Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 16 of 16 for “"Kinematic Chain"”.
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Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots
… chapter 3 I will present a novel formulation of kinematic chains as monoids, which provides a concise representation of the kinodynamics of the limbs of a walking robot. The proposed approach enables easier and more efficient constraints in trajectory planning optimization for robots assuming …
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Kinematic Chain Modelling of Rotary System as Applied to a Selectric Typewriter
Kinematic chains were created for the rotation and tilting mechanisms of an IBM Selectric II Typewriter. The chain for the rotation mechanism was used to create a homogeneous transform matrix system that allowed the position of the printing character in a local coordinate system to be represented …
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Extra robotic legs for augmenting human payload and positioning capabilities
… exploiting torque redistribution using a closed kinematic chain. A prototype was fabricated utilizing insights gained from force analyses and human-robot interaction safety requirements.
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Holotab: Design and Evaluation of Interaction Techniques for a Handheld 3D Light Field Display
… using a system where users leverage the kinematic chain to perform bimanual input. The users control the camera viewport using the Holotab, and to perform object manipulation using 3D printed tools in parallel. In this study, we found that the performance of our path traversing task …
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Design and Control of an Ergonomic Wearable Full-Wrist Exoskeleton for Pathological Tremor Alleviation
… When TAWE is equipped by the user, a closed-kinematic chain is formed between the exoskeleton and the forearm. We analyze the coupled multibody dynamics of the human-exoskeleton system, which reveals a few robotic control problems - (i) The first problem is the identification of the unknown …
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Kinematic Design and Analysis of a Morphing Wing
… wing mechanism using a single degree-of-freedom kinematic chain. In this work, the concept is introduced with sufficient background to aid in understanding. The design tools developed include a synthesis procedure and a sensitivity analysis to determine the effects of manufacturing errors.
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A compositional approach to robotic impedance control
… those which involve manipulation into kinematic singularities, and those which might involve collaborative or closed kinematic chain manipulation with multiple actuators. In this work, compositional impedance control, or linearly superimposing impedance controllers on a robot, is …
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Método dimensional óptimo de sistemas multicuerpo con restricciones dinámicas: aplicación al diseño de mecanismos planos
… systems with topological, geometric, position, kinematic and dynamic constraints. The method is based on the minimization of an elastic potential energy objective function whose design variables are natural coordinates and bar lengths of the system with a system modelling similar to that used in …
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Model and control of tendon actuated robots
… finally, in the reduced cost of the resulting kinematic chain. After a brief discussion about the benefits that the use of tendons can introduce in the motion control of a robotic device, the design and control aspects of the UB Hand 3 anthropomorphic robotic hand are presented. In particular, …
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Design and Integration of a Novel Robotic Leg Mechanism for Dynamic Locomotion at High-Speeds
… link lengths, is presented and subjected to kinematic analysis to evaluate the resulting trajectory. To improve the result and to analyze the effect of key link lengths, sensitivity analysis is then performed. Further, a reference trajectory is established and a parametric optimization over …
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Hierarchical design of morphing shape-memory polymer structures via topology optimization
… and bending structures are fabricated and their kinematic characteristics are validated using a 4D printing technique. The main goal of this design stage is to use these basic twisting and bending structures to computationally design a self-tying knot. A forward kinematics framework is …
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Effect of control interface implementation on operation of a multi degree of freedom telerobotic arm
… between different segments of the human arm kinematic chain. The single input method exhibited high workload in addition to reduced efficiency as compared to the joystick control group. The gesture mapping inspired by human motor control showed potential for performance equivalent to …
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Biomechanical investigation of the hallux metatarsophalangeal joint
… which forms the distal link in the lower limb kinematic chain. With its small polyarticular construct and flexibility, it supports the body and provides balance during walking. The first metatarsophalangeal joint (MTPJ) is a vital joint in the forefoot for normal load transmission and energy …
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Relationships between lumbar inter-vertebral kinematics and paraspinal myoelectric activity during sagittal flexion: a quantitative fluoroscopy and surface electromyography study
… the spine is a complex structure with a hidden kinematic chain. Quantitative fluoroscopy (QF) is an imaging technology capable of measuring continuous spinal kinematics at the inter-vertebral level, and surface electromyography (sEMG) provides a non-invasive means of objectively quantifying …
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Vibration as a method for muscular stimulation
… results. Since local stimulus depends on the kinematic chain involved, WBV muscle stimulation has to take into account the transmissibility of the stimulus along the body segment in order to ensure that vibratory stimulation effectively reaches the target muscle. Combination of local resonance …