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5 papers · 2 filters
Using virtual human for an interactive customer-oriented constrained environment design
Liang Ma, Ruina Ma, Damien Chablat +1
For industrial product design, it is very important to take into account assembly/disassembly and maintenance operations during the conceptual and prototype design stage. For these…
On the determination of cusp points of 3-R\underline{P}R parallel manipulators
Guillaume Inria Moroz, Fabrice Rouiller, Damien Chablat +1
This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role…
Fatigue evaluation in maintenance and assembly operations by digital human simulation
Liang Ma, Damien Chablat, Fouad Bennis +3
Virtual human techniques have been used a lot in industrial design in order to consider human factors and ergonomics as early as possible. The physical status (the physical capacit…
Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot
Christine Chevallereau, Jessy W. Grizzle, Ching-Long Shih
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two le…
Position Analysis of the RRP-3(SS) Multi-Loop Spatial Structure
Carlo Innocenti, Philippe Wenger
The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stan…