Realistic motion and natural-looking simulations require a thorough understanding of human movement control strategies. This work presents an initial developed on virtual agents. We describe how the agent was built searching an humanoid representation through a geometric model. Although this research is based on the work of Pettré et al. [16], we are building a solid platform to give total mobi...

The main objective of this paper is to study the Euclidean displacement of a 5-DOF parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as Cartesian coordinates and Euler angles. In this paper, Study's...

Dextrous manipulation planning is a problem of paramount importance in the study of multi ngered robotic hands. In this paper, we show in general, that all system variables (the nger joint, object,and contact velocities) need to be included in the di erential kinematic equation used for manipulation planning, even if the manipulation task is only speci ed in terms of the goal con guration of th...

this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...

Knuckle biometrics is one of the current trends in biometric human identification which offers a reliable solution for verification. This paper analysis FKP recognition based on the behaviour of two different filtering and classification methods. Firstly, Gabor Filter Banks techniques are applied for finger knuckle print recognition and then the same database is analysed against Dual Tree Compl...

Robotic grasping and manipulation require controlling the gripper movement through different points in its work volume, necessitating inverse kinematics computations to determine joint angles. In the present work, a novel methodology, based on a radial basis function neural network, has been proposed for the inverse kinematics solution and a genetic algorithm-based approach for optimising the n...

Aircraft fuel tank leakage is a very common maintenance problem. A continuum robot is designed for troubleshooting of leaks for fuel tank which has strong constraints and is also explosive. The biomimetic robot with several flexible sections applies actuation redundancy through pulling its four independent driving cables to realize bending motion of two degrees of freedom (DOF). The forward kin...

Application of artificial neural network (ANN) in forward kinematic solution (FKS) of a novel co-axial parallel mechanism with six degrees of freedom (6-DOF) is addressed in Current work. The mechanism is known as six revolute-spherical-universal (RSU) and constructed by 6-RSU co-axial kinematic chains in parallel form. First, applying geometrical analysis and vectorial principles the kinematic...

October December 2016 2677 JCPS Volume 9 Issue 4 Inverse Kinematics Solution of a Five Joint Robot Using NARX Algorithm I. Jacob Raglend, M. Dev Anand, G. Glan Devadhas, D. M. Mary Synthia Regis Prabha Department of Electrical and Electronics Engineering, Noorul Islam Centre for Higher Education, Kumaracoil 629 180, Thuckalay, Kanyakumari District, Tamilnadu State, India Department of Mechanica...

In general, the identification and verification are done by passwords, PIN number, etc., which can be easily cracked by hackers. Biometrics is a powerful and unique tool based on the anatomical and behavioural characteristics of the human beings in order to prove their authentication. Security is the most important thing in the world. Password is used for security, but it does not provide the e...