检索范围:
排序: 展示方式:
A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables
《机械工程前沿(英文)》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0722-2
关键词: modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design
LARM PKM solutions for torso design in humanoid robots
Marco CECCARELLI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 308-316 doi: 10.1007/s11465-014-0318-6
Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.
关键词: humanoid robots torso design parallel manipulators (PKM) conceptual design
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 435-450 doi: 10.1007/s11465-021-0630-x
关键词: 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset
《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0696-0
关键词: function-oriented tendon driven prosthetic hand optimization humanoid underactuated
A novel task-oriented framework for dual-arm robotic assembly task
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 528-545 doi: 10.1007/s11465-021-0638-2
关键词: dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
《机械工程前沿(英文)》 2022年 第17卷 第1期 页码 8-8 doi: 10.1007/s11465-021-0664-0
关键词: leg–arm integration hexapod robot fixed coordinated manipulation mobile manipulation
Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton
《机械工程前沿(英文)》 2023年 第18卷 第4期 doi: 10.1007/s11465-023-0770-2
关键词: pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading capacity
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
《信息与电子工程前沿(英文)》 2015年 第16卷 第7期 页码 607-616 doi: 10.1631/FITEE.14a0335
关键词: Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential evolution (DE)
Superunderactuated Multifingered Hand for Humanoid Robot
ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei
《机械工程前沿(英文)》 2006年 第1卷 第1期 页码 33-39 doi: 10.1007/s11465-005-0015-6
A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.
关键词: control real-time control superunderactuation TH-2 personification
Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1
《机械工程前沿(英文)》 2022年 第17卷 第1期 doi: 10.1007/s11465-021-0658-y
关键词: free-floating space robot dual arm coordinated operation base attitude restoration bidirectional approach
A virtual reality system for arm and hand rehabilitation
Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO
《机械工程前沿(英文)》 2011年 第6卷 第1期 页码 23-32 doi: 10.1007/s11465-011-0202-6
This paper presents a virtual reality (VR) system for upper limb rehabilitation. The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composed of a range of the optical linear encoders (OLE) and the inertial measurement units (IMU), and two interactive practice applications designed for driving users to perform the required functional and non-functional motor recovery tasks. We describe the technique details about the two motion track components and the rational to design two practice applications. The experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately track the elbow and wrist positions. The repeatability of the Smart Glove on measuring the five fingers’ movement can be satisfied. Given the low cost, high accuracy and easy installation, the system thus promises to be a valuable complement to conventional therapeutic programs offered in rehabilitation clinics and at home.
关键词: motion tracking rehabilitation optical linear encoder (OLE) virtual reality
郑桦,丛爽
《中国工程科学》 2008年 第10卷 第10期 页码 91-95
探讨了点位控制在二自由度机械臂网络远程控制中的问题,将连续轨迹控制应用到基于关节坐标空间的机器人控制系统中,分析了在远程操控环境中实现连续轨迹控制所需要满足的条件,给出了最佳合成速度的求法,并进行了实际系统的远程控制实验,在期望时间内实现了连续、平滑的运动效果,证实了在网络远程系统的控制中采用连续轨迹控制能够获得更高的精度。
王宝宝,余世明,王振宇
《中国工程科学》 2014年 第16卷 第2期 页码 101-105
关键词: Nagle算法 死锁 延迟确认策略 ARM7 嵌入式Internet
An experimental analysis of human straight walking
Tao LI, Marco CECCARELLI
《机械工程前沿(英文)》 2013年 第8卷 第1期 页码 95-103 doi: 10.1007/s11465-013-0357-4
In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.
关键词: human locomotion walking gait characterization humanoid robot biped robot
标题 作者 时间 类型 操作
Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization
期刊论文
Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand
期刊论文
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
期刊论文
Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant humanoid
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
期刊论文
Superunderactuated Multifingered Hand for Humanoid Robot
ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei
期刊论文
Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional
Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1
期刊论文
A virtual reality system for arm and hand rehabilitation
Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO
期刊论文