– We have developed a new type of master hand to control a dexterous slave robot hand for telexistence. Our master hand has two features. One is a compact exoskeleton mechanism c...
This paper presents a computationally efficient method for deriving coordinate representations for the equations of motion and the affine connection describing a class of Lagrangi...
We propose in this paper new redundancy-based solutions to avoid robot joint limits of a manipulator. We use a control scheme based on the task function approach. We first recall...
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...
— This paper describes an improved methodology for human motion recognition and imitation based on Factorial Hidden Markov Models (FHMM). Unlike conventional Hidden Markov Models...