... . collision avoidance design elasticity human-robot interaction robot dynamics service robots springs (mechanical) nonlinear stiffness passive compliance physical human-robot interaction safety mechanism In recent years, service robots have received considerable attention. Because...

.... collision avoidance motion control robot kinematics The efficient synthesis of and motion planning for spatial closed chains, such as the spatial 4C mechanism shown in Fig. 1 , requires the detection of self-collisions. Unfortunately, the current state of the art collision detection techniques...

... examples. 20 05 2005 05 10 2005 couplings collision avoidance kinematics An assembly configuration (AC), or a circuit, of a mechanism is a set of contiguous positions that the mechanism can assume without disassembly. If one must disassemble the mechanism to get from one...

... synthesis is addressed, and interference avoidance is discussed. An embodiment of the concept is also included. industrial manipulators cams (mechanical) couplings design manipulator dynamics collision avoidance spherical Stephenson mechanism dimensional synthesis nonlinear least-square...

... 2003; rev. January 2004. Associate Editor: M. Raghavan. 01 July 2003 01 January 2004 28 10 2004 mobile robots collision avoidance motion control robot kinematics handicapped aids Computer controlled omni-directional mobile platforms are needed for robotic systems...