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ICRA
1998
IEEE
110views Robotics» more  ICRA 1998»
9 years 8 months ago
Generating Robust Trajectories in the Presence of Ordinary and Linear-Self-Motion Singularities
An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities. The resulting trajectories are close to mi...
John E. Lloyd, Vincent Hayward
ICRA
1998
IEEE
81views Robotics» more  ICRA 1998»
9 years 8 months ago
Removing the Singularities of Serial Manipulators by Transforming the Workspace
A new method of handling the kinematic singularities of serial robotic manipulators is proposed. The idea is to transform the manipulator's workspace W into a desingularized ...
John E. Lloyd
IROS
2006
IEEE
121views Robotics» more  IROS 2006»
9 years 9 months ago
Static Walk of a Humanoid Robot Based on the Singularity-Consistent Method
— 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...
Kentaro Takahashi, M. Noda, Dragomir N. Nenchev, Y...
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