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» Impedance Behaviors for Two-handed Manipulation: Design and ...
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ICRA
2007
IEEE
162views Robotics» more  ICRA 2007»
11 years 7 months ago
Impedance Behaviors for Two-handed Manipulation: Design and Experiments
— 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 ...
Thomas Wimböck, Christian Ott, Gerd Hirzinger
SI3D
1997
ACM
11 years 5 months ago
Two-Handed Direct Manipulation on the Responsive Workbench
We have built a system that allows users to naturally manipulate virtual 3D models with both hands on the Responsive Workbench, a tabletop VR device. Our design is largely based u...
Lawrence D. Cutler, Bernd Fröhlich, Pat Hanra...
IROS
2009
IEEE
129views Robotics» more  IROS 2009»
11 years 8 months ago
Base force/torque sensing for position based Cartesian impedance control
Abstract— In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at th...
Christian Ott, Yoshihiko Nakamura
ICRA
1993
IEEE
104views Robotics» more  ICRA 1993»
11 years 5 months ago
Experiments with a Dual-Armed, Cooperative, Flexible-Drivetrain Robot System
Many tasks are di cult or impossible for onearmed" robots, for example, assembly with long parts. Multi-armed robots can do such tasks well, but only if both robot and contro...
Lawrence E. Pfeffer, Robert H. Cannon Jr.
ICRA
2003
IEEE
133views Robotics» more  ICRA 2003»
11 years 6 months ago
A hierarchical behavior-based approach to manipulation tasks
Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most cu...
Zbigniew Wasik, Alessandro Saffiotti
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