Aibek Niyetkaliyev

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In this paper an approach for obtaining unique solutions to forward and inverse kinematics of a spherical parallel manipulator (SPM) system with revolute joints is proposed. Kinematic analysis of a general SPM with revolute joints is revisited and the proposed approach is formulated in the form of easy-to-follow algorithms that are described in detail. A(More)
The aim of this paper is to introduce a scalable and adaptable joint trajectory generator based on a recurrent neural network. As main application we target highly redundant kinematic structures like humanoid and multi-legged robotic systems. The network architecture consists of a set of leak integrators which outputs are limited by sigmoidal activation(More)
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