Journal ArticleDOI
Inverse kinematic solutions with singularity robustness for robot manipulator control
About:
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
More filters
Journal ArticleDOI
Enhancement of Force Exertion Capability of a Mobile Manipulator by Kinematic Reconfiguration
TL;DR: To enhance the force exertion capability of a WMM, this letter maximizes the directional manipulability (DM) of the manipulator, with consideration of the joint torque differences, first in Cartesian space and then in the null-space of the robotic system.
Proceedings ArticleDOI
Automated Synthesis and Optimization of Robot Configurations
Chris Leger,John Bares +1 more
Proceedings ArticleDOI
Learning soft task priorities for safe control of humanoid robots with constrained stochastic optimization
TL;DR: This paper retains (1+1)-CMA-ES with covariance constrained adaptation as the best candidate to solve the problems, and shows its effectiveness on two whole-body experiments with the iCub humanoid robot.
Journal ArticleDOI
Design and control of a 3DOFs parallel actuated mechanism for biped application
R. Sellaouti,F.B. Ouezdou +1 more
TL;DR: In this article, a novel approach to carry out the design of a three degrees of freedom (3DOF) actuated mechanism for humanoid robots joints is presented, instead of common serial mechanism, a more robust parallel mechanism was developed.