Author
Maria Prado
Bio: Maria Prado is an academic researcher from University of Málaga. The author has contributed to research in topics: Mobile robot & Acceleration. The author has an hindex of 9, co-authored 11 publications receiving 528 citations.
Topics: Mobile robot, Acceleration, Trajectory, Robot calibration, Kinematics
Papers
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TL;DR: The main advantages of the solution methods of optimal synthesis of planar mechanisms are its simplicity of implementation and its fast convergence to optimal solution, with no need of deep knowledge of the searching space.
311 citations
08 May 1994
TL;DR: Methods for planning mobile robot trajectories by considering the kinematic and dynamic constraints on the vehicle motion and the resulting path is smooth and quasilinear in curvature variations are presented.
Abstract: This paper presents methods for planning mobile robot trajectories by considering the kinematic and dynamic constraints on the vehicle motion. The resulting path is smooth and quasilinear in curvature variations. The maximum value of the curvature can be assured to be smaller than the value given by the constraints. Furthermore, speeds along the path are planned subject to the kinematic and dynamic constraints. The resulting trajectories provide ideal conditions for high precision path tracking and positioning. In the paper we present the application of the proposed methods to RAM-1, a new mobile robot designed and built for indoor and outdoor industrial environment. >
66 citations
TL;DR: This method allows for the application of any 3D loading condition while considering the real 3D rotation measured between the thorax and the pelvis, and makes it possible to estimate the moments that must be applied on L1 in order to maintain this rotation, taking them into account when predicting joint loads.
57 citations
TL;DR: Results show that for a similar gap in the plane of fracture, more stable fixation can be achieved when wires cross each other not only in the frontal plane of the hand, but also perpendicularly to it.
45 citations
TL;DR: Suturing a soft-tissue graft to form a closed loop enhanced the initial mechanical properties of tibial fixation with a bioabsorbable interference screw in anterior cruciate ligament reconstructions using a porcine model, and thus, this may be an efficient means to help in reducing post-operative laxity and early clinical failure.
Abstract: Purpose
In anterior cruciate ligament reconstruction with looped soft-tissue grafts, an interference screw is frequently used for tibial fixation. This study compared three alternatives thought to improve the initial mechanical properties of direct bioabsorbable interference screw fixation: suturing the graft to close the loop, adding a supplementary staple, or increasing the oversize of the screw diameter relative to the bone tunnel from 1 to 2 mm.
30 citations
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TL;DR: Clinical applications of current research should be encouraged, supported by further development of computational tools and research into new algorithms for muscle force estimation and their validation.
796 citations
21 Jul 2013
TL;DR: An interactive design system that allows non-expert users to create animated mechanical characters by sketching motion curves indicating how different parts of the character should move, and significant parts of it extend directly to non-planar mechanisms, allowing for characters with compelling 3D motions.
Abstract: We present an interactive design system that allows non-expert users to create animated mechanical characters. Given an articulated character as input, the user iteratively creates an animation by sketching motion curves indicating how different parts of the character should move. For each motion curve, our framework creates an optimized mechanism that reproduces it as closely as possible. The resulting mechanisms are attached to the character and then connected to each other using gear trains, which are created in a semi-automated fashion. The mechanical assemblies generated with our system can be driven with a single input driver, such as a hand-operated crank or an electric motor, and they can be fabricated using rapid prototyping devices. We demonstrate the versatility of our approach by designing a wide range of mechanical characters, several of which we manufactured using 3D printing. While our pipeline is designed for characters driven by planar mechanisms, significant parts of it extend directly to non-planar mechanisms, allowing us to create characters with compelling 3D motions.
254 citations
TL;DR: A computationally inexpensive, yet high performance trajectory generation algorithm for omnidirectional vehicles that is based on a small number of evaluations of simple closed-form expressions and is thus extremely efficient.
234 citations
TL;DR: Three different evolutionary algorithms such as (GA), (PSO) and (DE) have been applied for synthesis of a four-bar mechanism minimising the error between desired and obtained coupler curve and performance of DE is found to be the best.
161 citations
TL;DR: This work presents a combined genetic algorithm–fuzzy logic method to solve the problem of path generation in mechanism synthesis and proved to be more efficient in finding the optimal mechanism.
154 citations