Whole-arm manipulators systems (WAMs), i.e. robotic devices that use not only their extremities but rather any of their links to manipulate objects, are robust and have a wide range of applicability. The analysis and control of such systems pose problems not common to traditional robotics. In this paper, we consider a peculiar loss of a controllability property that deep affects operation of WAMs
Bicchi, A., Prattichizzo, D. (1994). Controllability of whole-arm manipulation. In Proc. 33rd IEEE Conference on Decision and Control (pp.373-374). IEEE [10.1109/CDC.1994.410900].
Controllability of whole-arm manipulation
Prattichizzo Domenico
1994-01-01
Abstract
Whole-arm manipulators systems (WAMs), i.e. robotic devices that use not only their extremities but rather any of their links to manipulate objects, are robust and have a wide range of applicability. The analysis and control of such systems pose problems not common to traditional robotics. In this paper, we consider a peculiar loss of a controllability property that deep affects operation of WAMs
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https://hdl.handle.net/11365/19897
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