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"This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man. "

"Pada penelitian sebelumnya, Orion diidentifikasi memerlukan robotic arm untuk meningkatkan kapabilitas dalam pengendalian kamera. Robotic arm ini sangat penting untuk memastikan identifikasi anomali atau cacat dalam pengambilan gambar dapat dilakukan dengan lebih efisien. Penelitian ini bertujuan untuk mengeksplorasi integrasi antara Orion dan robotic arm melalui pemodelan 3D CAD, serta melakukan pengujian terhadap model CAD menggunakan metode kinematika maju. Namun, hasil yang diperoleh menunjukkan bahwa pemodelan kinematika maju tidak sesuai dengan harapan yang diinginkan. Temuan ini menekankan perlunya evaluasi lebih lanjut untuk memperbaiki kesalahan dalam desain dan implementasi sistem robotic arm.

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In previous research, Orion was identified as needing a robotic arm to enhance its capabilities in camera control. This robotic arm is crucial to ensure that the identification of anomalies or defects in image capturing can be performed more efficiently. This study aims to explore the integration between Orion and the robotic arm through 3D CAD modeling, as well as to test the CAD model using forward kinematics methods. However, the results obtained indicate that the forward kinematics modeling did not meet the desired expectations."

"ABSTRAKKestabilan dari pergerakan kaki adalah salah satu tantangan robot humanoid. Maka desain dalam pergerakan robot menjadi penting. Penelitian ini bertujuan untuk mendesain gerak jalan menggunakan model kinematika terbalik dan mengukur kestabilan robot menggunakan pendekatan zero momen point. Pemilihan material dan mengukur kekuatan struktur robot menggunakan metode elemen hingga juga dilakukan guna mendapat desain yang optimal. Permodelan gerakan menggunakan pendekatan Matlab dan disimulasikan dengan Inventor. Hasil yang didapat pada penelitian ini adalah joint trajectory kaki robot dan perbandingan nilai ZMP data real robot dengan data simulasi robot.

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ABSTRACTBipedal locomotion stability is one of the challenging problem in humanoid robot. So, design for the robot movement becomes important. This paper aims to design the walking motion using inversee kinematics model and measure the stability of the robot using the zero moment point approach. Material selection and measuring the strength of robot structure using finite element method is also done to get optimal design. Motion modeling using Matlab approach and simulated with Inventor. The result of this research are joint trajectory of robot leg and comparison of ZMP value between real robot data with robot simulation data."

"This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations. "