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This article presents an optimal trajectory-planning method for robot manipulators with collision detection and avoidance. The obstacles and robot segments are represented by a set of convex polyhedra. The collision detection is performed at each discretized robot configuration by an efficient...
This article explores the role of randomization in the solution of robot manipulation tasks. Randomization refers to the ran dom selection and execution of an action from a collection of possible actions. The intention is that this collection contains some actions that are useful for making...
The problem of control of the body center of mass of a hopping machine with a telescopic, springy, weightable leg is analyti cally investigated.
In an earlier article we proposed a modeling space for objects defined in terms of tolerances, based on Requicha's ideas on variational classes. To do this, we introduced a certain number of requirements, including the requirements that objects within tolerance should be tamely homeomorphic to...
This article describes a fully functional autonomous system with two cooperating robots that disassembles complex Duplo 1 structures in a restricted environment. The system operates on a table-top world with any number of Duplo structures for which object models have been given. The structures...
This article presents a kinematic analysis of seven-degree-of- freedom serial link spatial manipulators with revolute joints. To uniquely determine the joint angles for a given end-effector position and orientation, the redundancy is parameterized by a scalar variable that defines the angle...
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