This paper deals with motion capture of kinematic chains (e.g. human skeletons) from monocular image sequences taken by uncalibrated cameras. We present a method based on projecting an observation into a kinematic chain space (KCS). An optimization of the nuclear norm is proposed that implicitly enforces structural properties of the kinematic chain. Unlike other approaches our method does not r...

In this paper conformal geometric algebra is used to formalize an algebraic embedding for the problem of monocular pose estimation of kinematic chains. The problem is modeled on the base of several geometric constraint equations. In conformal geometric algebra the resulting equations are compact and clear. To solve the equations we linearize and iterate the equations to approximate the pose and...

We present algorithms for kinematic manipulation of molecular chains subject to xed bond lengths and bond angles. They are useful for calculating con-formations of a molecule subject to geometric constraints , such as those derived from two-dimensional NMR experiments. Other applications include searching out the full range of conformations available to a molecule such as cyclic conngurations. ...

In this paper the author used graph theory and combinatorial analysis for enumeration of graphs of kinematic chains. Contracted graphs with up to four loops and six vertices are provided in Table 4. Based on the concept of expansion from contracted graphs, conventional graphs are generated. Conventional graphs with up to three independent loops and eight vertices are tabulated in Tables 5,6,7, ...

We consider kinematic chains evolving on a nite{ dimensional Lie group G under nonholonomic constraints, where snake{like global motion is induced by shape variations of the system. In particular, we consider the case when the evolution of the system is restricted to a subspace h of the corresponding Lie algebra G; where h is not a subalgebra of G and it generates the whole algebra under Lie br...

Robots providing meaningful services in unconstraint environments require advanced mobility, manipulation, sensing and perception capabilities. KUKA’s task in DESIRE was to develop robot arms and control hardware and software that are flexible with respect to the number of degrees of freedom and their connections to build kinematic chains and the type of sensors used to perceive the environment...

Let (A, m) be an excellent normal local ring with algebraically closed residue class field. Given integrally closed m-primary ideals I ⊃ J , we show that there is a composition series between I and J , by integrally closed ideals only. Also we show that any given integrally closed m-primary ideal I, the family of integrally closed ideals J ⊂ I, lA(I/J) = 1 forms an algebraic variety with dimens...

Two methods for determining dexterity of manipulator arms are presented. A numerical method is illustrated for determining all possible orientations of the end-effector of an open kinematic chain based upon a row-rank deficiency of the sub-Jacobian of the kinematic constraint equations. This numerical method has been adapted from a theory for determining the accessible output set for planar and...

The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the elastic potential energy of a linear spring attached coupler link four-bar mechanisms manipulate force singularities. We developed theoretical model explore pa...