scholarly journals Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

2015 ◽  
Vol 2015 ◽  
pp. 1-14 ◽  
Author(s):  
Alejandro Said ◽  
Ernesto Rodriguez-Leal ◽  
Rogelio Soto ◽  
J. L. Gordillo ◽  
Leonardo Garrido
Keyword(s):  
Closed Form ◽  
Lower Limb ◽  
Closed Form Solution ◽  
Numerical Data ◽  
Geometric Approach ◽  
Form Solution ◽  
Experimental Implementation ◽  
Limb Kinematics ◽  
Position And Orientation ◽  
Lower Limb Kinematics

This paper presents an explicit, omnidirectional, analytical, and decoupled closed-form solution for the lower limb kinematics of the humanoid robot NAO. The paper starts by decoupling the position and orientation analysis from the overall Denavit-Hartenberg (DH) transformation matrices. Here, the joint activation sequence for the DH matrices is based on the geometry of a triangle. Furthermore, the implementation of a forward and a reversed kinematic analysis for the support and swing phase equations is developed to avoid matrix inversion. The allocation of constant transformations allows the position and orientation end-coordinate systems to be aligned with each other. Also, the redefinition of the DH transformations and the use of constraints allow decoupling the shared DOF between the legs and the torso. Finally, a geometric approach to avoid the singularities during the walking process is indicated. Numerical data is presented along with an experimental implementation to prove the validity of the analytical results.

scholarly journals A JKR-Like Solution for Viscoelastic Adhesive Contacts

2021 ◽  
Vol 7 ◽  
Author(s):  
Guido Violano ◽  
Antoine Chateauminois ◽  
Luciano Afferrante
Keyword(s):  
Closed Form ◽  
Numerical Models ◽  
Closed Form Solution ◽  
Numerical Data ◽  
Adhesive Contact ◽  
Form Solution ◽  
Contact Radius ◽  
Rigid Sphere ◽  
Soft Spheres ◽  
Adhesive Contacts

A closed-form solution for the adhesive contact of soft spheres of linear elastic material is available since 1971 thanks to the work of Johnson, Kendall, and Roberts (JKR). A similar solution for viscoelastic spheres is still missing, though semi-analytical and numerical models are available today. In this note, we propose a closed-form analytical solution, based on JKR theory, for the detachment of a rigid sphere from a viscoelastic substrate. The solution returns the applied load and contact penetration as functions of the contact radius and correctly captures the velocity-dependent nature of the viscoelastic pull-off. Moreover, a simple approach is provided to estimate the stick time, i.e., the delay between the time the sphere starts raising from the substrate and the time the contact radius starts reducing. A simple formula is also suggested for the viscoelastic pull-off force. Finally, a comparison with experimental and numerical data is shown.

scholarly journals An Efficient Closed Form Solution to the Absolute Orientation Problem for Camera with Unknown Focal Length

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6480
Author(s):  
Kai Guo ◽  
Hu Ye ◽  
Zinian Zhao ◽  
Junhao Gu
Keyword(s):  
Closed Form ◽  
Focal Length ◽  
Closed Form Solution ◽  
Geometric Approach ◽  
Polynomial Equation ◽  
Form Solution ◽  
Camera Model ◽  
Absolute Orientation ◽  
Camera Position ◽  
The Absolute

In this paper we propose an efficient closed form solution to the absolute orientation problem for cameras with an unknown focal length, from two 2D–3D point correspondences and the camera position. The problem can be decomposed into two simple sub-problems and can be solved with angle constraints. A polynomial equation of one variable is solved to determine the focal length, and then a geometric approach is used to determine the absolute orientation. The geometric derivations are easy to understand and significantly improve performance. Rewriting the camera model with the known camera position leads to a simpler and more efficient closed form solution, and this gives a single solution, without the multi-solution phenomena of perspective-three-point (P3P) solvers. Experimental results demonstrated that our proposed method has a better performance in terms of numerical stability, noise sensitivity, and computational speed, with synthetic data and real images.

On a Closed-Form Solution of Prandtl's System of Equations

2013 ◽  
Vol 40 (2) ◽  
pp. 106-114
Author(s):  
J. Venetis ◽  
Aimilios (Preferred name Emilios) Sideridis
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Form Solution ◽  
System Of Equations

scholarly journals A Closed-Form Solution to Planar Feature-Based Registration of LiDAR Point Clouds

2021 ◽  
Vol 10 (7) ◽  
pp. 435
Author(s):  
Yongbo Wang ◽  
Nanshan Zheng ◽  
Zhengfu Bian
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Simulated Data ◽  
Real Data ◽  
Point Clouds ◽  
Form Solution ◽  
Spatial Transformation ◽  
Dual Quaternions ◽  
Feature Based ◽  
Planar Feature

Since pairwise registration is a necessary step for the seamless fusion of point clouds from neighboring stations, a closed-form solution to planar feature-based registration of LiDAR (Light Detection and Ranging) point clouds is proposed in this paper. Based on the Plücker coordinate-based representation of linear features in three-dimensional space, a quad tuple-based representation of planar features is introduced, which makes it possible to directly determine the difference between any two planar features. Dual quaternions are employed to represent spatial transformation and operations between dual quaternions and the quad tuple-based representation of planar features are given, with which an error norm is constructed. Based on L2-norm-minimization, detailed derivations of the proposed solution are explained step by step. Two experiments were designed in which simulated data and real data were both used to verify the correctness and the feasibility of the proposed solution. With the simulated data, the calculated registration results were consistent with the pre-established parameters, which verifies the correctness of the presented solution. With the real data, the calculated registration results were consistent with the results calculated by iterative methods. Conclusions can be drawn from the two experiments: (1) The proposed solution does not require any initial estimates of the unknown parameters in advance, which assures the stability and robustness of the solution; (2) Using dual quaternions to represent spatial transformation greatly reduces the additional constraints in the estimation process.

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