This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane witha passive revolute third joint. Such a robot is small-...
Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazu...
— In this paper we discuss the integration of active and passive approaches to robotic safety in an overall scheme for real-time manipulator control. The active control approach ...
In this paper, we address the issue of motion planning for a bipartite class of modular self-reconfiguring robotic system (I-Cubes) that is a collection of active elements providin...
Flexure hinge has been commonly used as a substitute for mechanical joints in the design of micropositioning mechanisms. However, inaccurate modeling of flexure hinges deteriorates...
— We examine the usefulness of passive compliance in a manipulator that learns contact motion. Based on the notice that humans outperforms robots with the contact motion, we foll...