Purpose – This paper aims to describe the topic of robot kinematics and provide a modern machine. Design/methodology/approach – The paper examines, in brief, kinematics and robot kinematics, classes, constraints and chains to provide an introduction. An example shows how robot kinematics can...

Purpose – This paper seeks to develop universal software (a programming framework) enabling the implementation of service robot controllers. The software should distinguish the hardware‐oriented part of the system from the task‐oriented one. Moreover, force, vision as well as other sensors...

Purpose – The paper seeks to present a new generation of torque‐controlled light‐weight robots (LWR) developed at the Institute of Robotics and Mechatronics of the German Aerospace Center. Design/methodology/approach – An integrated mechatronic design approach for LWR is presented. Owing...

Purpose – This paper seeks to present an acceleration‐based force‐impedance controller, applied to a six‐dof parallel mini‐manipulator: the robotic controlled impedance device (RCID). Design/methodology/approach – The proposed control strategy involves three cascade controllers: an...

Purpose – This study aims to investigate locomotion mechanisms of different urban search and rescue (USAR) robots currently being researched or commercially available on the market. Design/methodology/approach – USAR robots are categorized by the type of their mobility. Detailed illustration...

Purpose – This paper seeks to develop a novel legged robot. Design/methodology/approach – First, the paper models the legged robot using 3D computer model by intelligent inspiration of biological principles. Then, based on this model, it develops the prototype of the legged robot. Findings...