Performance measures are quintessential to the design, synthesis, study and application of
robotic manipulators. Numerous performance measures have been defined to study the …

In this paper, an attempt at summarizing the evolution and the state of the art in the field of
robot hands is made. In such exposition, a critical evaluation of what in the author's view are …

Proteins are essential for almost all biological processes and derive their diverse functions
from complex 3D structures, which are in turn determined by their amino acid sequences. In …

The classical Fourier transform is one of the most widely used mathematical tools in
engineering. However, few engineers know that extensions of harmonic analysis to …

Humans have at some point learned an abstraction of the capabilities of their arms. By just
looking at the scene they can decide which places or objects they can easily reach and …

A robot kinematic calibration method based on the local frame representation of the product-
of-exponentials (Local POE) formula is introduced. In this method, the twist coordinates of …

The concept of distance between two rigid-body poses is important in path planning,
positioning precision, mechanism synthesis, and in many other applications. In the definition …

The differential kinematic equations (DKE) of parallel manip ulators usually involve two
Jacobian matrices that, depending on the role they play in the kinetostatic transformation …

This paper addresses the problem of generating smooth trajectories between an initial and a
final position and orientation in space. The main idea is to define a functional depending on …

This paper presents a comparative evaluation of different distance metrics and local
planners within the content of probabilistic roadmap methods for motion planning. Both C …