ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
This paper gives a brief description of feedback control systems engaged in DLR's recently developed multisensory 4finger robot hand. The work is concentrated on constructing...
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and f...
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint friction and actuator dynamics. The manipulator is mou...
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is suggested Optimal sets of actuator locatiom and link lengths for the cases of minimum actuat...
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of...
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
Simulation of dynamic systems possessing unilateral frictional contacts is important to many industrial applications. While rigid body models are often employed, it is well establ...
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
We discuss a robotic module called a Molecule. Molecules can be the basis for building selfreconfiguring robots. They support multiple modalities of locomotion and manipulation. W...