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Kinematics (from Greek κινεῖν, kinein, to move) is the branch of classical mechanics that describes the motion of bodies (objects) and systems (groups of objects) without consideration of the forces that cause the motion. (

Conferences related to Kinematics

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2014 IEEE International Conference on Systems, Man and Cybernetics - SMC

SMC2014 targets advances in Systems Science and Engineering, Human-Machine Systems, and Cybernetics involving state-of-art technologies interacting with humans to provide an enriching experience and thereby improving the quality of lives including theories, methodologies, and emerging applications.

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)


  • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

    Papers are solicited in all related areas in robotics and intelligent systems. Proposals for tutorials and workshops, as well as organized/special sessions are also welcome to address the emerging areas and innovative applications of new technologies.

  • 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)

    The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012) will be held in Vilamoura-Algarve, Portugal, during October 7-11, 2012. The theme of the conference will be Robotics for Quality of Life and Sustainable Development. Papers are solicited in all related areas in robotics and intelligent systems. Proposals for tutorials and workshops, as well as organized/special sessions are also welcome to address the emerging areas and innovative applications of new technologies.

  • 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)

    The 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) will be held in San Francisco, California, USA, during September 25-30, 2011. The theme of the conference will be Human- Centered Robotics, and its format will feature innovations in the form of interactive multimedia presentations and special-topic symposia celebrating 50 years of robotics.

  • 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)

    Papers are solicited in all related areas in robotics and intelligent systems. Proposals and tutorials and workshops, as well as organized/special sessions are also welcome to address the emerging areas and innovative applications of new technologies.

  • 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)

    Papers are solicited in all related areas in robotics and intelligent systems. Proposals for tutorials and workshops, as well as organized/special sessions are also welcome to address the emerging areas and innovative applications of new technologies.

  • 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)

    IROS 2008 serves as an international forum for robotics researchers to discuss and exchange their ideas on technical problems and their solutions. Conference includes technical presentations, tutorials and workshops, exhibits, posters, competitions, plenary session, and panel discussions.

  • 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)

  • 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006)

  • 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005)

2013 IEEE International Conference on Mechatronics and Automation (ICMA)

The objective of ICMA 2013 is to provide a forum for researchers, educators, engineers, and government officials involved in the general areas of mechatronics, robotics, automation and sensors to disseminate their latest research results and exchange views on the future research directions.

2013 Joint IFSA World Congress and NAFIPS Annual Meeting (IFSA/NAFIPS)

IFSA-NAFIPS 2013 aims to bring together researchers, engineers and practitioners to present the latest achievements and innovations in the area of fuzzy information processing, to discuss thought-provoking developments and challenges.

2012 24th Chinese Control and Decision Conference (CCDC)

Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.

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Periodicals related to Kinematics

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Biomedical Engineering, IEEE Transactions on

Broad coverage of concepts and methods of the physical and engineering sciences applied in biology and medicine, ranging from formalized mathematical theory through experimental science and technological development to practical clinical applications.

Robotics, IEEE Transactions on

Publishes fundamental papers on all aspects of Robotics, featuring interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, and other fields. Robots and intelligent machines and systems are critical in areas such as industrial applications; service and personal assistants; surgical operations; space, underwater, and remote exploration; entertainment; safety, search, and rescue; military applications; agriculture applications; and intelligent ...

Most published Xplore authors for Kinematics

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Xplore Articles related to Kinematics

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Force reflection distribution of haptic devices

Signal Processing and Communication Systems (ICSPCS), 2014 8th International Conference on, 2014

Haptically enabled virtual reality systems facilitate rapid and low cost testing for process design, training practices and ergonomic analysis in many manufacturing industries, particularly automotive and aerospace. In this work we design a validation framework to validate the dynamic forces displayed by haptic display devices using a robot arm equipped with a force sensor. The validation framework is completely autonomous ...

Development of a biped locomotor applicable to medical and welfare fields

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on, 2003

This paper describes a new leg module for biped locomotors. We have developed a biped locomotor, WL-15 (Waseda Leg 15), which is applicable to various fields, such as medical, welfare and entertainment. WL-15 consists of parallel mechanisms such as a high stiffness, high positioning accuracy and easily calculated inverse kinematics. A walking control program is created on the basis of ...

Disturbance attenuation and set-point regulation of rigid robots via H<sub>&infin;</sub> control

Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on, 1994

Proposes a possible strategy for disturbance attenuation and set-point regulation for a rigid robot using the notion of L2-gain of a system. The authors discuss the use of H∞ control for trajectory tracking and show, for the particular case of rigid robots, that a PD type controller is sufficient to render the closed loop system from the exogenous input (disturbances ...

Realization of a highly accurate mobile robot system for multi purpose precision forestry applications

Advanced Robotics, 2009. ICAR 2009. International Conference on, 2009

Localization, navigation and identification of characteristics of the environment are of high importance in mobile robotics. In this paper we used methods of mobile robotics to derive highly accurate position information of a wood harvester's cabin as well as of its harvesting head. In addition to enhance the harvesting process, the fusion of data provided by the sensors leads to ...

Error modeling and analysis on a kind of measurement method based on 3-DOF parallel kinematic mechanism

Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on, 2005

This paper presents a high-precision measurement method based on 3-DOF parallel kinematic mechanism for the position and attitude measurement of the moving object in a plane. The principle is explained and the error model is built in detail, then the mapping relationship between the initial errors caused by the mechanical factors and the terminal position and attitude errors is deduced. ...

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Educational Resources on Kinematics

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Adaptive nonlinear <font face="helvetica"><i>H</i></font>;<sub>&infin;</sub> techniques applied to a robot manipulator

A. A. G. Siqueira; A. Petronilho; M. H. Terra Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on, 2003

In this paper, three nonlinear _H_;∞ control techniques used to control a robot manipulator are compared. The first technique consists in an explicit solution of the robotic _H_;∞ control problem. It is found considering that the dynamic parameter matrices are exactly known. In the second, a linear parameterization is used to generate an adaptive control law in the presence of ...

Modular Structure Assembly using Gradient Field

Yuzuru Terada; Satoshi Murata 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Automated construction is in high demand in many applications in the extreme environments. Fully automatic construction system is desired but difficult to realize for many reasons. We have proposed a novel concept of full-automated construction called automatic modular assembly system (AMAS), which drastically reduces the difficulty of automated construction task. In this paper, we focus on distributed control method of ...

Merging maps of multiple robots

Nagesh Adluru; Longin Jan Latecki; Marc Sobel; Rolf Lakaemper Pattern Recognition, 2008. ICPR 2008. 19th International Conference on, 2008

Merging local maps, acquired by multiple robots, into a global map, (also known as map merging) is one of the important issues faced by virtually all cooperative exploration techniques. We present a novel and simple solution to the problem of map merging by reducing it to the problem of SLAM of a single ¿virtual¿ robot. The individual local maps and ...

Dexterous nanomanipulation of 2D hydrogel microstructure for 3D assembly by multi-robot cooperation

Ning Yu; Qing Shi; Huaping Wang; Xiaoming Liu; Shaoqi Chen; Qiang Huang; Toshio Fukuda Intelligent Control and Automation (WCICA), 2014 11th World Congress on, 2014

Robotic nanomanipulation has achieved a wide range of applications on biomedicine and facilitated a revolutionary breakthrough for it. This paper presents a dexterous nanomanipulation system with three robots coordination for the reconstruction of three-dimensional (3D) artificial microstructure. It is set up with two main components. One is the nanomanipulator with 4 degrees of freedom (DOFs) and 30nm operation precision. The ...

Kinematic model aided inertial motion tracking of human upper limb

Huiyu Zhou; Huosheng Hu 2005 IEEE International Conference on Information Acquisition, 2005

A new motion tracking framework has been developed to estimate the position and orientation of human upper limb. This method fuses data from on-board accelerometers and gyroscopes, which are accommodated in a commercially available inertial sensor MT9. Human upper limb motion can be represented by a kinematic chain in which six joint variables are to be considered: three for the ...

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  • Walking and Running on Yielding and Fluidizing Ground

    We study the detailed locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of closely packed 3 mm diameter glass particles at speeds up to 50 cm/s (5 body length/s), approaching the performance of small, highperforming, desert- dwelling lizards. To reveal how the robot achieves this high performance, we use high speed imaging to capture kinematics, and develop a numerical multi- body simulation of the robot coupled to an experimentally validated discrete element method (DEM) simulation of the granular media. Average forward speeds measured in both experiment and simulation agreed well, and increased non- linearly with stride frequency, reflecting a change in the mode of propulsion. At low frequencies, the robot used a quasi-static "rotary walking" mode, in which the granular material yielded as the legs penetrated and then solidified once vertical force balance was achieved. At high frequencies, duty factor decreased below 0.5 and aerial phases occurred. The propulsion mechanism was qualitatively different: the robot ran rapidly by utilizing the speed- dependent fluid-like inertial response of the material. We also used our simulation tool to vary substrate parameters that were inconvenient to vary in experiment (e.g., granular particle friction) to test performance and reveal limits of stability of the robot. Using small robots as physical models, our study reveals a mechanism by which small animals can achieve high performance on granular substrates, which in return advances the design and control of small robots in deformable terrains.

  • Nonlinear physically-based models for decoding motor-cortical population activity

    Neural motor prostheses (NMPs) require the accurate decoding of motor cortical population activity for the control of an artificial motor system. Previous work on cortical decoding for NMPs has focused on the recovery of hand kinematics. Human NMPs however may require the control of computer cursors or robotic devices with very different physical and dynamical properties. Here we show that the firing rates of cells in the primary motor cortex of non-human primates can be used to control the parameters of an artificial physical system exhibiting realistic dynamics. The model represents 2D hand motion in terms of a point mass connected to a system of idealized springs. The nonlinear spring coefficients are estimated from the firing rates of neurons in the motor cortex. We evaluate linear and a nonlinear decoding algorithms using neural recordings from two monkeys performing two different tasks. We found that the decoded spring coefficients produced accurate hand trajectories compared with state-of-the-art methods for direct decoding of hand kinematics. Furthermore, using a physically-based system produced decoded movements that were more "natural" in that their frequency spectrum more closely matched that of natural hand movements.

  • An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics

    Robotic hands differ in kinematics, dynamics, programming, control and sensing frameworks. Borrowing the terminology from software engineering, there is a need for middleware solutions to control the robotic hands independently from their specific structure, and focusing only on the task. Results in neuroscience concerning the synergistic organization of the human hand, are the theoretical foundation of this work, which focuses on the problem of mapping human hand synergies on robotic hands with dissimilar kinematic structures. The proposed mapping is based on the use of a virtual ellipsoid and it is mediated by a model of an anthropomorphic robotic hand able to capture the idea of synergies in human hands. This approach has been tested in two different robotic hands with an anthropomorphic and non-anthropomorphic kinematic structure.

  • Back Matter

    Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques.] This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.

  • Mechanical Engineering

    This chapter contains sections titled: Sound Mechanical Properties of Materials Beams Statics Dynamics Kinematics Friction Bearings Heat Fluid Power Mechanical Fabrication Flexible Devices Commercial Mechanical Components Null Measurement Oscillation Mechanism

  • Simplex-Tree Based Kinematics of Foldable Objects as Multi-body Systems Involving Loops

    Many practical multi-body systems involve loops. Studying the kinematics of such systems has been challenging, partly because of the requirement of maintaining loop closure constraints, which have conventionally been formulated as highly nonlinear equations in joint parameters. Recently, novel parameters defined by trees of triangles have been introduced for a broad class of linkage systems involving loops (e.g., spatial loops with spherical joints and planar loops with revolute joints); these parameters greatly simplify kinematics related computations and endow system configuration spaces with highly tractable piecewise convex geometries. In this paper, we describe a more general approach for multi-body systems, with loops, that allow construction trees of simplices. We illustrate the applicability and efficiency of our simplex-tree based approach to kinematics by a study of foldable objects. We present two sets of new parameters for single-vertex rigid fold kinematics; like the parameters in the triangle-tree prototype, each has a geometrically meaningful and computationally tractable constraint formulation, and each endows the configuration space with a nice geometry.

  • No title

    This lecture provides an introduction to the field of mobile robotics and the intersection between multiple robotics-related disciplines including electrical, mechanical, computer, software engineering and computer science. It is intended for an upper-level undergraduate or first-year graduate students interested in mobile robotics and artificial intelligence with some experience in object-oriented programming and controls. Focus areas will include robotics history, hardware, control and software. Specific topics include robot components, effectors and actuators, locomotion, kinematics, sensors, feedback control, control architectures, representation, navigation, localization and mapping. The end of each chapter includes review questions as well as exercises to provide applications for the concepts as well as opportunities for further study. Table of Contents: Introduction / Hardware / Control / Software

  • A Simple, Adaptive Locomotion Toy-System

    In order to successfully transfer biological principles to engineering problems, it is important to study the fundamental properties of biological systems. The goal is to arrive with useful abstractions that are (1) implementable, (2) testable by experiments and sample implementations, (3) retain the, for an engineering point of view, essential good properties of the biological systems. At BIRG, we are interested in the fundamentals of locomotion control and their possible applications to robotics. In this article, we present a simple, adaptive locomotion toy system that is of oscillatory nature. It is composed of two parts: an adaptive controller based on a nonlinear oscillator, and a mechanical system made of two blocks attached by an active and a passive spring. The controller is designed to be robust against perturbations, and to adapt its locomotion control to changing body kinematics or added external load. The tools to develop such a toy-system are a 2-scale nonlinear dynamical system, namely a Hopf oscillator with adaptive frequency, and a understanding of synchronization behavior of oscillators. A further central ingredient that will be discussed is the concept of asymmetric friction forces. We show that the system possesses several critical parameters. It is illustrated that the bifurcations connected with some of these parameters can be identified as non-smooth phase transitions and power law behavior. Links to biology and possible applications to robotics are discussed.

  • References

    This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics.

  • Index

    Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory. Illustrative examples appear throughout.The author begins by discussing typical robot manipulator mechanisms and their controllers. He then devotes three chapters to the analysis of robot manipulator mechanisms. He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation. A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters. The final chapter develops the concept of manipulability.The second half focuses on the control of robot manipulators. Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described. Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theory.Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering.

Standards related to Kinematics

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