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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Proceedings ArticleDOI
A practical approach to modeling single-gimbal Control Momentum Gyroscopes in agile spacecraft
Journal ArticleDOI
Complementary-Route Based ICR Control for Steerable Wheeled Mobile Robots
TL;DR: A novel approach based on complementary route ICR controller is proposed, where the ICR point can go from one extreme to the other by means of border switching in one sample period, and is shown to be more time efficient with far more satisfactory behavior than the state-of-art direct route based controllers.
Real-time Human Motion Capture with Simple Marker Sets and Monocular Video
TL;DR: A hybrid method to track human motions in real-time with simplified marker sets and monocular video input is presented, with the strength of both marker-based and marker-free motion capturing utilized.
Proceedings ArticleDOI
Online learning of humanoid robot kinematics under switching tools contexts
TL;DR: This paper model the robot forward kinematics as a multi-valued function, in which different outputs for the same input query are related to actual different hidden contexts, and employs IMLE, a recent online learning algorithm that fits an infinite mixture of linear experts to the online stream of training data.
Dissertation
Generating whole body movements for dynamics anthropomorphic systems under constraints
TL;DR: An original method of motion generation aiming at the imitation of the human motion is developed based on the reshaping of the captured data and the motion editing by using the hierarchical solver previously introduced and the definition of dynamic tasks and constraints.