in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

Paul Farmer*, Charles Patrick Almazor, Emily T. Bahnsen, Donna Barry, Junior Bazile, Barry R. Bloom, Niranjan Bose, Thomas Brewer, Stephen B. Calderwood, John D. Clemens, Alejandro Cravioto, Eddy Eustache, Gregory Jérôme, Neha Gupta, Jason B. Harris, Howard H. Hiatt, Cassia Holstein, Peter J. Hotez, Louise C. Ivers, Vanessa B. Kerry, Serena P. Koenig, Regina C. LaRocque, Fernet Léandre, Wesler ...

We are very proud to bring you The University of Pennsylvania Orthopaedic Journal. This is a banner year for UPOJ as we celebrate our 20 volume and our 25 anniversary. This journal, to our knowledge, is the oldest resident-run orthopaedic journal in the country. Started in 1985 by then Chair Dr. Carl Brighton, UPOJ was published continually until 1993 and reborn in 1997 with Volume 10 bringing ...

In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...

In this paper, a combination of ankle and hip strategy is used for push recovery of a position-controlled humanoid robot. Ankle strategy and hip strategy are equivalent to Center of Pressure (CoP) and Centroidal Moment Pivot (CMP) regulation respectively. For controlling the CMP and CoP we need a torque-controlled robot, however most of the conventional humanoid robots are position controlled. ...