... computing optimisation Typical task-driven problems, also known as motion synthesis problems, seek to synthesize the mechanisms that guide a rigid body to navigate through, or as close as possible to a prescribed motion, which is usually specified as either a set of finite or a continuous time...

... their inspiration from recent advances in robot kinematic architectures, in particular, parallel kinematics machines (PKMs) ( 1 ). PKMs are already used with success in some industrial domains. machine tools measurement systems optimisation parallel machines separation 17 09 2009 29 01...

... to determine. Only an approximate optimal architecture is available. 18 04 2008 21 11 2008 14 07 2009 geometry manipulator dynamics optimisation MSSM Gough–Stewart platform singularity-free workspace geometric optimization reference orientation Parallel mechanisms...

... kinetoelastic model translational joints design engineering elasticity optimisation 15 05 2008 30 10 2008 12 01 2009 2009 American Society of Mechanical Engineers ...

... locomotion mechanical contact numerical analysis optimisation prototypes redundant manipulators robot dynamics Although recent biped robots have displayed impressive movement coordination skills that require balance and dexterity, as of yet none can even remotely approach the ability of humans...

.... 22 04 2008 20 06 2008 30 07 2008 elastic constants Internet numerical analysis optimisation structural engineering computing topology There is a universally accepted formulation for the topology optimization of the stiffest structures, which is minimizing the mean...

... with explosive leg power. At present, actuator power is still a major limitation with legged machines, making dynamic maneuvers an elusive goal. series-elastic actuator legged robot jump dynamic manuevers actuators dynamic response elasticity legged locomotion optimisation prototypes...