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A parallel manipulator for mobile manipulating UAVs
2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2015Manipulating objects using arms mounted to unmanned aerial vehicles (UAVs) is attractive because UAVs may access many locations that are otherwise inaccessible to traditional mobile manipulation platforms such as ground vehicles. Most previous efforts seeking to coordinate the combined manipulator-UAV system have focused on using a manipulator to ...
Todd W. Danko +2 more
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Dexterous manipulation with general manipulation methodology
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96, 2002We discuss various kinds of manipulation in this paper. Conventional manipulation is made when an object is rigidly grasped by a robot hand. Previously, different kinds of manipulation, in which a manipulated object is not fixed onto a robot hand, were studied. They have dexterity but uncertainty. In this paper, we give a classification of manipulation,
Yasumichi Aiyama, Tamio Arai
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Stackable manipulator for mobile manipulation robot
2012 IEEE International Conference on Robotics and Automation, 2012This paper proposes a new manipulator concept applied to a mobile robot manipulation system for reducing robot size and weight or increasing its work capacities such as a payload, operating radius, and operating speed. In detail, we propose a new robotic manipulator that uses stackable 4-BAR mechanisms for mobile manipulation robot.
Hoyul Lee +3 more
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Manipulation of a flexible object by dual manipulators
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002Proposes a control algorithm of dual manipulators handling a flexible sheet metal. How to bend a sheet metal and how to manipulate the deformed sheet are discussed in this paper. First the authors derive the relation between the static deformation of the sheet metal and the bending moments exerted on the sheet using Lagrange's equation based on a ...
Kazuhiro Kosuge +4 more
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The Art of Manipulation: Learning to Manipulate Blindly
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018Performing skillfull manipulation is a very challenging task for robots. So far, even experts could barely program them to e.g. perform the well known peg-in-hole problem in the real world. Autonomously acquiring such skills, let alone generalizing them to new tasks, is still a major challenge.
Sami Haddadin, Lars Johannsmeier
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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2002
This paper describes mobile manipulation of humanoid robots. A humanoid robot is a kind of integrated machines: two arm and two leg mechanism. It could be well applied to mobile manipulation in nonroutine task automation. The main objective of the mobile manipulation is to obtain versatile and efficient manipulation by the arms.
Haruyuki Yoshida +3 more
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This paper describes mobile manipulation of humanoid robots. A humanoid robot is a kind of integrated machines: two arm and two leg mechanism. It could be well applied to mobile manipulation in nonroutine task automation. The main objective of the mobile manipulation is to obtain versatile and efficient manipulation by the arms.
Haruyuki Yoshida +3 more
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Manipulability and Static Stability of Parallel Manipulators
Multibody System Dynamics, 2003In earlier papers, P. Maisser developed a systematic analytical approach for the derivation of kinematic relationships of holonomic (geometric) constrained mechanical systems (CMS) [\textit{P. Maisser}, Z, Angew. Math. Mech. 71, No. 4, 116--119 (1991); Nonlinear Anal., Theory Methods Appl. 30, No. 8, 5127--5133 (1997; Zbl 0908.70007)].
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A study on the manipulability measures for robot manipulators
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 2002Regarding the dexterousness measure of robot manipulators, two geometric tools, manipulability ellipsoids and manipulability polytopes, are examined and compared with each other. Even though the manipulability ellipsoid approach is the most widely used techniques, it is shown that the manipulability ellipsoid does not transform the exact joint velocity
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Translational and rotational manipulability of robotic manipulators
Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation, 1990Several results offering insight into the properties of the manipulability measure are presented based on the idea of separating the total manipulability measure into translational and rotational manipulability measures. It is shown that if a manipulator consists of an arm portion with three joints and a spherical wrist portion with three or more ...
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