Journal ArticleDOI
Inverse kinematic solutions with singularity robustness for robot manipulator control
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This article is published in Journal of Dynamic Systems Measurement and Control-transactions of The Asme.The article was published on 1986-09-01. It has received 1096 citations till now. The article focuses on the topics: Inverse kinematics & Parallel manipulator.read more
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Prm과 포텐셜 필드 기법에 기반한 다자유도 머니퓰레이터의 충돌회피 경로계획
TL;DR: In this paper, an efficient real-time path planning by combining the probabilistic roadmap (PRM) and the potential field methods to cope with static and dynamic environments is proposed.
Dissertation
Humanoid robot full-body control & balance restoration
TL;DR: The main goal of this research is to develop an efficient model that captures the full body behaviour accurately, while restoring balance and controlling the locomotion system, using the Nao humanoid robot.
Methods of analysis of constrained multibody systems
TL;DR: Methods of analysis of constrained and redundant multibody systems are discussed and it is suggested that using orthogonal complement arrays produces computational advantages in developing computer software.
Journal ArticleDOI
ROSI: A Robotic System for Harsh Outdoor Industrial Inspection - System Design and Applications
Filipe Augusto Santos Rocha,Gabriel Garcia,Raphael F. S. Pereira,Henrique D. Faria,Thales Henriques da Silva,Ricardo H. R. Andrade,Evelyn S. Barbosa,André Almeida,Emanuel Cruz,Wagner Ferreira Andrade,Wenderson Serrantola,Luiz Moura,Hector Azpurua,André Stanzani Franca,Gustavo Pessin,Gustavo Freitas,Ramon R. Costa,Fernando Lizarralde +17 more
TL;DR: In this paper, a hybrid locomotion system, using wheels to reduce energy consumption while covering long distances, and also flippers with tracks to improve mobility during obstacle negotiation, is presented.
Journal ArticleDOI
Task space control considering passive muscle stiffness for redundant robotic arms
TL;DR: This work focuses on the embodiment of a notable control method for a multi-DOF robotic system considering a human physical activity, and the joint spring term is newly designed for the consideration of the simple passive muscle stiffness effect under gravity to guarantee motion repeatability and avoid the problem of ill-posedness.