Reach and grasp are the two key functions of human prehension. The Central Nervous System controls these two functions in a separate but interdependent way. The choice between different solutions to reach and grasp an object – provided by multiple and redundant degrees of freedom (dof) – depends both on the properties and on the use (affordance) of the object to be manipulated. This same contro...

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in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

This paper presents strategies for point-to-point reactionless manipulation of a satellite mounted dual-arm robotic system for capture of tumbling orbiting objects, such as out-ofcommission satellites and space debris. Use of the dual-arm robot could be more effective than the single arm when there is no provision for a grapple fixture or the object is tumbling. The dual arms can also provide d...

Arm-Z is a concept of robotic manipulator comprised linearly joined congruent modules with possibility relative twist (1 DOF). The advantages are: economization (mass-production) and robustness (modules which failed can be replaced, also if some fail the system perform certain tasks). Non-intuitive difficult control are disadvantages Arm-Z. In other words, combination non-trivial module shape f...

This paper focuses firstly, on the kinematics structure required for a humanoid service robot arm and secondly, on transferring human motion obtained from visual motion capture to the humanoid arm. The kinematics structure of a ten Degree of Freedom (DOF) humanoid arm which has a two DOF shoulder girdle and has a four DOF glenohumeral joint is presented. A method of obtaining the sternum positi...

conclusions rtesd in the prone position is safe and presents a feasible alternative for management of large rectal tumors. we also anticipate the technique to further improve with the advancement of robotic technology. introduction endoscopic submucosal dissection (esd) of large tumors of the rectum is particularly challenging using colonoscopy or with laparoscopic instruments. more recently ro...

In this paper we present the design, development and space test of the world's first precise telerobotic system boarded on an unmanned space vehicle, ETS-VII (Engineering Test Satellite VII). The robotic system has features of skill and autonomy using a three-finger multisensory hand at a work site in space and computer graphicsbased desktop telerobotics at a control site on the ground. We deve...