Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Engineering
Steering A Humanoid Robot By Its Head, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond, Alain Berthoz
Steering A Humanoid Robot By Its Head, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond, Alain Berthoz
Faculty of Engineering and Information Sciences - Papers: Part B
We present a novel method of guiding a humanoid robot, including stepping, by allowing a user to move its head. The motivation behind this approach comes from research in the field of human neuroscience. In human locomotion it has been found that the head plays a very important role in guiding and planning motion. We use this idea to generate humanoid whole-body motion derived purely as a result of moving the head joint. The input to move the head joint is provided by a user via a 6D mouse. The algorithm presented in this study judges when further head movement …
Solution Of Inverse Kinematic Problem For Serial Robot Using Dual Quaterninons And Plucker Coordinates, Emre Sariyildiz, Hakan Temeltas
Solution Of Inverse Kinematic Problem For Serial Robot Using Dual Quaterninons And Plucker Coordinates, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
In this paper we present a new formulation method to solve kinematic problem of serial robot manipulators. In this method our major aims are to formulize inverse kinematic problem in a compact closed form and to avoid singularity problem. This formulation is based on screw theory with dual - quaternion. Compared with other methods, screw theory methods just establish two coordinates, and its geometrical meaning is obvious. We used dual-quaternion in plücker coordinates as a screw operator for compactness. 6R-DOF industrial robot manipulators forward and inverse kinematic equations are derived using this new formulation and simulation results are given.