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The probabilistic roadmap (PRM) planner is a popular method for robot motion planning problems with many degrees of freedom. However, it has been shown that the method performs less well in situations where the robot has to pass through a narrow passage in the scene. This is mainly due to the...
The subject of this paper is the design, control, and evaluation of a biped-climbing robot featuring a new hybrid hip joint. The hybrid hip provides both prismatic and revolute motion, discretely, to the robot, using a single actuator. This is intended to improve its adaptability in confined...
Programming by demonstration (PbD) is a technique for programming robots that holds much promise in making robots more accessible to ordinary, non-technical users. However, a well-known difficulty with the method is that a human will often demonstrate the task to be programmed inconsistently or...
This paper describes error compensation methods for parallel kinematics machines (PKMs). First, joint errors and link deformations caused by external forces and heat are discussed. Because a linear scale unit is connected to each spherical joint located at both ends of an extensible limb through...
The zero moment point (ZMP), foot rotation indicator (FRI) and centroidal moment pivot (CMP) are important ground reference points used for motion identification and control in biomechanics and legged robotics. In this paper, we study these reference points for normal human walking, and discuss...
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