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
Modular ik: a robust inverse kinematic algorithm for gesture imitation in an upper-body humanoid robot
TL;DR: The proposed method outperforms state-of-the-art Jacobian-based IK in terms of overall imitation accuracy, while guaranteeing robust and smoothly scaled trajectories and is ideally suited for applications such as humanoid robot teleoperation or programming by demonstration.
Book ChapterDOI
Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment
TL;DR: In this paper, an iterative kinematics control law for redundant manipulators overcoming some usual problems associated to cluttered environments (constraints violations, oscillations, environment dilatation) is presented.
Dissertation
Human Motion Transfer on Humanoid Robot
TL;DR: The humanoid normalized model is introduced as the set of motion properties and it is possible to achieve complete imitation of upper body movements and including feet motion.
Journal ArticleDOI
Tilted Wheel Satellite Attitude Control with Air-Bearing Table Experimental Results
TL;DR: In this article, the authors examined a tilted wheel, a newly proposed type of inertial actuator that can generate torques in all three principal axes of a rigid satellite using a spinning wheel and a double tilt mechanism.