Manipulators can be utilized for various purposes during space missions, eg, Canadarm2
manipulator mounted on the International Space Station assists in station construction and …

The purpose of this paper is to present inverse optimal control as a promising approach to
transfer biological motions to robots. Inverse optimal control helps (a) to understand and …

Long-range indoor navigation requires guiding robots with noisy sensors and controls
through cluttered environments along paths that span a variety of buildings. We achieve this …

The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but
has significant implementation difficulties when applied to the high degrees of freedom …

In the robot-assisted minimally invasive surgery, if a collision occurs, the robot system
program could be damaged, and normal tissues could be injured. To avoid collisions during …

This paper present a framework called the stack of tasks (SoT) implementing a generalized
inverted kinematics. This particular implementation provides a run-time graph of …

The research on legged robots attracted much attention both from the academia and
industry. Legged robots are multi-input multi-output with multiple end-effector systems …

This paper proposes a general numerical methodology of inverse kinematics computation
for 7-degree-of-freedom offset manipulators based on arm angle parameterization. First …

This chapter describes the Motion Planning and Obstacle Avoidance for mobile robots. We
will see how both areas do not share the same modelling background. From the very …