This paper describes a technique for using magnetic motion capture data to determine the joint parameters of an articulated hierarchy. This technique makes it possible to determine the limb lengths, joint locations, and sensor placement for a human subject without external measurements. Instead, the joint parameters are inferred with high accuracy from the motion data acquired during the captur...

This paper describes a technique for using magnetic motion capture data to determine the joint parameters of an articulated hierarchy. This technique makes it possible to determine the limb lengths, joint locations, and sensor placement for a human subject without external measurements. Instead, the joint parameters are inferred with high accuracy from the motion data acquired during the captur...

This paper presents the mobility augmentation method to provide omnidirectional mobility to nonomnidirectional wheeled bases. First, the kinematic model of a nonomnidirectional wheeled base and a link combined by an extra revolute/prismatic joint to the base is derived in a matrix-vector form. Then it is shown that, if the kinematic model satisfies some structural conditions, the link motion ca...

The paper investigates the control of a three prismatic-prismatic-revolute (3 PPR) U-base planar parallel manipulator in the presence of parameter uncertainties and unknown disturbances. The 3PPR U-base planar parallel manipulator is a motion platform with singularity free workspace (bounded orientation angle θz ≤ ±90 ◦) and has manipulator legs located on the plane in association with a moving...

The author has derived the closed-form dynamic equations for a planar musculoskeletal chain composed of generic number n rigid links connected by ideal revolute joints. Single-joint and multi-joint muscles have been modeled as linear force actuators that can span from one joint to all joints chain. shape size each individual link accounts different alignments among center mass link, centers rot...

The paper presents the results of multibody simulations of the step-climbing process of a small-scale ground mobile robot for surveillance and inspection, named Mantis. Mantis is a hybrid leg-wheel robot, characterized by a main body equipped with two actuated wheels and two praying mantis rotating legs; a rear frame with two idle wheels is connected to the main body by a vertical revolute join...