— This article introduces a new technique for planning reactionless paths to a point in Cartesian space, for manipulators mounted on a free-floating satellite. It is based on de...
The autonomous execution of mobile manipulation tasks in unstructured, dynamic environments requires the consideration of various motion constraints. The task itself imposes constr...
Dynamic control of constrained mechanical systems, such as robotic manipulators under end-effector constraints, parallel manipulators, and multifingered robotic hands under closure...
Abstract In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a "pivoting" manipulation method that allows the humanoid to disp...
Abstract— Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can’t be controlled like industrial robotic manipulator whe...