In this paper, we tackle the problem of 24 hoursmonitoring patient actions in a ward such as “stretching an arm out of the bed”, “falling out of the bed”, where temporal movements are subtle or significant. In the concerned scenarios, the relations between scene layouts and body kinematics (skeletons) become important cues to recognize actions; however they are hard to be secured at a testing s...

An important problem for mechanism design and analysis is reasoning about the relationship between object shapes and their kinematic function. Such reasoning is difficult because of the unstructured influence of the shapes’ metric dimensions. In this paper, we show how a qualitative kinematic analysis can be based solely on symbolic reasoning and evaluation of predicates on metric dimensions. T...

The evolution of requirements for mechanical products toward higher performances, coupled with never ending demands for shorter product design cycle, has intensified the need for exploring new architectures and better design methodologies in order to search the optimal solutions in a larger design space including those with greater complexity which are usually not addressed by available design ...

this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

We propose a generic scheme to solve the kinematic control problem of wheeled mobile manipulators when the operational motion is imposed. We generalize the Additional Task Method to solve the control problem of these redundant nonholonomic systems.

A simple, but eeective, method of calibrating a multi-manipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and requires no measuring instrumentation. The kinematic model parameters are solved by taking advantage of the fact that the homogeneous transformation around a closed chain equals the identity matrix and d...

In migration and DMO, the kinematic problem is easier to solve than the amplitude problem. Where a purely analytical approach is normally used to obtain the amplitude of a migration operator, we attempt to obtain amplitude information by combining an assumption of a at spectrum with the kinematical formulation. This hyperbola whitening is done with a 2-D prediction-error lter. This technique is...

The solution of the inverse kinematic problem is of the utmost importance in robotic manipulator control. This article proposes a closed-loop scheme for solving the inverse kinematic problem for nonredundant and redundant wrists based on the computation of the Jacobian transpose. The manipulability measure is suitably introduced as a constraint for redundant wrists, by taking advantage of the n...

The paper at hand presents a novel, biologically inspired approach to numerically solve the inverse kinematics problem of arbitrary kinematic chains without instability problems and with low computational complexity. The kinematic chain of the robot arm is transferred to a network of behavior-based joint controllers, which try to deliver the best control value to solve the global problem. By me...

In this paper, we consider the state estimation problem for the nonlinear kinematic equations of a rigid body observed under low-pass sensors. The problem is motivated from a walking robot application where inclinometers and gyros are the sensors used. We show that a non-local high gain observer exists for the nonlinear rigid-body kinematic equations and that it under a small angle assumption i...