Simulation of the Inverse Kinematics of a Protein Backbone in Robotics Application
A lot of research had been conducted regarding the structures of protein, one of the fundamental macromolecules in the human bod} system. In order to understand how diverse biological functions work, it is crucial to researchers to study protein structures and their dynamic behavior. This leads t...
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| Main Author: | |
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| Format: | Final Year Project |
| Language: | English |
| Published: |
Universiti Teknologi Petronas
2011
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| Online Access: | http://utpedia.utp.edu.my/8586/1/2011%20-%20Simulation%20of%20the%20inverse%20kinematics%20of%20a%20protein%20backbone%20in%20robotics%20application.pdf http://utpedia.utp.edu.my/8586/ |
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| Summary: | A lot of research had been conducted regarding the structures of protein, one of the
fundamental macromolecules in the human bod} system. In order to understand how
diverse biological functions work, it is crucial to researchers to study protein structures
and their dynamic behavior. This leads to the several successes in the field of
computational structural biology -through combining both technology and biology fields
together. Moreover. recent studies promote the research on protein backbone and its
possible flexible movements for the purpose of exploring the possibilities of protein
macromolecule have for advancement of the scientific field.
Hence with the inspiration from those studies and through the incorporation of Inverse
Kinematics (IK) algorithm, this work will focus on how protein backbone of minimal 3
joints movements will be modeled in the form of robotic appendages with the respective
dihedral angles similar to that of an ideal protein's using one existing algorithm.
Theoretical movements of the robotic appendages will be simulated as well.
These robotic appendages aim to prove their usefulness in various applications such as in
medical, manufacturing and other related robotic domains. Application of protein
backbone inspired robotic appendages is further accentuated in the form of 3D simulation
m this project.
Keywords : Inverse Kinematics, Protein backbone, Biologically-inspired robots |
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