Sharif Digital Repository

New methods for the Inverse and forward kinematic analysis of the novel six Degrees of Freedom (6DOF) parallel manipulator which has only two legs are presented. The actuation of the new mechanism is through two base-mounted spherical actuators. In the inverse pose kinematic, active joint variables are directly calculated with no need for the evaluation of passive joint variables. In the forward pose kinematic, closed form solution adopting a new approach is presented. It is shown that the inverse and forward pose kinematic have sixteen and four different solutions, respectively. Moreover, closed form equations for the rate kinematic analysis are proposed. Finally, two different categories... 

According to the fact that humans and animals show marvelous abilities in walking on irregular terrain, there is a strong need for adaptive algorithms in walking of biped robots to behave like them. Since the stance leg can easily rise from the ground and it can easily rotate about the toe or the heel, the problem of controlling the biped robots is difficult. In this paper, according to the adaptive locomotion patterns of animals, coordination and control of body links have been done with Central Pattern Generator (CPG) in spinal cord and feedback network from musculoskeletal system. A one layer feedforward neural network that its inputs are the scaled joint variables and the touch sensors...