C
Charles A. Klein
Researcher at Ohio State University
Publications - 47
Citations - 4783
Charles A. Klein is an academic researcher from Ohio State University. The author has contributed to research in topics: Matrix (mathematics) & Moore–Penrose pseudoinverse. The author has an hindex of 24, co-authored 47 publications receiving 4634 citations. Previous affiliations of Charles A. Klein include Ford Motor Company & University of Illinois at Urbana–Champaign.
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Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments
TL;DR: In this paper, the joint angle rates for a manipulator under the constraints of multiple goals, the primary goal described by the specified end-effector trajectory and secondary goals describ ing the obstacle avoidance criteria.
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Review of pseudoinverse control for use with kinematically redundant manipulators
Charles A. Klein,C.-H. Huang +1 more
TL;DR: Kinematically redundant manipulators have a number of potential advantages over current manipulator designs and velocity control through pseudoinverses is suggested for this type of arm.
Journal ArticleDOI
Dexterity measures for the design and control of kinematically redundant manipulators
Charles A. Klein,Bruce E. Blaho +1 more
TL;DR: In this paper, a number of measures for the quantification of dexterity of manipulators are proposed for kinematically redundant manipulators and compared for the problems offinding an optimal configuration for a given end-effector position, finding an optimal workpoint and designing the op timal link lengths of an arm.
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Numerical filtering for the operation of robotic manipulators through kinematically singular configurations
TL;DR: Extensions to the damped least-squares formulation which incorporate estimates of the proximity to singularities and selective filtering of singular components are illustrated.
Automatic Body Regulation for Maintaining Stability of a Legged Vehicle
D. A. Messuri,Charles A. Klein +1 more
TL;DR: In this article, an automatic body regulation scheme is proposed to provide a high degree of vehicle maneuverability while reducing the operator's burden by using an improved stability measure which can be automatically optimized.