Relevant bibliographies by topics / Anthropomorphic kinematics

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Anthropomorphic kinematics'

Author: Grafiati
Published: 24 January 2024
Last updated: 31 July 2025

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Journal articles on the topic "Anthropomorphic kinematics"

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Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "ABOUT THE ANTHROPOMORPHIC ROBOTS." Engevista 17, no. 1 (2014): 1. http://dx.doi.org/10.22409/engevista.v17i1.565.

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure of the anthropomorphic robots. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with
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Kabanov, Aleksey, and Aleksey Balabanov. "The modeling of an anthropomorphic robot arm." MATEC Web of Conferences 224 (2018): 02034. http://dx.doi.org/10.1051/matecconf/201822402034.

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This paper considers the anthropomorphic manipulator kinematics modeling problem. The considered anthropomorphic robot SAR-400 manipulator with five-fingered gripper has twelve degrees of freedom. In the paper the robot SAR-400 arm kinematic model and the simulation results are presented.
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Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "DIRECT AND INVERSE KINEMATICS TO THE ANTHROPOMORPHIC ROBOTS." Engevista 18, no. 1 (2016): 109. http://dx.doi.org/10.22409/engevista.v18i1.729.

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If on
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Ren, Bin, Jianwei Liu, Xurong Luo, and Jiayu Chen. "On the kinematic design of anthropomorphic lower limb exoskeletons and their matching movement." International Journal of Advanced Robotic Systems 16, no. 5 (2019): 172988141987590. http://dx.doi.org/10.1177/1729881419875908.

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The lower limb exoskeleton is a wearable device for assisting medical rehabilitation. A classical lower limb exoskeleton structures cannot precisely match the kinematics of the wearer’s limbs and joints in movement, so a novel anthropomorphic lower limb exoskeleton based on series–parallel mechanism is proposed in this article. Then, the human lower limb movements are measured by an optical gait capture system. Comparing the simulation results of the series–parallel mechanism with the measured human data, the kinematics matching model at the hip joint is established. The results show that the
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V. Petrescu, Relly Victoria, Raffaella Aversa, Bilal Akash, et al. "Anthropomorphic Solid Structures n-R Kinematics." American Journal of Engineering and Applied Sciences 10, no. 1 (2017): 279–91. http://dx.doi.org/10.3844/ajeassp.2017.279.291.

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Kubik, Ilona, and Paweł Kwiatoń. "Algorytm rozwiązywania kinematyki prostej manipulatorów antropomorficznych." Prace Naukowe Akademii im. Jana Długosza w Częstochowie. Technika, Informatyka, Inżynieria Bezpieczeństwa 5 (2017): 39–51. http://dx.doi.org/10.16926/tiib.2017.05.03.

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Silva, Sérgio Ricardo Xavier da, Leizer Schnitman, and Vitalino Cesca Filho. "Analysis of computational efficiency for the solution of inverse kinematics problem of anthropomorphic robots using Gröbner bases theory." International Journal of Advanced Robotic Systems 18, no. 1 (2021): 172988142198954. http://dx.doi.org/10.1177/1729881421989542.

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This article presents an analysis of computational efficiency to solve the inverse kinematics problem of anthropomorphic robots. Two approaches are investigated: the first approach uses Paul’s method applied to the matrix obtained by the Denavit–Hartenberg algorithm and the second approach uses Gröbner bases theory. With each approach, the problem of inverse kinematics for an anthropomorphic robot will be solved. When comparing each method, this article will demonstrate that the method using Gröbner bases theory is more computationally efficient.
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Li, Yanbiao, Peng Sun, Huan Qi, and Yiqin Luo. "Prototyping of a novel anthropomorphic mechanical leg." Advances in Mechanical Engineering 11, no. 12 (2019): 168781401989380. http://dx.doi.org/10.1177/1687814019893802.

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This research aims to explore a better kinematic performance and design scheme for a novel mechanical leg using parameter optimization method. Serial structural mechanisms are widely employed in anthropomorphic mechanism legs but with significant disadvantages of the complex structure and large inertia, particularly, for the multi-objective parameter optimization it is hard to select good parameters to achieve excellent performance. In this article, the plane model of the solution space for multiple parameters and a novel statistics parameter optimization method were proposed for a novel mecha
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Petrescu, Florian Ion T., Antonio Apicella, Filippo Berto, et al. "Corrigendum: Anthropomorphic Solid Structures n-R Kinematics." American Journal of Engineering and Applied Sciences 12, no. 1 (2019): 121. http://dx.doi.org/10.3844/ajeassp.2019.131.

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BOLOGA, OCTAVIAN, and MIHAI CRENGANIŞ. "Efficient method for position control of a redundant robot." Journal of Engineering Sciences and Innovation 2, no. 2 (2017): 1–8. http://dx.doi.org/10.56958/jesi.2017.2.2.1.

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To begin the work presents some redundancy resolution schemes for robotic arms, i.e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are first recalled. This paper focuses on modeling and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a work
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Dissertations / Theses on the topic "Anthropomorphic kinematics"

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WALLÉN, KIESSLING ALEXANDER, and NICLAS MÄÄTTÄ. "Anthropomorphic Robot Arm." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279804.

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Robot manipulators are commonly used in today's industrial applications. In this report a 3D-printed anthropomorphic robot arm with three degrees of freedom was constructed. The robot arm operates with the use of a microcontroller and servomotors. Through utilizing the Denavit-Hartenberg method and inverse kinematics the robot’s end effector is able to reach a specified point in space. This report has found that the accuracy of the constructed robotic manipulator reaching a specific coordinate depends on the distance of the end effector from its base. The relative error of the constructed robo
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Ita, Meagan Eleanor. "Comparison of Q3s Anthropomorphic Test Device Biomechanical Responses to Pediatric Volunteers." The Ohio State University, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=osu1397486884.

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Kang, Yun Seok. "Evaluation of Biofidelity of Anthropomorphic Test Devices and Investigation of Cervical Spine Injury in Rear Impacts: Head-Neck Kinematics and Kinetics of Post Mortem Human Subjects." The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1313554843.

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Mendes, Eduardo Felippe Aguiar. "Uma contribuição ao desenvolvimento de manipuladores antropomorficos com enfase na utilização de musculos artificiais." [s.n.], 2007. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264731.

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Orientadores: Helder Anibal Hermini, Paulo R. G. Kurka<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica<br>Made available in DSpace on 2018-08-10T05:53:08Z (GMT). No. of bitstreams: 1 Mendes_EduardoFelippeAguiar_M.pdf: 4299696 bytes, checksum: d73355f383b74bd0e49b3bc2473e5b6b (MD5) Previous issue date: 2007<br>Resumo: Este trabalho visou o estudo de manipuladores à semelhança do membro superior humano. Após o estudo do membro superior humano e dos robôs antropomórficos disponíveis tanto na industria quanto no meio acadêmico, utilizaram-se teoria
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Butin, Côme. "Conception et réalisation d'une nouvelle prothèse de main myoélectrique accessible." Electronic Thesis or Diss., Ecole centrale de Nantes, 2023. http://www.theses.fr/2023ECDN0021.

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L’objectif principal de cette thèseest de présenter une prothèse de main myoélectriqueaccessible qui combine des critèrestels que le prix abordable, la solidité, la fonctionnalitéet la performance. Cette nouvelleprothèse permet d’effectuer des prises latéraleset opposées. Tout d’abord, nous proposonsune méthode de placement des articulationsqui permet d’obtenir un résultatplus réaliste sur le plan anthropomorphique.De plus, nous avons développé et optimiséune solution de transmission interdigitale quipermet d’associer la flexion des doigts supérieursà celle du pouce. Une analyse détailléede la
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Stammen, Jason Anthony. "Biomechanical Characterization of the Human Upper Thoracic Spine – Pectoral Girdle (UTS-PG) System: Anthropometry, Dynamic Properties, and Kinematic Response Criteria for Adult and Child ATDs." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1344880193.

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Chandra, Rohit. "Application of Dual Quaternion for Bimanual Robotic Tasks." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC042.

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L'approche classique pour le contrôle coopératif dans l’espace de travail d’un manipulateur bi-bras a été revisitée. En particulier, une nouvelle approche pour la formulation symétrique de la coordination bi-bras à l'aide du concept "virtual sticks" a été proposée à l'aide d'un torseur cinématique en utilisant des quaternions duaux. Le contrôle couplé dans l'espace de travail coopératif qui est proposé, i.e. le contrôle simultané, en position et en orientation, des points de consigne de l'espace de travail relatif et absolu a été comparé à un contrôleur proportionnel découplé traitant séparéme
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Parida, Pramod Kumar. "Kinematic Analysis of Multi-Fingered, Anthropomorphic Robotic Hands." Thesis, 2013. http://ethesis.nitrkl.ac.in/5471/1/Pramod_Kumar_Parida.pdf.

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The ability of stable grasping and fine manipulation with the multi-fingered robot hand with required precision and dexterity is playing an increasingly important role in the applications like service robots, rehabilitation, humanoid robots, entertainment robots, industries etc.. A number of multi-fingered robotic hands have been developed by various researchers in the past. The distinct advantages of a multi-fingered robot hand having structural similarity with human hand motivate the need for an anthropomorphic robot hand. Such a hand provides a promising base for supplanting human hand in e
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"Closed-form Inverse Kinematic Solution for Anthropomorphic Motion in Redundant Robot Arms." Master's thesis, 2013. http://hdl.handle.net/2286/R.I.20979.

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abstract: As robots are increasingly migrating out of factories and research laboratories and into our everyday lives, they should move and act in environments designed for humans. For this reason, the need of anthropomorphic movements is of utmost importance. The objective of this thesis is to solve the inverse kinematics problem of redundant robot arms that results to anthropomorphic configurations. The swivel angle of the elbow was used as a human arm motion parameter for the robot arm to mimic. The swivel angle is defined as the rotation angle of the plane defined by the upper and lower ar
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Book chapters on the topic "Anthropomorphic kinematics"

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Bongardt, B. "Inverse Kinematics of Anthropomorphic Arms Yielding Eight Coinciding Circles." In Computational Kinematics. Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60867-9_60.

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Brisan, Cornel, and Manfred Hiller. "Particular Aspects in Designing Anthropomorphic Mechanisms." In Advances in Robot Kinematics. Springer Netherlands, 2002. http://dx.doi.org/10.1007/978-94-017-0657-5_11.

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Lenarčič, J. "The Self Motion of an Anthropomorphic Manipulator." In Advances in Robot Kinematics: Analysis and Control. Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8_58.

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Ghosh, Shramana, and Nina Patarinsky Robson. "Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications." In Advances in Robot Kinematics. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-06698-1_35.

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Kecskeméthy, A. "A Spatial Leg Mechanism With Anthropomorphic Properties for Ambulatory Robots." In Advances in Robot Kinematics and Computational Geometry. Springer Netherlands, 1994. http://dx.doi.org/10.1007/978-94-015-8348-0_16.

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Zaid, Amran Mohd, and M. Atif Yaqub. "UTHM HAND: Kinematics behind the Dexterous Anthropomorphic Robotic Hand." In Communications in Computer and Information Science. Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-35197-6_13.

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Royer, L., C. Bidard, and C. Andriot. "Determination of Singularities and Self-Motion of a 7-dof Anthropomorphic Manipulator." In Advances in Robot Kinematics: Analysis and Control. Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8_54.

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Berceanu, C., D. Tarnita, S. Dumitru, and D. Filip. "Forward and Inverse Kinematics Calculation for an Anthropomorphic Robotic Finger." In New Trends in Mechanism Science. Springer Netherlands, 2010. http://dx.doi.org/10.1007/978-90-481-9689-0_39.

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Cordella, F., L. Zollo, A. Salerno, E. Guglielmelli, and B. Siciliano. "Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action." In Latest Advances in Robot Kinematics. Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-94-007-4620-6_12.

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Rong, Jiacheng, Pengbo Wang, and Ting Yuan. "An Analytical Inverse Kinematics Optimization Method of 7-DOF Anthropomorphic Manipulators with Joint Limits." In Lecture Notes in Computer Science. Springer Nature Singapore, 2025. https://doi.org/10.1007/978-981-96-0789-1_17.

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Conference papers on the topic "Anthropomorphic kinematics"

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Arismendi, Victor Alfonzo Cornejo, and Dennis Barrios Aranibar. "Imitation Learning and Dimensionality Reduction for the Resolution of Inverse Kinematics in Anthropomorphic Robotic Arms." In 2024 Latin American Robotics Symposium (LARS). IEEE, 2024. https://doi.org/10.1109/lars64411.2024.10786432.

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Simo-Serra, Edgar, Francesc Moreno-Noguer, and Alba Perez-Gracia. "Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47818.

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In this paper, we explore the idea of designing non-anthropomorphic multi-fingered robotic hands for tasks that replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the five fingertips, we develop a method to perform dimensional synthesis for a kinematic chain with a tree structure, with five branches that share three common joints. We state the forward kinematics equations of relative displacements for each serial chain expressed as dual quaternions, and solve for up to five chains simultaneously to reach a number of positions along the hand tr
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Chen, Weihai, Quanzhu Chen, Jianbin Zhang, and Shouqian Yu. "Kinematics Control for a 7-DOF Cable-Driven Anthropomorphic Arm." In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2006. http://dx.doi.org/10.1109/iros.2006.282119.

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Bensalah, Choukri, Mohamed Abderrahim, and Juan Gonzalez Gomez. "A new finger inverse kinematics method for an anthropomorphic hand." In 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2011. http://dx.doi.org/10.1109/robio.2011.6181470.

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Williams, Robert L. "DARwIn-OP Humanoid Robot Kinematics." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70265.

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This paper presents kinematics analysis for the DARwIn-OP (Dynamic Anthropomorphic Robot with Intelligence – Open-Platform) robot. This is a 20-dof humanoid walking robot developed by Virginia Tech, Purdue, and the University of Pennsylvania and marketed by Robotis Inc. The robot version analyzed in this paper is 455 mm tall and has a mass of 2.8 kg. Ohio University has two of these units for robot applications research and teaching. Presented are a description of DARwIn-OP, the Denavit-Hartenberg Parameters for each serial chain (2-dof head pan/tilt, 3-dof arms, and 6-dof legs), specific leng
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Hubert, Uwe, Jorg Stuckler, and Sven Behnke. "Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot." In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). IEEE, 2012. http://dx.doi.org/10.1109/humanoids.2012.6651584.

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Bojun Li and Ling Huang. "Kinematics simulation of the anthropomorphic manipulator based on Pro/E and ADAMS." In 2013 2nd International Conference on Measurement, Information and Control (ICMIC). IEEE, 2013. http://dx.doi.org/10.1109/mic.2013.6758148.

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Cataldi, E., F. Real, A. Suarez, et al. "Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator." In 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. http://dx.doi.org/10.1109/icra.2019.8793470.

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Nguyen, Dinh Quan, Sébastien Briot, and Philippe Wenger. "Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82208.

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Serial 3R orthogonal manipulators have been studied recently and it has been proved that they can exhibit good performances in term of workspace size and kinematic properties. The aim of this work is to analyze their dynamic performances, and compare them with anthropomorphic manipulators, which are very popular in industry. Static and dynamic analyses based on the evaluation of the maximal input torques required for moving the manipulator are achieved. It is shown that, as in kinematics, the dynamic performances of the serial 3R orthogonal manipulators are better.
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Bensalah, Choukri, Javier Gonzalez-Quijano, Norman Hendrich, and Mohamed Abderrahim. "Anthropomorphic robotics hand inverse kinematics using estimated SVD in an extended SDLS approach." In 2013 16th International Conference on Advanced Robotics (ICAR 2013). IEEE, 2013. http://dx.doi.org/10.1109/icar.2013.6766595.

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