Exploració per tema "Inverse kinematics"

Ara es mostren els items 1-16 de 16

    • A branch-and-prune method to solve closure equations in dual quaternions 

      Shabani, Arya; Porta Pleite, Josep Maria; Thomas, Federico (2021)
      Article
      Accés obert
      Using dual quaternions, the closure equations of a kinematic loop can be expressed as a system of multiaffine quations. In this paper, this property is leveraged to introduce a branch-and-prune method specially tailored ...

    • A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis 

      Zaplana Agut, Isiah; Basañez Villaluenga, Luis (2018-03-01)
      Article
      Accés obert
      © 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form ...

    • An effective strategy of real-time vision-based control for a Stewart platform 

      Rossell Garriga, Josep Maria; Vicente Rodrigo, Jesús; Rubió Massegú, Josep; Barcons Xixons, Víctor (2018)
      Text en actes de congrés
      Accés obert
      A Stewart platform is a kind of parallel robot which can be used for a wide variety of technological and industrial applications. In this paper, a Stewart platform designed and assembled at the Universitat Polit`ecnica de ...

    • AvatarGo: plug and play self-avatars for VR 

      Pontón Martínez, José Luis; Monclús Lahoya, Eva; Pelechano Gómez, Núria (European Association for Computer Graphics (Eurographics), 2022)
      Comunicació de congrés
      Accés obert
      The use of self-avatars in a VR application can enhance presence and embodiment which leads to a better user experience. In collaborative VR it also facilitates non-verbal communication. Currently it is possible to track ...

    • Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra 

      Zaplana Agut, Isiah; Hadfield, Hugo; Lasenby, Joan (2022-07)
      Article
      Accés restringit per política de l'editorial
      This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time, ...

    • Feasibility of motion laws for planar one degree of freedom linkage mechanisms at dead point configurations 

      Lores Garcia, Eduard; Veciana Fontanet, Joaquim Maria; Jordi Nebot, Lluïsa (2018-01-01)
      Article
      Accés obert
      This paper proposes an analytical solution of the Inverse Kinematics (IK) problem at dead point configurations for any planar one degree of freedom linkage mechanism, with regard to the continuity C n of the motion law. ...

    • Fitted avatars: automatic skeleton adjustment for self-avatars in virtual reality 

      Pontón Martínez, José Luis; Ceballos Inza, Víctor; Acosta Argueta, Lesly María; Ríos Jerez, Alejandro; Monclús Lahoya, Eva; Pelechano Gómez, Núria (2023-07-06)
      Article
      Accés obert
      In the era of the metaverse, self-avatars are gaining popularity, as they can enhance presence and provide embodiment when a user is immersed in Virtual Reality. They are also very important in collaborative Virtual Reality ...

    • IK-FA, a new heuristic inverse kinematics solver using firefly algorithm 

      Rokbani, Nizar; Casals Gelpí, Alicia; Alimi, Adel M. (Springer, 2015-11-27)
      Capítol de llibre
      Accés obert
      In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics. The proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of ...

    • Inverse Kinematics Using a Converging Paths Algorithm 

      Heidari, Omid; Pérez Gracia, Alba (Springer Nature, 2020)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      This article presents a numerical method for the inverse kinematics of serial chains by utilizing dual quaternion formulation of the robot kinematics within a converging paths algorithm. The method is inspired by iterative ...

    • Motion enriching using humanoide captured motions 

      Mutlu, Sinan (Universitat Politècnica de Catalunya, 2010-09-08)
      Projecte Final de Màster Oficial
      Accés obert
      Animated humanoid characters are a delight to watch. Nowadays they are extensively used in simulators. In military applications animated characters are used for training soldiers, in medical they are used for studying ...

    • Multi-view body tracking with a detector-driven hierarchical particle filter 

      Navarro, S.; López Méndez, Adolfo; Alcoverro Vidal, Marcel; Casas Pla, Josep Ramon (Springer, 2012)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      In this paper we present a novel approach to markerless human motion capture that robustly integrates body part detections in multiple views. The proposed method fuses cues from multiple views to enhance the propagation ...

    • Resolución geométrica de la cinemática inversa de un robot sin muñeca esférica 

      Palomo Avellaneda, Leopold; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Zaplana Agut, Isiah (Universidade da Coruña. Servizo de Publicacións, 2023)
      Comunicació de congrés
      Accés obert
      Una de las aplicaciones más conocidas del álgebra geométrica en la ingenierìa consiste en proporcionar una formulación compacta de la cinemática de los robots manipuladores serie. Sin embargo, el uso de álgebra geométrica ...

    • SparsePoser: Real-time full-body motion reconstruction from sparse data 

      Pontón Martínez, José Luis; Yun, Haoran; Aristidou, Andreas; Andújar Gran, Carlos Antonio; Pelechano Gómez, Núria (2023-10-31)
      Article
      Accés obert
      Accurate and reliable human motion reconstruction is crucial for creating natural interactions of full-body avatars in Virtual Reality (VR) and entertainment applications. As the Metaverse and social applications gain ...

    • The distance geometry of the generalized lobster’s arm 

      Thomas, Federico; Porta Pleite, Josep Maria (Springer, 2022)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      This paper proposes a distance-based formulation to solve the inverse kinematics of what is known as the generalized Lobster's arm: a 6R serial chain in which all consecutive revolute axes intersect. Since the solution of ...

    • The inverse kinematics of lobster arms 

      Thomas, Federico; Porta Pleite, Josep Maria (2024-03-21)
      Article
      Accés obert
      The roots of the closure polynomial associated with a given mechanism determine its assembly modes. In the case of 6R closed-loop mechanisms, these polynomials are usually expressed in the half-angle tangent of one of its ...

    • Tracking control for a Stewart platform prototype 

      Rossell Garriga, Josep Maria; Palacios Quiñonero, Francisco; Rubió Massegú, Josep; Vicente Rodrigo, Jesús (2015)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      A Stewart platform is a well-known mechanism which can be used for a wide variety of vibration control problems. In this paper, an LQR controller for a Stewart platform prototype is proposed which, combined with a proportional ...