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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Book ChapterDOI
Arm Gesture Generation of Humanoid Robot Mybot-KSR for Human Robot Interaction
TL;DR: The objective of this paper is to devise a scheme for generating arm gestures of humanoid robots using inverse kinematics and the minimum-jerk trajectory method, and the effectiveness of the proposed method is demonstrated through a human robot interaction experiment using the humanoid robot Mybot-KSR.
Journal ArticleDOI
A control structure for ambidextrous robot arm based on Multiple Adaptive Neuro-Fuzzy Inference System
TL;DR: The results obtained from experiments proved the efficiency of the ambidextrous arm when compared with conventional arm in terms of power consumption and stability and the proposed Adaptive Neuro Fuzzy Inference system (ANFIS) with a selector block is proposed.
Proceedings ArticleDOI
A simple bound for the appropriate pseudoinverse perturbation of robot manipulators
TL;DR: In this paper, a simple scheme for the appropriate pseudoinverse perturbation, in the inverse kinematics computation, of robot manipulators is presented, based on properly implementing a bound for a sufficiency condition for the rank preservation of the Jacobian matrix.
Book ChapterDOI
Generalized Kinematic Control of Redundant Manipulators
TL;DR: This work focuses on the extended or augmented task space formulation of the inverse kinematics problem presented in works [1]-[4], based on extending the dimension of the task space by incorporating as many additional constraints as the degree of the redundancy.
Proceedings ArticleDOI
Operator evaluation of a Mobility-Augmenting Jetpack with Integrated control-moment gyroscopes
Michele D. Carpenter,Kimberly F. Jackson,Babak E. Cohanim,Kevin R. Duda,Celena Dopart,Jared P. Rize,Todd F. Sheerin,Jeffrey A. Hoffman +7 more
TL;DR: In this paper, the authors proposed a mobility-enhanced version of the MAJIC with integrated control-moment gyroscopes (CMGs) for extravehicular activities (EVAs).