Many future applications of robotic systems will require manipulators to operate from moving vehicles. Such vehicles will be compliant in comparison to the rigid bases on which mo...
Harry West, Norbert Hootsmans, Steven Dubowsky, Na...
— The control of humanoid manipulators is very challenging due to the large number of degrees of freedom and the resulting redundancy. Using joint-level control complex planning ...
Teleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "...
Manish Goel, Anthony A. Maciejewski, Venkataramana...
Embodying robot morphologies evolved in simulation can present serious problems for an engineer when translating simplified simulated mechanisms into working devices, often drawing...
— After briefly summarizing the mechanical design of the two joint prototypes for the new DLR variable compliance arm, the paper exemplifies the dynamic modelling of one of the...