Dynamic properties of robotic manipulators, including inertia, damping, and friction, limit the transparency of a haptic-feedback teleoperator. In this paper, we develop a positio...
In this paper we present an approach to robot arm control based on exploiting the dynamical properties of a simple neural network oscillator circuit coupled to the joints of an ar...
Abstract— This paper presents a framework for the dynamical formulation and control of humanoid systems. In this framework unactuated virtual joints are used to describe the huma...
International Journal of Robotics Research, v 19, n 11, p. 1066-1074 Mobile manipulator systems hold promise in many industrial and service applications including assembly, inspec...
- In this paper, we describe the mechanical design, system integration and dynamic walking of the humanoid, KHR-2 (KAIST Humanoid Robot–2). KHR-2 has 41 DOFs in total, that allow...
Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Min-Su Kim...