Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
KinematicsKinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Kinematic pairIn classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines. Kinematics is the branch of classical mechanics which describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion.
Configuration space (physics)In classical mechanics, the parameters that define the configuration of a system are called generalized coordinates, and the space defined by these coordinates is called the configuration space of the physical system. It is often the case that these parameters satisfy mathematical constraints, such that the set of actual configurations of the system is a manifold in the space of generalized coordinates. This manifold is called the configuration manifold of the system. Notice that this is a notion of "unrestricted" configuration space, i.
JointA joint or articulation (or articular surface) is the connection made between bones, ossicles, or other hard structures in the body which link an animal's skeletal system into a functional whole. They are constructed to allow for different degrees and types of movement. Some joints, such as the knee, elbow, and shoulder, are self-lubricating, almost frictionless, and are able to withstand compression and maintain heavy loads while still executing smooth and precise movements.
Simultaneous localization and mappingSimultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. While this initially appears to be a chicken or the egg problem, there are several algorithms known to solve it in, at least approximately, tractable time for certain environments. Popular approximate solution methods include the particle filter, extended Kalman filter, covariance intersection, and GraphSLAM.
Animal trainingAnimal training is the act of teaching animals specific responses to specific conditions or stimuli. Training may be for purposes such as companionship, detection, protection, and entertainment. The type of training an animal receives will vary depending on the training method used, and the purpose for training the animal. For example, a seeing eye dog will be trained to achieve a different goal than a wild animal in a circus. In some countries animal trainer certification bodies exist.
AnimalAnimals are multicellular, eukaryotic organisms in the biological kingdom Animalia. With few exceptions, animals consume organic material, breathe oxygen, have myocytes and are able to move, can reproduce sexually, and grow from a hollow sphere of cells, the blastula, during embryonic development. As of 2022, 2.16 million living animal species have been described—of which around 1.05 million are insects, over 85,000 are molluscs, and around 65,000 are vertebrates—but it has been estimated there are around 7.
Animal consciousnessAnimal consciousness, or animal awareness, is the quality or state of self-awareness within a animal, or of being aware of an external object or something within itself. In humans, consciousness has been defined as: sentience, awareness, subjectivity, qualia, the ability to experience or to feel, wakefulness, having a sense of selfhood, and the executive control system of the mind. Despite the difficulty in definition, many philosophers believe there is a broadly shared underlying intuition about what consciousness is.
Joint replacementReplacement arthroplasty (from Greek arthron, joint, limb, articulate, + plassein, to form, mould, forge, feign, make an image of), or joint replacement surgery, is a procedure of orthopedic surgery in which an arthritic or dysfunctional joint surface is replaced with an orthopedic prosthesis. Joint replacement is considered as a treatment when severe joint pain or dysfunction is not alleviated by less-invasive therapies. It is a form of arthroplasty, and is often indicated from various joint diseases, including osteoarthritis and rheumatoid arthritis.
Python (programming language)Python is a high-level, general-purpose programming language. Its design philosophy emphasizes code readability with the use of significant indentation. Python is dynamically typed and garbage-collected. It supports multiple programming paradigms, including structured (particularly procedural), object-oriented and functional programming. It is often described as a "batteries included" language due to its comprehensive standard library.
Animal communicationAnimal communication is the transfer of information from one or a group of animals (sender or senders) to one or more other animals (receiver or receivers) that affects the current or future behavior of the receivers. Information may be sent intentionally, as in a courtship display, or unintentionally, as in the transfer of scent from predator to prey with kairomones. Information may be transferred to an "audience" of several receivers. Animal communication is a rapidly growing area of study in disciplines including animal behavior, sociology, neurology and animal cognition.
Indoor positioning systemAn indoor positioning system (IPS) is a network of devices used to locate people or objects where GPS and other satellite technologies lack precision or fail entirely, such as inside multistory buildings, airports, alleys, parking garages, and underground locations. A large variety of techniques and devices are used to provide indoor positioning ranging from reconfigured devices already deployed such as smartphones, WiFi and Bluetooth antennas, digital cameras, and clocks; to purpose built installations with relays and beacons strategically placed throughout a defined space.
Motion captureMotion capture (sometimes referred as mo-cap or mocap, for short) is the process of recording the movement of objects or people. It is used in military, entertainment, sports, medical applications, and for validation of computer vision and robots. In filmmaking and video game development, it refers to recording actions of human actors and using that information to animate digital character models in 2D or 3D computer animation. When it includes face and fingers or captures subtle expressions, it is often referred to as performance capture.
Working animalA working animal is an animal, usually domesticated, that is kept by humans and trained to perform tasks instead of being slaughtered to harvest animal products. Some are used for their physical strength (e.g. oxen and draft horses) or for transportation (e.g. riding horses and camels), while others are service animals trained to execute certain specialized tasks (e.g. hunting and guide dogs, messenger pigeons and fishing cormorants). They may also be used for milking or herding.
Captivity (animal)Animal captivity is the confinement of domestic and wild animals. More specifically, animals that are held by humans and prevented from escaping are said to be in captivity. The term animal captivity is usually applied to wild animals that are held in confinement, but this term may also be used generally to describe the keeping of domesticated animals such as livestock or pets. This may include, for example, animals in farms, private homes, zoos, and laboratories.
Monty PythonMonty Python (also collectively known as the Pythons) were a British comedy troupe formed in 1969 consisting of Graham Chapman, John Cleese, Terry Gilliam, Eric Idle, Terry Jones, and Michael Palin. The group came to prominence for the sketch comedy series Monty Python's Flying Circus, which aired on the BBC from 1969 to 1974. Their work then developed into a larger collection that included live shows, films, albums, books, and musicals; their influence on comedy has been compared to the Beatles' influence on music.
