1,721,262 research outputs found
Inversion of Matrices and Matrix Functions as a Nonlinear Discrete System: stability and Sensitivity Analysis
No full textA technique for the recursive inversion of matrices and matrix functions is presented.
The proposed method can be modelled as a discrete nonlinear dynamic system. Convergence,
stability and robustness properties are discussed and eventually verified through various numerical
experiments
Coordinate transformation and on-line planning for position/force control of constrained robots
No full text
Design of a Humanoid Robot Eye
No full textThis chapter addresses the design of a robot eye featuring the mechanics and motion
characteristics of a human one. In particular the goal is to provide guidelines for the
implementation of a tendon driven robot capable to emulate saccadic motions.
In the first part of this chapter the physiological and mechanical characteristics of the eyeplant1
in humans and primates will be reviewed. Then, the fundamental motion strategies
used by humans during saccadic motions will be discussed, and the mathematical
formulation of the relevant Listing’s Law and Half-Angle Rule, which specify the geometric
and kinematic characteristics of ocular saccadic motions, will be introduced
- …
