10 search results - page 1 / 2 » Singularity-Consistent Parameterization of Robot Motion and ... |
IJRR
2000
13 years 4 months ago
2000
The inverse kinematics problem is formulated as a parameterized autonomous dynamical system problem, and respective analysis is carried out. It is shown that a singular point of w...
IROS
2006
IEEE
13 years 10 months ago
2006
IEEE
— This paper addresses the problem of naturally looking and energy efficient walk of biped humanoids. We presuppose that such walk requires motion control capability around kine...
ICRA
1995
IEEE
13 years 8 months ago
1995
IEEE
The control of nonholonomic and underactuated systems with symmetry is illustrated by the problem of controlling a bicycle. We derive a controller which, using steering and rear-w...
CDC
2008
IEEE
13 years 6 months ago
2008
IEEE
In the field of robotics the energy spent for actuation is always an issue. It is often the case that some desired motions cannot be achieved by the robot due to limitations in act...
ICPR
2006
IEEE
14 years 5 months ago
2006
IEEE
Most methods for visual control of robots formulate the robot command in joint or Cartesian space. To move the robot these commands are remapped to motor torques usually requiring...