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Angle Joint

The Experts below are selected from a list of 219 Experts worldwide ranked by ideXlab platform

S. Arimoto – 1st expert on this subject based on the ideXlab platform

  • Multi-fingered dynamic blind grasping with tactile feedback in a horizontal plane
    Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 2006
    Co-Authors: R. Ozawa, S. Arimoto

    Abstract:

    In this paper we propose a control method for pinching an arbitrary shaped object in a horizontal plane by a multi-fingered robot with arbitrary shaped fingertips. It is assumed that the constraints between the fingertips and the object is rolling and smooth, and each finger contacts with the object at one point. The controller requires no object information, no preplanning and no force sensors. It uses only Joint Angle, Joint angular velocity, contact points (tactile feedback) and the fingers’ link length. The paper begins with an derivation of dynamics of the finger-object system. We propose a stable grasping controller and briefly show the proof of dynamic stability of the system. The simulation results demonstrate that the controller with tactile feedback can easily realize the stable pinching

  • ICRA – Multi-fingered dynamic blind grasping with tactile feedback in a horizontal plane
    Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 2006
    Co-Authors: R. Ozawa, S. Arimoto

    Abstract:

    In this paper we propose a control method for pinching an arbitrary shaped object in a horizontal plane by a multi-fingered robot with arbitrary shaped fingertips. It is assumed that the constraints between the fingertips and the object is rolling and smooth, and each finger contacts with the object at one point. The controller requires no object information, no preplanning and no force sensors. It uses only Joint Angle, Joint angular velocity, contact points (tactile feedback) and the fingers’ link length. The paper begins with an derivation of dynamics of the finger-object system. We propose a stable grasping controller and briefly show the proof of dynamic stability of the system. The simulation results demonstrate that the controller with tactile feedback can easily realize the stable pinching

Shimada Yoshinari – 2nd expert on this subject based on the ideXlab platform

  • Gait analysis using gravitational acceleration measured by wearable sensors
    Journal of Biomechanics, 2009
    Co-Authors: Ryo Takeda, Shigeru Tadano, Masahiro Todoh, Manabu Morikawa, Minoru Nakayasu, Shimada Yoshinari

    Abstract:

    A novel method for measuring human gait posture using wearable sensor units is proposed. The sensor units consist of a tri-axial acceleration sensor and three gyro sensors aligned on three axes. The acceleration and angular velocity during walking were measured with seven sensor units worn on the abdomen and the lower limb segments (both thighs, shanks and feet). The three-dimensional positions of each Joint are calculated from each segment length and Joint Angle. Joint Angle can be estimated mechanically from the gravitational acceleration along the anterior axis of the segment. However, the acceleration data during walking includes three major components; translational acceleration, gravitational acceleration and external noise. Therefore, an optimization analysis was represented to separate only the gravitational acceleration from the acceleration data. Because the cyclic patterns of acceleration data can be found during constant walking, a FFT analysis was applied to obtain some characteristic frequencies in it. A pattern of gravitational acceleration was assumed using some parts of these characteristic frequencies. Every Joint position was calculated from the pattern under the condition of physiological motion range of each Joint. An optimized pattern of the gravitational acceleration was selected as a solution of an inverse problem. Gaits of three healthy volunteers were measured by walking for 20 s on a flat floor. As a result, the acceleration data of every segment was measured simultaneously. The characteristic three-dimensional walking could be shown by the expression using a stick figure model. In addition, the trajectories of the knee Joint in the horizontal plane could be checked by visual imaging on a PC. Therefore, this method provides important quantitive information for gait diagnosis. ?? 2008 Elsevier Ltd. All rights reserved.

Ansi Peng – 3rd expert on this subject based on the ideXlab platform

  • ROBIO – Dynamic trajectory planning of underwater hydraulic manipulator in Joint space
    2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 2014
    Co-Authors: Fengjie Qu, Yimin Zhou, Xinyu Wu, Qifeng Zhang, Ansi Peng

    Abstract:

    7-Function underwater hydraulic manipulator can be mounted on underwater vehicles such as ROVs to achieve underwater operation. When the underwater vehicle is hovering in the sea, the target is in dynamic motion state compared to the vehicle position, which makes difficult for operators to accomplish dynamic operation task. Based on the underwater hydraulic manipulator structure characteristics, Joint Angle, Joint angular velocity and total flow constraints are analyzed for manipulator trajectory generation. Cubic B-spline is applied to generate Joint trajectories. To generate dynamic target trajectories, a method that can modify control points by calculating adjacent control points’ intervals to fit the dynamic target is proposed. It can easily achieve synchronization and does not need to determine the total execution time before operation. Simulation experiments are performed to verify the efficacy of the proposed algorithm.

  • Dynamic trajectory planning of underwater hydraulic manipulator in Joint space
    2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 2014
    Co-Authors: Fengjie Qu, Yimin Zhou, Xinyu Wu, Qifeng Zhang, Ansi Peng

    Abstract:

    7-Function underwater hydraulic manipulator can be mounted on underwater vehicles such as ROVs to achieve underwater operation. When the underwater vehicle is hovering in the sea, the target is in dynamic motion state compared to the vehicle position, which makes difficult for operators to accomplish dynamic operation task. Based on the underwater hydraulic manipulator structure characteristics, Joint Angle, Joint angular velocity and total flow constraints are analyzed for manipulator trajectory generation. Cubic B-spline is applied to generate Joint trajectories. To generate dynamic target trajectories, a method that can modify control points by calculating adjacent control points’ intervals to fit the dynamic target is proposed. It can easily achieve synchronization and does not need to determine the total execution time before operation. Simulation experiments are performed to verify the efficacy of the proposed algorithm.