Abstract: Kinematics, derived from the Greek word for motion, is the branch of mechanics that studies the motion of a body, or a system of bodies, without considering mass or force. This two-part ...

This repository contains a collection of Jupyter Notebooks designed to accompany the two-part Tutorial on Manipulator Differential Kinematics, where each Notebook corresponds to a section within the ...

With this code example, we aim to guide you through the theory and the practical implementation of those methods that are traditionally employed to solve the Inverse Kinematics (IK) problem. In ...

Abstract: Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic ...