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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Dissertation
Planning Optimal Motions for Anthropomorphic Systems
TL;DR: An algorithmic approach is developed which combines constrained randomized motion planners and optimal control methods; this approach allows the generation of dynamic, fast and collision-free motions for anthropomorphic systems in the presence of obstacles.
Proceedings ArticleDOI
Master-Slave Bipedal Walking and Semi-Automatic Standing Up of Humanoid Robots
TL;DR: A bipedal walking method and a standing-up method for master-slave humanoid robots that allows the user to use the arms to make the robot stand up, being assisted by a semi-automatic motion planner.
Proceedings ArticleDOI
Variable view imaging system and its application in vision based microassembly
Xiaodong Tao,Hyungsuck Cho +1 more
TL;DR: In this paper, the kinematics of the variable view system was analyzed based on the ray tracing analysis with the help of the vector refraction theory and shown its applicability in microassembly by demonstrating micro peg-in-hole insertion task.
Dissertation
Analyse biomécanique du mouvement de préhension contraint et altéré : indices quantitatifs de la gestion de la redondance motrice
TL;DR: In this paper, a travail se focalise sur l'analyse biomecanique de the redondance and des coordinations motrices du membre superieur lors de la realisation du mouvement de prehension.
Journal ArticleDOI
Singularity Elimination of Parallel Mechanism by Redundant Actuations
TL;DR: In this article, a general kinematic model is used to obtain the input factor matrix and output factor matrix, and a two-degree-of-freedom parallel mechanism is provided to illustrate how to create the needed redundant actuation sub-chains.