Assistive free-flyers (AFFs) are an emerging robotic platform with unparalleled flight
capabilities that appear uniquely suited to exploration, surveillance, inspection, and …

In this paper, the generation of trajectories of both end-effector and joints for human-like
reaching and grasping motions is studied. In reaching movement, the human-like end …

This paper presents an analytical inverse kinematic (IK) solution for the seven degree-of-
freedom (7-DOF)“Restore” robot arm with non-zero joint offsets. We provide two closed-form …

The arm-angle was often used to parameterize the self-motion of SRS (Spherical-Revolute-
Spherical) redundant manipulators when solving the inverse kinematics. However, there …

Articulated human body tracking is one of the most thoroughly examined, yet still
challenging, tasks in Human Robot Interaction. The emergence of low-cost real-time depth …

This paper proposes a novel two-phase optimization method to solve the joint variables of a
real human model using captured motion data. A dual-mode 3D vision system was used to …

Robots become more and more omnipresent in our life and society, and many challenges
arise when we try to use them in a social context. This thesis focuses on how to generate an …

This paper describes a redundant resolution method for 7-DOF anthropomorphic
manipulator with joint limits, which considers the optimization of human-like motion and the …

This paper proposes the optimal inverse kinematic solutions of a 7R humanoid arm using
the reconfiguration method and the self-optimizing method. Firstly, based on analyses of the …

Zielsetzung dieser Arbeit ist die Untersuchung, Entwicklung und Realisierung von
Algorithmen zur Planung und Ausführung von Greif-und Manipulationsaufgaben auf …