Advances in Robot Kinematics 2022

WorkingEnvironment.- Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion.- Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots.- A Gazebo Simulator for Continuum Parallel Robots.- Exploring Electric Field Perturbations as the Actuator for Nanorobots and Nanomachines.- PART 5: Mechanism Synthesis.- General Procedure for Path Generation Synthesis based on Kinematic constraints.- Finding Straight Line Generators through the Approximate Synthesis of Symmetric Four-bar Coupler Curves.- A Method for the Complete Set of Solutions of the Finite-Position Synthesis Problem.- Classification of Mobilities - New insights on an old topic.- First and Second Order Centrodes of Slider-Crank Mechanisms by using Instantaneous Invariants.- Spherical 4R Linkage Algebraic vi-vj Input-output Equations.- PART 6: Spherical Mechanisms.- Kinematics of a Gear-Based Spherical Mechanism.- Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions.- Wriflex: Design and Kinematic Analysis of a Self-Aligning Parallel Wrist.- Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism.- PART 7: Biomechanics.- Smooth Wrapping of Stretchable Thick Strands Over a Surface - the 2D Case.- Exploiting Reciprocity between Constraints and Instantaneous Motion to Reconstruct Individual Knee Kinematics.- Generation of Parametric Gait Patterns.- Parametrization of Compliant, Object-Level Controllers from Human Demonstrations.- PART 8: Linkages.- Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy.- The Distance Geometry of the Generalized Lobster's Arm.- Degenerate Cases in the Inverse Kinematics Problem of a General 6R Serial Robot.- The Spatial Pantograph and its Mass Balance.- A New Family of Overconstrained P5R-Mechanisms.- PART 9: Motion Planning.- Trajectory Planner for Type II Singularities Avoidance based on Output Twist Screws.- Kinematically Adapted Sampling-Based Motion Planning Algorithm for Robotic Manipulators.- Robotic Analysation Methodology for Multidirectional Additive Manufacturing Process Configuration.- An Artificial Potential Field Algorithm for Path Planning of Redundant Manipulators based on Navigation Functions.- Reactive Locomotion of a Hexapod for Navigation across Irregular Ground.-  Trajectory Tracking by Fuzzy-based Super-twist Sliding Mode Control of a Parallel PnP Robot.