Lowering joint torques of a robotic manipulator enables lowering the energy it uses as well
as increase in the longevity of the robotic manipulator. This article proposes the use of …

This article presents the Origaker, a novel multi-mimicry quadruped robot. Based on a single-
loop spatial metamorphic mechanism, the Origaker is able to transform between different …

This work explores dual quaternions and their applications. First, a theoretical construction
begins at dual numbers, extends to dual vectors, and culminates in dual quaternions. The …

This paper presents two approaches to obtain the dynamical equations of mobile
manipulators using dual quaternion algebra. The first one is based on a general recursive …

Dynamic modelling of a multibody system is critical to analyse its behaviour under different
circumstances. This paper proposes the dynamic modelling of a rigid multibody system in …

seriais é explorado e reformulado no contexto da álgebra dos Quatérnios Duais—como o
dqRNEA (dual quaternion based Recursive Newton-Euler inverse dynamics). Aqui nós …