Abstract To accommodate the gait and balance disorder of elderly with age progression occurrence various senile diseases, this paper proposes a novel training robot (G-Balance) based on six degree-of-freedom parallel platform. Using platform movement IMU wearable sensors, two modes, i.e., active passive, are developed to achieve vestibular stimulation. Virtual reality technology is applied visu...

In this paper, an optimM trajectory planning problem for a single-link t_exiblejoint manipulator is studied. A global feedback-linearization technique is first applied to formulate the nonlinear inequality-constrained optimization problem in a suitable way. Then, an exact and explicit structural formu/a for the optimal solution of the problem is derived and the solution is shown to be unique. I...

This paper considers a nonlinear constrained optimal control problem (NCOCP) originated from energy optimal trajectory planning of servomotor systems. Solving the exact optimal solution is challenging because of the nonlinear and switching cost function, and various constraints. This paper proposes a method to manage the switching cost function to establish a set of necessary conditions of an N...

Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Se...

Belief space planning provides a principled framework to compute motion plans that explicitly gather information from sensing, as necessary, to reduce uncertainty about the robot and the environment. We consider the problem of planning in Gaussian belief spaces, which are parameterized in terms of mean states and covariances describing the uncertainty. In this work, we show that it is possible ...