Michael M. Stanisic

A humanoid shoulder complex and the humeral pointing kinematics

This paper presents a humanoid robotic shoulder complex and the kinematics of humanoid humeral pointing as performed by this complex. The humanoid shoulder complex is composed of two subsystems, a parallel mechanism which serves as the innermost shoulder girdle and a serial mechanism which serves as the outermost spherical glenohumeral joint. These two subsystems are separated by an offset distance and a twist angle. The subsystems operate cooperatively as an offset double pointing system. Humanoid humeral pointing is defined as a configuration in which the displacement of the shoulder girdle and the humerus are coplanar, and in which a ratio between an inclination angle in each subsystem achieves a constant value consistent with human humeral pointing. One redundant degree of freedom remains in the humanoid shoulder girdle, and it can be used to optimize system configuration and operating criteria, such as avoiding the singular cones of the humanoid glenohumeral joint.

Symmetrically actuated double pointing systems: the basis of singularity-free robot wrists

An analysis is conducted of symmetrically actuated double pointing systems, which are two spherical pointing systems connected serially with a common center. The double pointing systems have four degrees of freedom interrelated by two constraint functions, reducing the systems to two independent degrees of freedom. Together, these constraint functions result in a symmetry in the motion of corresponding links in each pointing system of the double system. A singularity analysis is presented of a generalized symmetrically actuated double pointing system in order to prove that it and the systems derived from it have maximal singularity-free workspaces. Closed-form solutions to the inverse position and velocity problems are presented along with different types of kinematic arrangements. Any of the double pointing systems presented can serve as the basis of a singularity-free wrist. >

Kinematic design of a humanoid robotic shoulder complex

We present a mechanical design for a humanoid robotic shoulder complex. The aim of the mechanism is to support the load of the arm and to copy four principal motions of the human shoulder in order to furnish the desired arm mobility and reachability. We utilize a fully parallel mechanism with four driven legs that provide to the movable platform (on which the arm is to be attached) three rotations and one translation. These three rotations represent the shoulders flexion-extension (about the vertical axis), the shoulders abduction-adduction (about the anterior-posterior axis), and the shoulders rotation (about the medial-lateral axis). The fourth degree of freedom is controlled depending on the angles of the first two rotations and represents the shoulder contraction and enlargement along the medial-lateral axis.

Advances in robot kinematics : motion in man and machine

Preface Chapter 1 Introduction and Announcements R. J. Ellwood, D. Schuetz, A. Raatz and J. Hesselbach: Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges K. Tcho?, J. Jakubiak and ?. Ma?ek: Dynamic Jacobian Inverses of Mobile Manipulator Kinematics N. Rojas and F. Thomas: A Robust Forward Kinematics Analysis of 3RPR planar Platforms M. Vona: Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations M. Urizar, V. Petuya, O. Altuzarra and A. Hernandez: Researching into Nonsingular Transitions in the Joint Space J.-P. Merlet: MARIONET, a Family of Modular Wire-Driven Parallel Robots A. Wolf, I. Sharf and M. B. Rubin: Using Cosserat Points Theory for Estimating Kinematics and Soft-Tissue Deformation During Gait Analysis Chapter 2: C.-C. Lee and J. M. Herve: Mechanical Generators of 2-DOF Translation Along a Ruled Surface D. Zarrouk, I. Sharf and M. Shoham: Worm-like Robotic Locomotion in Flexible Environment M. Ruggiu and J. Carretero: Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator D. Pisla, N. Plitea, B. G. Gherman, C. Vaida and M. Suciu: Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery G. Nawratil: Main Theorem on Schonflies-Singular Planar Stewart Gough Platforms M. Bergamasco, F. Salsedo, S. Marcheschi, N. Lucchesi: A Novel Actuation Module for Wearable Robots R. Vertechy, G. Berselli, M. Bergamasco and V. Parenti-Castelli: Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction S.Ambike, J. P. Schmiedeler and Stanisi?: Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy Chapter 3: S. Abdelaziz, P. Renaud, B. Bayle and M. de Mathelin: Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator De Santis, G. Di Gironimo, L. Pelliccia, B. Siciliano, A. Tarallo: Multiple-Point Kinematic Controlof a Humanoid Robot D. Alizadeh, J. Angeles and S. Nokleby: Optimum Design of a Pan-tilt Drive for Parallel Robots J. Salini, S. Barthelemy and P. Bidaud : LQP-Based Controller Design for Humanoid Whole-Body Motion M. Carricato and J. M. Rico Martinez: Persistent Screw Systems B. Bru and V. Pasqui: Localisation of the Instantaneous Axis of Rotation in Human Joints Z. Shahbazi, T. A. P. F. Pimentel, H. Ilies, K. Kazerounian and P. Burkhard: A Kinematic Observation and Conjecture for Stable Construct of a Peptide Nanoparticle M. T. Masouleh, M. Husty and C. Gosselin: Forward Kinematic Problem of 5-PRUR Parallel Mechanisms Using Study Parameters Chapter 4: D. Schutz, A. Raatz and J. Hesselbach: The Development of a Reconfigurable Parallel Robot with Binary Actuators L. Baron: On the Design of 5R Serial Manipulators with Isotropic Positioning D. Omr?en and A. Ude: A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head T. T. Um, B. Kim and F. C. Park: Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions Chapter 5: O. Anubi and C. Crane: Equilibrium Analysis of Tensegrity Structures with Elastic Ties S. Amine, D. Kanaan, S. Caro and P. Wenger: Singularity Analysis of Lower-Mobility Parallel Robots with and Articulated Nacelle E. Demircan, T. Besier, S. Menon and O. Khatib: Human Motion Reconstruction and Synthesis of Human Skills G. Wei and J. S. Dai: The Overconstrained Mechanisms with Radially Reciprocating Motion A. D. Perkins and K. J. Waldron: Control of Bipedal Turning While Running M. Carricato and J.-P. Merlet: Geometrico-static Analysis of Under-constrained Cable-driven Parallel Robots Q. Jiang and V. Kumar: The Inverse Kinematics of 3-D Towing O. Bohigas, L. Ros and M. Manubens: A Complete Method for Workspace Boundary Determination Chapter 6: J. Babi?, E. Oztop and J. Lenar?i? : Inverse Kinematics of Humanoid-Robot Reaching Through Human Visuo-Motor Learning J.

A 4-dof Parallel Mechanism Simulating the Movement of the Human Sternum-Clavicle-Scapula Complex

We present in this paper the kinematic design of a humanoid robotic shoulder complex. We utilise a parallel mechanism, which is able to replicate the principal motions of the human shoulder complex. The mechanism possesses four driven legs that provide three rotations and one translation. Compared to an anatomical model, they represent the sternoclavicular abduction-adduction and flexion-extension, the clavicular rotation, as well as the shoulder’s longitudinal contraction-elongation.

Design of a singularity-free articulated arm subassembly

Adding a redundant degree of freedom to the shoulder pointing system complex of an articulated arm subassembly makes it possible to achieve a maximal workspace that is free of singularities. This paper derives a functional constraint between three of the four joints of this new type of arm, achieving a singularity-free workspace encompassing the entire reachable volume between the maximal- and minimal-reach surfaces. The large volume of dexterous workspace is verified by animation of the resulting arm design. Graphical results from the animation are presented comparing the dexterous workspace of this new arm to that of the standard nonredundant articulated arm subassembly found in the Puma manipulator. >

Application of instantaneous invariants to the path tracking control problem of planar two degree-of-freedom systems: A singularity-free mapping of trajectory geometry

Abstract This paper presents a generalized form of planar two degree-of-freedom Curvature Theory, and applies the results to the synthesis of planar two degree-of-freedom motions. In specific, the kinematic control problem of planar path tracking systems is addressed. The theory yields a new mapping of first- and second-order differential geometric properties from the systems two-dimensional output-space (work-space) to the systems two-dimensional control-space (i.e. joint-space). This mapping is shown to be free from any kinematic singularities.

Comments and corrections

Manuscript received February 23, 2010. Current version published June 09, 2010. H. Hedayati is with Marvell Semiconductor, Inc., Santa Clara, CA 95054 USA (e-mail: hiva@marvell.com). W. Khalil is with The ElectroScience Laboratory, The Ohio State University, Columbus, OH 43212 USA (e-mail: Khalil@ece.osu.edu). B. Bakkaloglu is with the Department of Electrical Engineering, Arizona State University, Tempe, AZ 85278-8406 USA (e-mail: bertan@asu.edu). Digital Object Identifier 10.1109/JSSC.2010.2048616 The maximum in-band spur from [2] (Reference [11] in [1]) is reported incorrectly as 45 dBc, while the correct spur level should have been 64 dBc, with most of the measured ICs achieving 70 dBc. Also, the maximum noise suppression should be 33 dB, not 16 dB. We apologize for these two typos.

A dexterous humanoid shoulder mechanism

This paper presents a mechanism that has the potential to serve as a simple humanoid shoulder joint. Unlike the ball-in-socket joint or universal joint, this mechanism can replicate the range of dexterous shoulder motion found in humans. The mechanisms kinematic equations of motion are studied for singular configurations and a prototype system is presented.

An efficient technique for optimizing attachments of spherical joints in spatial linkages

Abstract This paper presents a method well-suited to the automated computer optimization of the structural attachment of spherical joints in spatial linkages. The principle objective is to determine an optimal spherical joint attachment such that the opening angle of the spherical joint is minimized, thus the socket of the spherical joint will have its maximum ball retention capability. To use the method, what is required is the input-output displacement equation. Based on this relationship, and basic concepts of analytical geometry, a multivariable nonlinear objective function is derived and modified to an unconstrained type problem. Closed form solutions to the objective function are not possible. A previous investigation suggested a brute force search technique, which examines all possibilities in order to determine the optimum. This previous method requires gross CPU time. This paper employs a numerical direct search accelerated in distance, proposed by Hooke and Jeeves, to minimize the objective function for a given set of linkage dimensions. The amount of CPU has been reduced significantly. As illustrative numerical examples we consider spatial RSSR four-bar linkages, and as a check on the optimization technique we consider the planar four bar linkage, whose optimized attachment may be determined from trigonometric relations.