Robot kinematics
Related papers: 20
About
Robot kinematics is the mathematical study of motion in robotic systems, describing how a robot's physical structure moves through space without considering the forces that cause that motion. It establishes the geometric relationships between a robot's joints, links, and end-effector, enabling engineers to solve two fundamental problems: forward kinematics (determining end-effector position given joint configurations) and inverse kinematics (finding joint configurations to achieve a desired position or orientation). These principles apply across diverse robot types, from rigid serial manipulators and mobile wheeled platforms to continuum robots with flexible, continuously deforming bodies and legged systems like quadrupeds and humanoids. In practice, kinematic models underpin motion planning, trajectory control, redundancy resolution, and collision avoidance. They are also essential for robot calibration, which corrects real-world deviations from ideal models to improve accuracy. As robots increasingly operate alongside humans in unstructured environments, robust kinematic frameworks are critical for achieving precise, safe, and adaptable behavior across the full spectrum of robotic applications.
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Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
Robert J. Webster, Bryan A. Jones
Citations: 2213 • 2010
The development of Honda humanoid robot
Kazuo Hirai, Masato Hirose, Y. Haikawa, Toru Takenaka
Citations: 1925 • 2002
Task-Priority Based Redundancy Control of Robot Manipulators
Yoshihiko Nakamura, Hideo Hanafusa, Tsuneo Yoshikawa
Citations: 1002 • 1987
Kinematics for multisection continuum robots
Cliff B. Jones, Ian D. Walker
Citations: 937 • 2006
Adaptive tracking control of a nonholonomic mobile robot
Takanori Fukao, Hidetoshi Nakagawa, N. Adachi
Citations: 800 • 2000
Design and Control of Concentric-Tube Robots
Pierre E. Dupont, Jesse Lock, Brandon Itkowitz, Evan J. Butler
Citations: 733 • 2010
Control of a nonholonomic mobile robot using neural networks
Rafael Fierro, Frank L. Lewis
Citations: 714 • 1998
Control of a nonholonomic mobile robot: backstepping kinematics into dynamics
Rafael Fierro, Frank L. Lewis
Citations: 658 • 2002
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading
D. Caleb Rucker, Robert J. Webster
Citations: 616 • 2011
A modal approach to hyper-redundant manipulator kinematics
Gregory S. Chirikjian, Joel W. Burdick
Citations: 584 • 1994
Kinematic control of redundant robot manipulators: A tutorial
Bruno Siciliano
Citations: 579 • 1990
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control
Benjamin Katz, Jared Di Carlo, Sangbae Kim
Citations: 540 • 2019
An overview of robot calibration
Zvi S. Roth, B. W. Mooring, Bahram Ravani
Citations: 503 • 1987
Adaptive Parameter Estimation and Control Design for Robot Manipulators With Finite-Time Convergence
Chenguang Yang, Yiming Jiang, Wei He, Jing Na, Zhijun Li, Bin Xu
Citations: 462 • 2018
Kinematic modeling of wheeled mobile robots
Patrick F. Muir, Charles P. Neuman
Citations: 445 • 1987
Fundamentals of manipulator calibration
Citations: 430 • 1992
Whole-body motion planning with centroidal dynamics and full kinematics
Hongkai Dai, Andrés Valenzuela, Russ Tedrake
Citations: 418 • 2014
A depth space approach to human-robot collision avoidance
Fabrizio Flacco, Torsten Kröger, Alessandro De Luca, Oussama Khatib
Citations: 418 • 2012
Development of flexible microactuator and its applications to robotic mechanisms
Koichi Suzumori, S. Iikura, Hirohisa Tanaka
Citations: 403 • 2002
The kinematics of hyper-redundant robot locomotion
Gregory S. Chirikjian, Joel W. Burdick
Citations: 398 • 1995