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
Citations
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Journal ArticleDOI
Sensor-Based Integration of Full-Body Object Manipulation Based on Strategy Selection in a Life-Sized Humanoid Robot
Book ChapterDOI
Manipulator control in singular configurations—Motion in degenerate directions
Olav Egeland,I. Spangelo +1 more
TL;DR: In this article, a simple technique is presented which makes it possible to exit a singularity when the commanded motion is in a degenerate direction using the nullspace motion in inverse kinematics.
Proceedings ArticleDOI
Quadrupedal locomotion using trajectory optimization and hierarchical whole body control
TL;DR: This paper proposes a formulation that can be solved within few seconds using sequential quadratic programming, and presents successful experiments for walking, trotting, and gait transitions even under substantial external disturbances.
Proceedings Article
A Real-Time Control System for a Mobile Dextrous 7 DOF Arm.
TL;DR: The design and implementation of a real-time control system with multiple modes of operation for a mobile redundant dexterous manipulator, robust to singularities, and also provides the capability of assigning weighting factors to end-effector and redundancy resolution tasks.
Bayesian inference for motion control and planning
TL;DR: The first part of this technical report will review standard optimal (motion rate or dynamic) control from an optimisation perspective and then derive Bayesian versions of the classical solutions, and show that probabilistic inference methods (belief propagation) yield solutions to motion planning problems.