for this gap is that current humanoid robots differ from humans in their kinematics, dynamics, and actuator properties. This work seeks to close that gap by designing an optimized humanoid robot with characteristics closely resembling those of an average human. For this purpose, we built a detailed framework for the in-depth electromechanical modeling of actuator components. This model was used in the comprehensive

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Liang, Peidong, Lianzheng Ge, Yihuan Liu, Lijun Zhao, Ruifeng Li, and Ke Wang. "An Augmented Discrete-Time Approach for Human-Robot Collaboration." Discrete Dynamics in Nature and Society 2016 (2016): 1–13. http://dx.doi.org/10.1155/2016/9126056.

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Human-robot collaboration (HRC) is a key feature to distinguish the new generation of robots from conventional robots. Relevant HRC topics have been extensively investigated recently in academic institutes and companies to improve human and robot interactive performance. Generally, human motor control regulates human motion adaptively to the external environment with safety, compliance, stability, and efficiency. Inspired by this, we propose an augmented approach to make a robot understand human motion behaviors based on human kinematics and human postural impedance adaptation. Human kinematic

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Wang, Lan, Zheng Qian Yin, and Yuan Hang Sun. "The Analysis and Control of Exoskeleton Upper-Limb Rehabilitation Robot." Key Engineering Materials 572 (September 2013): 619–23. http://dx.doi.org/10.4028/www.scientific.net/kem.572.619.

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Based on the analysis of the methods for upper limb rehabilitation training, an anthropomorphic upper-limb exoskeleton was developed. Anatomical and physiological characteristics and upper limb joint ranges of motion are also considered. The rehabilitation robot is achieved by 4 single-axis revolute joints which are shoulder abduction-adduction (abd-add), shoulder flexion-extension (flx-ext), elbow flx-ext and wrist flx-ext. Kinematics and dynamics analysis of the rehabilitation robot are made. The passive rehabilitation mode and active rehabilitation mode are researched, and the result of exp

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Kramar, Vadim, Oleg Kramar, and Aleksey Kabanov. "An Artificial Neural Network Approach for Solving Inverse Kinematics Problem for an Anthropomorphic Manipulator of Robot SAR-401." Machines 10, no. 4 (2022): 241. http://dx.doi.org/10.3390/machines10040241.

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The paper proposes a new design of an artificial neural network for solving the inverse kinematics problem of the anthropomorphic manipulator of robot SAR-401. To build a neural network (NN), two sets were used as input data: generalized coordinates of the manipulator and elements of a homogeneous transformation matrix obtained by solving a direct kinematics problem based on the Denavi–Hartenberg notation. According to the simulation results, the NN based on the homogeneous transformation matrix showed the best accuracy. However, the accuracy was still insufficient. To increase the accuracy, a

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Kim, Young-Loul, and Jae-Bok Song. "Analytical Inverse Kinematics Algorithm for a 7 DOF Anthropomorphic Robot Arm Using Intuitive Elbow Direction." Journal of Korea Robotics Society 6, no. 1 (2011): 27–33. http://dx.doi.org/10.7746/jkros.2011.6.1.027.

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