The fundamental guidelines for genetic algorithm to optimal design of micro parallel robots have been introduced. It is concluded that with three basic generators selection, crossover and mutation genetic algorithm could search the optimum solution or near-optimal solution to a …
The contribution describes a general method for kinematic modeling of many wide-spread parallel kinematic machines, i.e. for the Stewart-Gough-platform, the Delta-robot, and Linaglide machines. The kinetostatic method is applied for a comprehensive kinematic analysis of these ma…
The research presented in this chapter establishes the CPM as a viable robotic device for three degrees of freedom manipulation. The manipulator offers the advantages associated with other parallel manipulators, such as light weight construction; while avoiding some of the tradi…
This chapter addresses the solution of the direct position analysis (DPA) of parallel manipulators. More specifically, it focuses on the determination of the actual configuration of parallel manipulators, which have legs of type UPS (where U, S and P are for universal, spherical…
In order to guarantee the usage of active reflector and achieve the highest working frequency requirement, 5GHz, in FAST, fitting accuracy of the active reflector is supposed to be analyzed. In this chapter, a novel 3 DOFs parallel mechanism, 3-PSS with constraint leg, is propos…
In this chapter the dynamics modeling of redundantly actuated PKM is reviewed, and the redundancy resolution is addressed. The resolution takes into account different secondary tasks, such as backlash avoidance and stiffness control. It was aimed to point out the potential of re…
In this chapter, the inverse dynamics of hexapods with fixed-length legs is analyzed using the natural orthogonal complement method, with considering the mass of the moving platform and those of the legs. A complete kinematics model is developed, which leads to an explicit expre…
This chapter focuses on the mobility analysis and synthesis of spatial parallel manipulators. It focuses on developing an analytical methodology to investigate the instantaneous DOF of the end-effector of a parallel manipulator and the instantaneous controllability of the endeff…
An optimal dimensional synthesis method suited for the DELTA robot was presente in this paper. An objective function, used the concept of the power of a point, which reflects the position of a point with respect to the boundary of the workspace. This objective function allowed u…
An application of the digital extended Kalman filter has been presented for the problem of estimating the absolute orientation of SemiQuad, a 2D dynamically stable walking robot. There are some differences between simulations and experiments, but the results still prove the abil…
In this chapter, the method to generate a trajectory of a running motion with minimum energy consumption is proposed. It is useful to know the lower bound of the consumption energy when we design the bipedal robot and select actuators. The exact and general formulation of optima…
The CPG based approach for combining rhythmic movements in two-legged robotic systems does work and produces less calculating costs than inverse kinematics (Tevatia, 2000), it results in smoother movements than using simple look up tables, and is easier to realize than neural ne…
This paper proposed a new method for humanoid robot gait generation based on several objective functions. The proposed method is based on multiobjective evolutionary algorithm. In our work, we considered two competing objective functions: MCE and MTC. Based on simulation and exp…
We proposed in this chapter the application of a collection of learning algorithms to solve a broad scope of problems. Several learning tools, such as Weighted-cluster modeling, Artificial Neural Networks, Nearest Neighbor, Hybrid Markov Chains, Geometric Hashing, Receptive Fiel…
In this chapter, we introduced the researches on energy-efficient walking of the biped robot for level ground form two viewpoints, one is semi-passive dynamic walking with only hip actuator using self-excited mechanism, another is active walking with actuators using optimal traj…
We proposed the `Sticky Hands' game as a novel interaction between human and robot. The game was implemented by combining a robot controller process and a learning algorithm with a.
Balance-Keeping Control of Upright Standing in Biped Human Beings and its Application for Stability Assessment.
