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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Book ChapterDOI
Planning and Moving in Dynamic Environments
TL;DR: In this paper, the authors develop a new view on problems of movement control and planning from a Machine Learning perspective, i.e., a problem of computing a posterior distribution over unknown variables conditioned on the available information (targets, goals, constraints).
Journal ArticleDOI
The planning of optimal motions of non-holonomic systems
TL;DR: In this paper, a non-classical formulation of the Pontryagin Maximum Principle given in variational form is presented, which handles efficiently various control and/or state-dependent constraints.
Proceedings ArticleDOI
Gimbal angle restricted control moment gyroscope clusters
TL;DR: In this paper, momentum envelopes for a cluster of four CMGs in pyramid mounting are obtained, and the envelopes when gimbal travel is limited to ± 90° are also presented.
Adaptive sensorimotor peripersonal space representation and motor learning for a humanoid robot
TL;DR: This thesis presents possible computational mechanisms by which a humanoid robot can develop a coherent representation of the space within its reach (its peripersonal space), and use it to control its movements.
Journal ArticleDOI
A memetic differential evolution algorithm for the inverse kinematics problem of robot manipulators
TL;DR: A memetic differential evolution (dDE) is proposed to improve the convergence behaviour of the standard DE scheme and it is revealed that dDE outperforms the original DE algorithm in accuracy and convergence speed.