Kinematics and Trajectory Synthesis of Manipulation Robots

Vukobratović, Miomir; Kirćanski, Manja

doi:10.1007/978-3-642-82195-0

Cited by 64 publications

(25 citation statements)

References 27 publications

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“…Therefore, planning a gait with the energy-optimized method can make bipedal locomotion more human. Vukboratovic first analyzed the torque required to achieve the joint movements from the energy point of view [65]. Capi generates the walking gait of the biped robot Bonten-Maru for the optimization target with the lowest energy and the minimum variation in joint torque [66].…”

Section: Gait Planning Based On Energy Consumption Optimizationmentioning

confidence: 99%

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

Yang

She

et al. 2017

Applied Sciences

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Abstract:The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal robots and introduces some current popular bipedal robots age. Then, the basic theory-stability control and key technology-motion planning of bipedal robots are introduced and analyzed. Bipedal robots have a wide range of applications in the service, education, entertainment, and other industries. After that, we specifically discuss the applications of bipedal robots in lower limb rehabilitation, including wearable exoskeleton robots, rehabilitation equipment, soft exoskeleton robots, and unpowered exoskeleton robots, and their control methods. Lastly, the future development and the challenges in this field are discussed.

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Section: Gait Planning Based On Energy Consumption Optimizationmentioning

confidence: 99%

State of the Art: Bipedal Robots for Lower Limb Rehabilitation

Yang

She

et al. 2017

Applied Sciences

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“…The used Euler angles system corresponds to the basic rotations (Vukobratovic & Kircanski, 1986):  P about z P ;  P about the rotated axis y P' ; and  P about the rotated axis x P'' . The rotation matrix is given by:…”

Section: Manipulator Kinematic Structurementioning

confidence: 99%

Fast Dynamic Model of a Moving-base 6-DOF Parallel Manipulator

Lopes¹

2010

Advances in Robot Manipulators

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“…There exist twelve different Euler angle systems, according to the sequence of the performed elemental rotations (Sciavicco & Siciliano, 1996). The used Euler angle system corresponds to the basic rotations (Vukobratovic & Kircanski, 1986): ψ P about z P ; θ P about the rotated axis y P' ; and ϕ P about the rotated axis x P'' . This is equivalent to a rotation of ϕ P about x B , followed by a rotation of θ P about y B , and a rotation of ψ P about z B .…”

Section: Parallel Manipulator Structurementioning

confidence: 99%