ICRA
1998
IEEE
14 years 3 months ago
1998
IEEE
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...
ICRA
1998
IEEE
14 years 3 months ago
1998
IEEE
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 ...
IROS
2006
IEEE
14 years 5 months ago
2006
IEEE
— 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...