Results 1 to 10 of about 79 (62)
Dynamic reconfiguration manipulability for redundant manipulators
Nihon Kikai Gakkai ronbunshu, 2014 In this research, a new concept named Dynamic Reconfiguration Manipulability (DRM) is proposed, which gauges dynamical shape-changeability by using a redundancy of the robot on the premise that a primary task be given at hand.
Yosuke KOBAYASHI +2 more
doaj +5 more sources
Dynamic reconfiguration manipulability analysis of redundant robot
2013 IEEE International Conference on Mechatronics and Automation, 2013 In this paper, we propose a new index inspired by dynamic manipulability for redundent robot proposed by Yoshikawa to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is controlled, for example, end-effectors being controlled to a desired trajectory in task space. Several indexes have been proposed so far
Yosuke Kobayashi, Akira Yanou
exaly +3 more sources
Dynamic Reconfiguration Manipulability analyses of humanoid bipedal walking
2013 IEEE International Conference on Robotics and Automation, 2013 In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object.
Yosuke Kobayashi, Akira Yanou
exaly +3 more sources
Dynamic reconfiguration manipulability analyses of redundant robot and humanoid walking
2012 IEEE/SICE International Symposium on System Integration (SII), 2012 In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object.
Yosuke Kobayashi, Akira Yanou
exaly +3 more sources
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2016 In this paper, we define a new index of dynamic manipulability for humanoid biped walking to measure dynamic flexibility of changing mechanics by using residual redundancy, when primary work is being assigned, such as face and eyes being targeted to certain object.
Keli Shen +2 more
exaly +3 more sources
G011015 Dynamic Reconfiguration Manipulability Analysis of Redundant Robot
The Proceedings of Mechanical Engineering Congress Japan, 2013 Akira Yanou
exaly +3 more sources
Dynamic Reconfiguration Manipulability for Redundant Manipulators
Journal of the Robotics Society of Japan, 2016 This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shape-changeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task.
Yosuke Kobayashi +2 more
exaly +6 more sources
Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms [PDF]
, 2018 International audienceIn this paper we consider fully-actuated and redundantly-actuated robots, whose saturated inputs can have high bandwidth or can be slowly varying (with dynamics). The slowly varying inputs can be considered as configurations for the
Bicego, Davide +3 more
core +2 more sources
A Reconfigurable Interface for Ergonomic and Dynamic Tele-Locomanipulation
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 Prolonged remote tele-locomanipulation of multi degrees-of-freedom mobile manipulators requires a compromise between the system's performance and the operator's ergonomics. Neglecting this demand can significantly affect either the task completion or the level of comfort to achieve it.
Soheil Gholami +3 more
openaire +2 more sources
2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021 We propose a unified approach for automatically generating multiple robot-model descriptions for modular robot manipulators. Modular robots need models for kinematics and dynamics to deploy motion control schemes with high performance as it is possible for their fixed structure counterparts.
Carlo Nainer +2 more
openaire +1 more source