Abstract: First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit-Hartenberg and Newton-Euler are used. Main aim of this work is to investigate the stability of a biped robot developed from IHRT. There is currently the low base of robot consisting of feet, legs, hips and upper part of robo...

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H ...

In this paper the direct kinematic model of a multiple applications three degrees of freedom industrial manipulator, was developed using the homogeneous transformation matrices and the Denavit Hartenberg parameters, likewise the inverse kinematic model was developed using the same method, verifying that in the workload border the inverse kinematic presents considerable errors, therefore a genet...

This article deals with the kinematics of serial manipulators. The serial manipulators are assumed to be rigid and are modeled using the well-known Denavit-Hartenberg parameters. Two well-known problems in serial manipulator kinematics, namely the direct and inverse problems, are discussed and several examples are presented. The important concept of the workspace of a serial manipulator and the...

0031-9007= In this Letter, we show that upper limits on the neutrino mass translate into upper limits on the class of neutrino-matter interactions that can generate loop corrections to the neutrino mass matrix. We apply our results to and decays and derive model-independent limits on six of the ten parameters used to parametrize contributions to decay that do not belong to the standard model. T...

Freezing of gait (FoG) is a motor impairment among patients with advanced Parkinson’s disease which is associated with falls and has a negative impact on a patient’s quality of life. Wearable systems have been developed to detect FoG and to help patients resume walking by means of rhythmical cueing. A step further is to predict the FoG and start cueing a few seconds before it happens, which mig...

Wireless Mesh Networks (WMNs) can be the key technology for the future of wireless networks. However, WMNs implementation still has many issues to be resolved especially on finding the best path to forward information. According to many researches, one of the most important component in WMNs is the routing protocol and how to make it efficient in performing the requirements of WMNs. Directional...