inverse kinematics
A biomimetic approach to inverse kinematics for a redundant robot arm
... Cost functions have been also proposed to model motion principles of human arm movements [9]. How- ever these functions are quite complex to be used for the inverse kinematics of robots, while they are ...
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Study of the reaction mechanisms of $^{136}$Xe + p and $^{136}$Xe + $^{12}$C at 1 A GeV with inverse kinematics and large-acceptance detectors
... the inverse kinematics technique ( 136 Xe beam), of large-area detectors for the ions and the neu- trons and of a large-acceptance magnet (AL- ADiN) makes our measurement very sensitive to particles and ...
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Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints
... computing the singular value decomposition of the matrix to invert. This enables a very simple writing of the algorithm. However, the computation cost is high, especially when applied to complex robots and complex sets ...
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Probabilistic Inverse Kinematics for Human Posture Prediction during Physical Human-Robot Interaction
... and Inverse Kinematics Collaborative robots need to have an estimation of the current human posture and its future intended evolution to plan appropriate collaborative ...cases, Inverse ...
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Inverse Kinematics On-line Learning: a Kernel-Based Policy-Gradient approach
... Figure 3: Multi-joint arm control setup The task of reaching a target appearing at (x, y) with a command on joint angles (θ 1 , ..., θ D ) is a prototypic example of inverse kinematics problem. By many ways ...
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Guaranteed manipulator precision via interval analysis of inverse kinematics.
... the inverse kinemat- ics problem using interval analysis not only provides the range of joint space variables for a desired end-effector position but also allows calculation of the maximum allowable uncertainty in ...
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Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots
... Abstract—In this paper, we propose a method to combine the Finite Element Method (FEM) with Discrete Cosserat Modeling (DCM) to capture the mechanics and the actuation of soft robots. The FEM is used to simulate the ...
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Inverse kinematics proton scattering from the exotic nucleus $^{22}$O
... L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignemen[r] ...
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On the influence of the shoulder kinematic chain on joint kinematics and musculotendon lengths during wheelchair propulsion estimated from multibody kinematics optimization
... multibody kinematics optimization (MKO, also known as inverse kinematics) ...segment kinematics reconstruction, is to avoid joints dislocation and to compensate soft-tissue ...segmental ...
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A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics
... pulley kinematics is solved but the equations are not derived ...the Inverse Kinematics (IK) model (section ...differential kinematics of CDPRs taking into account the pulley kinematics ...
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The Kinematics of Manipulators Built From Closed Planar Mechanisms
... 1.9; ||C 1 C 2 || = ||C 2 C 3 || = ||C 3 G|| = 1.0; the value of L was changed from 1 to 3. A characteristic of the value S of the manipulator workspace was defined as a relation of the number of points, where there is ...
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Kinematics of A 3-PRP planar parallel robot
... A program, which implements the suggested algorithm, is developed in MATLAB to solve the inverse kinematics of the planar PRP parallel robot. For illustration, it is assumed that for a period of ...
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Collaborative Sliced Inverse Regression
... Sliced Inverse Regression (SIR) is an effective method for dimen- sionality reduction in high-dimensional regression problems. However, the method has requirements on the distribution of the predictors that are ...
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Action understanding as inverse planning
... Bayesian inverse planning models, using the models’ ability to predict future action sequences consistent with the goals inferred from earlier observed action sequences (Equation ...
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Inverse de Drazin Propriétés et applications
... d’un inverse généralisé (ou le pseudo inverse) d’une matrice (ou d’un opérateur ...cet inverse existe pour une classe aussi large d’opérateurs ...
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Student Sliced Inverse Regression
... The inverse regression approach to dimensionality reduction gained then rapid attention [8] and was generalized in [9] which shows the link between the axes spanning the central subspace and an inverse ...
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Chapitre 6 : fonction inverse
... Propriété : La fonction inverse est décroissante sur et sur. II – Etude aux bornes de l’ensemble de définition. 1°) Notion de limite. Propriété : On dit que la fonction inverse a[r] ...
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Influence of bearing kinematics hypotheses on ball bearing heat generation
... on kinematics hypotheses at the ball-race ...these kinematics hypotheses on bearing heat ...different kinematics hypotheses that can be found in literature are presented and implemented into the ...
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Monitoring rock glacier kinematics with satellite synthetic aperture radar
... The activity of rock glaciers cannot be determined easily using field observations or photographs only, as rock glaciers are composed of several superimposed rock glaciers of different generations and activity levels, ...
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Autonomous data collection techniques for approximating marine vehicle kinematics
... Once identified, this model (either in conjunction with a speed model or by assuming some speed profile) could be used to predict a vehicle's trajectory for some [r] ...
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