This paper presents an efficient optimal control and recursive dynamics-based computer animation system for simulating and controlling the motion of articulated figures. A quasi-Newton nonlinear programming technique (super-linear convergence) is implemented to solve minimum torque-based human motion-planning problems. The explicit analytical gradients needed in the dynamics are derived using a...

All over the world it can be noticed that the product miniaturisation is a central theme in product development for different application areas. In robotics scientific research one of the most important approaches is concerning the raise of the positioning accuracy by the use of parallel structures. The progress of the industrial production, especially the development of the industrial robotics...

In this paper, we consider the problem of e ciently simulating large interconnected mechanical systems. For applications such as haptic rendering of large, complex virtual environments, dynamic simulation software and hardware is still too slow to a ord accurate performance in real{time. In particular, mechanisms with closed kinematic chains necessitate solutions to a set of di erential equatio...

Optimal force distribution has been active field of research for multifingered hand grasping, cooperative manipulators and walking machines. The articulated body mobile robot “KORYU” composed of cylindrical segments linked in series and equipped with many wheels have a different mechanical topology, but it forms many closed kinematic chains through the ground and presents similar characteristic...

The accurate model-based servo-control of wheeled mobile robots (WMRs) relies upon the formulation of realistic kinematic and dynamic models. We* identify six special WMR characteristics (closed-chains, hig her-pair joints, unactuated and unsensed joints, friction, and pulse-width modulation) that require methodologies for modeling and control beyond those conventionally applied to stationary m...