A. S. Matveev, V. V. Magerkin
The paper offers general technical facts on the kinematics of a moving continuum involved in research on robotic following of flexible extended objects.
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Technical Development of a Semi-Autonomous Robotic Partition
本文详述了半自主机器人隔断的设计与工程过程，该原型随后被用于真实办公环境中的长期野外评估研究。
We present here the results of an analysis carried out by biologists and roboticists with the aim of modeling bird locomotion kinematics for robotics purposes. The aim was to develop a bio-inspired kinematic model of the bird leg from biological data. We first acquired and processed kinematic data for sagittal and top views obtained by X-ray radiography of quails walking. Data processing involved filtering and specific data reconstruction in three dimensions, as two-dimensional views cannot be synchronized. We then designed a robotic model of a bird-like leg based on a kinematic analysis of th…
In this paper we describe Robofriend, a robotic teddy bear for telling stories to young children. Robofriend adapts its behavior to keep the childrens' attention using reinforcement learning.
VLSI Architectures of Forward Kinematic Processor for Robotics Applications
本文综述机器人正向运动学VLSI架构的多种实现方案，提出开发基于FPGA的低延迟高响应速度正向运动学处理器，以满足工业自动化等实时应用需求。
In this paper, the kinematic structure of the geared robotic mechanism (GRM) is investigated with the aid of two different methods which are based on directed graphs and the methods are compared. One of the methods is Matroid Method developed by Talpasanu and the other method is Tsai-Tokad (T-T) Graph method developed by Uyguroglu and Demirel. It is shown that the kinematic structure of the geared robotic mechanism can be represented by directed graphs and angular velocity equations of the mechanisms can be systematically obtained from the graphs. The advantages and disadvantages of both metho…
Considering the difficulty of students in calculating the direct and inverse kinematics of a robotic manipulator using only conventional tools of a classroom, this article proposes the application of Project Based Learning (ABP) through the design, development, mathematical modeling of a robotic manipulator as an integrative project of the disciplines of Industrial Robotics, Microcontrollers and Computer Assisted Design with students of the Control and Automation Engineering of the University of Fortaleza. Once designed and machined, the manipulator arm was assembled using servo motors connect…
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC fails to effectively handle external forces, or even the influence of gravity, since the robot does not deform with a constant curvature under these conditions. In this paper, we establish three-dimensional (3D) modeling of a multi-segment soft robotic arm under the less restrictive assumption that each segment of the arm is deformed on a plane without twisting.…
Kinematic and Ergonomic Design of a Robotic Arm for Precision Laparoscopic Surgery
本文提出一种用于高精度腹腔镜手术的7自由度机械臂系统，结合远程运动中心与工效学设计，实验证明其显著提升了瞄准精度与任务效率，并降低了操作者的肌肉劳损。
A Kinematic Framework for Screening Candidate Pinch Configurations in Robotic Hand Design without Object or Contact Models
本文提出一种无需物体或接触模型的机械手抓取能力评估方法，通过分析指尖工作空间的交互关系，评估机械手的抓取配置，为机械手设计提供工具。
Consistency-Driven Dual LSTM Models for Kinematic Control of a Wearable Soft Robotic Arm
本文提出了一种一致性驱动的双LSTM框架，用于精确学习软气动机器人手臂的正向和逆向运动学。通过引入循环一致性损失，提升了物理真实性和逆向预测的稳定性，实验验证了方法的有效性。
Combinatorial Optimization of Robotic Hand Kinematic Structures Using a Potential-Dexterity-Based QUBO Formulation
本文提出基于二次无约束二元优化的框架，用于机器人设计优化，通过运动学结构级评估指标进行经典计算和量子退火优化，以机械手为例验证了该方法的有效性。
We present an analytical solution for the inverse kinematics (IK) of a robotic arm with one prismatic joint and four revolute joints. This 5-DoF design is a result of minimizing weight while preserving functionality of the device in a wearable usage context. Generally, the IK problem for a 5-DoF robot does not guarantee solutions due to the system being over-constrained. We obtain an analytical solution by applying geometric projections and limiting the ranges of motion for each DoF. We validate this solution by reconstructing randomly sampled end-effector poses, and find position errors below…
Bionic Reflex Control Strategy for Robotic Finger with Kinematic Constraints
本文提出了一种用于具有运动学约束的机械手指的仿生反射控制策略，通过力跟踪阻抗控制策略实现仿生反射，减少手指的动力学模型并讨论了允许精确力跟踪的阻抗控制策略，展示了单指在平面上支撑矩形物体的仿真结果，反射响应时间在毫秒级。
Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and robotics. With the vast advances of artificial neural networks (NNs), many researchers recently turned to data-driven approaches to solving the IK problem. Unfortunately, NNs become inadequate for robotic arms with redundant Degrees-of-Freedom (DoFs). This is because such arms may have multiple angle solutions to reach the same desired pose, while typical NNs on…
Post-Grasp Kinematic Repair for Robotic Insertion via Object-in-Gripper Reorientation
针对机器人插入中抓取后运动学不可行问题，提出通过夹爪内物体重定向修复，利用分支感知IK图和任务条件先验优化，仿真与真实实验验证有效。
Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects by exploiting its kinematic redundancy, referring to all its controllable DoFs. We propose a human-like grasp synthesis algorithm to generate grasps using pairwise contacts on arbitrary opposing hand surface regions, no longer limited to fingertips or hand inner surface. To model the available space of the hand for grasp, we construct a reac…
Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which is common for minimally invasive surgery, intrinsic nonlinearities are important to consider. Traditional analytical methods allow to build the kinematic model of the system by making certain assumptions and simplifications on the nonlinearities. Machine learning techniques, instead, allow to recover a more complex model based on the acquired data. However, analytical models are more generalisable, but can be over-simplified; data-driven models, on the other hand, can cater for mor…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the finger phalanges during flexion/extension of the fingers, while providing automatic adaptability for different finger sizes. Thus, the easiness of the attachment to the user's fingers and better comfort have been ensured. The analyses of the device kinematic pose, statics, and stability of grasp have been performed. These analyses have been used to optimize th…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions, such as running and hopping, the robot hardware will suffer from impacts with the environment and deform in vulnerable parts, which invalidates the predefined model. Thus, it is desired to have an adaptable kinematic structure that takes deformation into consideration. To account for this we propose an approach that models all of the robotic joints as 6-DOF…
KaRMA: A Kinematic Metric for Fine Manipulation Ability in Robotic Hands
KaRMA是一种基于运动学的指标，用于衡量机器人手在保持接触的情况下连续改变物体姿态的能力，通过球形测试物体的可达平移和重新定向来评估。
Fast Functionally Redundant Inverse Kinematics for Robotic Toolpath Optimisation in Manufacturing Tasks
本文提出了一种利用任务空间分解方法和阻尼最小二乘法的快速功能冗余逆运动学算法，用于优化机器人在非平面表面的冷喷涂工具路径。
Contact-based Grasp Control and Inverse Kinematics for a Five-fingered Robotic Hand
本文提出一种结合接触控制与逆运动学的五指机器人抓取方法，在PyBullet中基于DexHand v2实现力闭合验证的稳定抓取，实验表明其具有高运动效率与位置精度，并指出拇指对掌控制仍需改进。
A Kinematic Analysis of Palm Degrees of Freedom for Enhancing Thumb Opposability in Robotic Hands
本文通过分析手掌自由度对拇指对握能力的影响，提出了一种量化评估方法，证明手掌自由度能有效提升环指和小指的对握能力，但受限情况下需权衡冗余度与工作空间扩展。
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic model is oversimplified with intrinsic inaccuracies and its biomechanical model is too complicated for robotic applications. In this work, we establish an improved kinematic model of the wrist. In vivo kinematic behavior of the wrist was investigated through noninvasive marker-less optical tracking. Data analysis demonstrated the existence of measurable dynamic …
Kinematic Optimization of Phalanx Length Ratios in Robotic Hands Using Potential Dexterity
本文提出基于潜在灵巧性的机械手指节长度比优化框架，通过全局操作性、工作空间体积等指标评估，识别最优设计配置，分析可达性、灵巧性和可控性之间的权衡。
Improving Swimming Performance in Soft Robotic Fish with Distributed Muscles and Embedded Kinematic Sensing
为实现生物级游动性能，本研究设计了具有沿身体分布的独立可控HASEL人工肌肉和嵌入式应变片的软体机器鱼，其在共振频率下推力显著提升，为受限环境游动及感觉运动控制研究提供平台。
Kinematics-Aware Diffusion Policy with Consistent 3D Observation and Action Space for Whole-Arm Robotic Manipulation
本文提出一种基于一致3D空间的运动学感知扩散策略，用于提高全身机械臂操作的样本效率和空间泛化能力。
From the Lab to the Theater: An Unconventional Field Robotics Journey
本文探讨了机器人艺术表演的编排，重点关注通信协议和定位方法的复杂性，通过案例研究展示了部署的技术要求及与非专家合作的重要贡献。
Kinematic Optimization of a Robotic Arm for Automation Tasks with Human Demonstration
针对机械臂任务适配性差、定制设计成本高的问题，提出基于人类示教、用改进粒子群优化算法生成最优机械臂设计与任务路径的方法，可缩短上市时间、降低计算量，助力模块化标准化。
A Design and an Implementation of an Inverse Kinematics Computation in Robotics Using Real Quantifier Elimination based on Comprehensive Gröbner Systems
提出一种结合 CGS 的实量词消去方法，用于三自由度机械臂逆运动学求解，可预先验证参数可行性并复用预计算结果以避免重复计算 Gröbner 基。
Choosing the Correct Generalized Inverse for the Numerical Solution of the Inverse Kinematics of Incommensurate Robotic Manipulators
本文针对不公度机器人逆运动学问题，提出基于混合广义逆的系统数值解法，并通过六种操作臂实验证明正确选择广义逆对保持单位一致性等系统性质至关重要。
Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better perceive the environment being interacted with, there is greater sensitivity to errors in calibration of the base-to-camera transform. A secondary source of uncertainty during robotic control are inaccuracies in joint angle measurements which can be caused by biases in positioning and complex transmission effects such as backlash and cable stretch. In this wor…
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation
本研究提出分层扩散策略HDP，通过高层规划末端执行器位姿、低层结合运动学感知扩散模型生成轨迹，在仿真与真实机器人多任务操作中成功率显著优于现有方法。
Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical videos and robotic kinematics can be recorded, which provide complementary knowledge for understanding surgical gestures. However, existing methods either solely adopt uni-modal data or directly concatenate multi-modal representations, which can not sufficiently exploit the informative correlations inherent in visual and kinematics data to boost gesture recogniti…
Learning-based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism
针对面向颈椎病辅助的三链五自由度并联机器人，本文用 Koopman 算子和神经网络学习正运动学，并通过仿真与硬件实验验证其有效性。
Spatial-Temporal Graph Diffusion Policy with Kinematic Modeling for Bimanual Robotic Manipulation
针对双臂模仿学习中物理结构与运动学约束被忽视的问题，本文提出KStar Diffuser，用动态时空图条件去噪并以可微运动学优化NBP预测，在仿真和真实世界中生成更可靠动作。
Design and Modeling of a Single-Port Three-Arm Robotic Tool for Minimally Invasive Neurosurgery
本文提出一种含主管鞘和三个可转向副管鞘的单端口三臂机器人工具，集成12自由度与7自由度臂，通过肌腱驱动实现多臂操作，并验证了其静态与运动学模型。
Technical Design Review of Duke Robotics Club's Oogway: An AUV for RoboSub 2024
本文介绍了Duke Robotics Club为2024 RoboSub竞赛升级的AUV机器人Oogway，其基于独立且高度集成的子系统设计，通过升级控制系统、电气架构及声纳集成等，成功获得参赛资格。
Comprehensive Robotic Cholecystectomy Dataset (CRCD): Integrating Kinematics, Pedal Signals, and Endoscopic Videos
本文提出CRCD数据集，整合dVRK手术机器人的完整运动学、踏板输入和内窥镜视频数据，并通过预测离合器使用和摄像头激活的两个模型验证其在推动手术机器人自动化方面的价值。
Exploiting Intrinsic Kinematic Null Space for Supernumerary Robotic Limbs Control
本文提出利用人体运动链的内在运动学零空间控制SRL的额外自由度，实验证明该策略可借助超数机器人手指完成复杂任务并通过练习提升控制能力。
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less severe underwater. However, it remains a challenge to design, fabricate, waterproof, model, and control underwater soft robotic systems. Furthermore, submersible robots usually do not have configurable components because of the need for sealed electronics and mechanical elements. This work presents the development of a modular and submersible soft robotic arm d…
Bridging Semantics and Kinematics: A Modular Framework for Zero-Shot Robotic Manipulation
提出一种模块化免训练框架，通过视觉感知、语义路由和任务编排三阶段，实现零样本语言引导的机器人操作，在两种零样本实验中达到62%端到端成功率。
We present and analyze methods for the kinematic and kinetostatic calibration of, typically, wrist mounted force/torque sensors in robotics. The algorithms are based on matrix factorization and require no special equipment. The only requirement is the ability to reorient the sensor and to measure its orientation in a fixed coordinate system, such as through the forward kinematics of a robot manipulator, or using an external tracking system. We present methods to find the rotation matrix between the coordinate system of the sensor and that of the tool flange, the mass held by the force sensor a…
Machine Learning and Optimization Techniques for Solving Inverse Kinematics in a 7-DOF Robotic Arm
针对7自由度冗余机械臂的逆运动学求解问题，研究13种优化技术并提出一种融合机器学习探索能力与数值方法开发能力的新方法，速度比传统粒子群优化快200倍以上。
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for modeling those manipulators in a completely dynamic way. The proposed method enables online changes of the kinematic structure with the use of a special function; termed "meta-controlling function". This function can be used to develop policies to reduce drastically the computational cost for a single task, and to robustly control the robotic arm, even in t…
Uniform vs. Lognormal Kinematics in Robots: Perceptual Preferences for Robotic Movements
本文研究人类对机器人运动的感知偏好，基于对数正态原理开发类人运动程序，并在ABB IRB 120和UR3机器人上对比梯形与钟形速度曲线，发现受试者偏好类人运动。
Analytical Solution for Inverse Kinematics
针对月球探测漫游车系统的6自由度串联机械臂，提出基于几何原理的逆运动学闭式解析解，相比传统数值方法计算量更低，可提升空间机器人实时操作能力，支撑自主探月任务。
A Robot Kinematics Model Estimation Using Inertial Sensors for On-Site Building Robotics
本文提出“现场机器人”概念，利用连杆上的IMU传感器估计机器人运动学模型，并通过木棍机器人实验证明其在重新组装后仍能快速恢复并到达目标位置。
An Overview of Formulae for the Higher-Order Kinematics of Lower-Pair Chains with Applications in Robotics and Mechanism Theory
本文综述了低副链高阶动力学的公式，提出闭式和递推关系及各向异性动力学关系的泰勒展开，用于机器人和多体系统的运动控制与动力学。
Quantum Machine Learning and Grover's Algorithm for Quantum Optimization of Robotic Manipulators
针对高自由度机械臂优化的经典计算难题，提出融合量子机器学习与Grover算法的量子原生框架，通过参数化量子电路构建预言机实现搜索复杂度二次降低，在多类仿真任务中最高实现93倍加速，搭建了量子计算与机器人学的桥梁。
Technical Design Review of Duke Robotics Club's Oogway & Crush: AUVs for RoboSub 2026
杜克机器人俱乐部为2026年RoboSub设计的自主水下航行器Oogway和Crush，通过对机械、电气、软件子系统的改进及测试设施投资，扩展策略覆盖RoboSub四个设计目标，实现更广泛任务尝试并保持可靠性。
RobKiNet: Robotic Kinematics Informed Neural Network for Optimal Robot Configuration Prediction
提出RobKiNet框架将运动学知识融入神经网络以高效预测机器人配置，其CMP和FMP模型在实现高预测准确率的同时大幅提升了运动规划速度并显著降低了数据需求。
INGRID: Intelligent Generative Robotic Design Using Large Language Models
针对现有机器人智能受串联硬件架构限制的问题，提出融合互易螺旋理论的INGRID框架，可自动化生成新型并联机构，让非专业人员也能定制机器人硬件，为机构智能奠基。
Visual-Kinematics Graph Learning for Procedure-agnostic Instrument Tip Segmentation in Robotic Surgeries
针对机器人手术中器械尖端分割鲁棒性差的问题，提出视觉-运动学图学习框架，利用运动学几何先验增强图像特征，在多种手术过程上平均Dice提升11.2%。
Force/Torque-Based Kinematic Adaptation for Robotic Manipulation Tasks
本文提出一种仅用关节角与腕部力/力矩传感器的在线自适应方案，推导了稳定的运动学更新律，通过仿真验证其在孔轴插入任务中的有效性，为操作学习分解为任务策略与自适应运动学组件奠定基础。
Overcoming Imperfect Kinematics in Surgical Robotics Through Sim-to-Real Visuomotor Learning
提出基于教师-学生框架的视觉运动学习策略，融合不可靠内部读数与精确外部视觉数据，实时补偿运动学误差，在达芬奇研究套件上验证可行性。
Kinematics-Grounded Agentic AI for Robotic Additive Manufacturing Process Planning
提出A-RAM智能体框架，结合LLM与领域工具，实现机器人增材制造工艺规划的执行前评估，显著降低关节抖动并缩短规划时间。
SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion
SpineWave仿生机器鱼通过刚柔过渡结构模拟鱼脊柱，结合进化算法优化水动力，显著提升游泳性能，并验证了在环境监测等领域的应用潜力。
Optimal Kinematic Design of a Robotic Lizard using Four-Bar and Five-Bar Mechanisms
本文设计一种由四杆与五杆机构组成、仅用四个旋转驱动器实现身体到腿部运动传递的机器蜥蜴，并完成尺寸综合、运动学、奇异点、步态仿真与3D打印原型实验。
Aerial robotic systems have raised emerging interests in recent years. In this article, we propose a novel aerial manipulator system that is significantly different from conventional aerial discrete manipulators: An Aerial Continuum Manipulator (AeCoM). The AeCoM compactly integrates a quadrotor with a tendon-driven continuum robotic manipulator. Due to the compact design and the payload bearing ability of tendon-driven continuum robotic arms, the proposed system solved the conflict between payload capacity and dexterity lying in conventional aerial manipulators. Two contributions are made in …
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