A unifying framework for robot control with redundant DOFs (original) (raw)

References

• Arimoto, S. (1996). Control theory of nonlinear mechanical systems: a passivity-based and circuit-theoretic approach. Oxford engineering science series. Oxford: Oxford University Press.
  Google Scholar
• Baillieul, J., & Martin, D. P. (1990). Resolution of kinematic redundancy. In Proceedings of symposium in applied mathematics (Vol. 41, pp. 49–89), San Diego, May 1990. Providence: American Mathematical Society.
  Google Scholar
• Bruyninckx, H., & Khatib, O. (2000). Gauss’ principle and the dynamics of redundant and constrained manipulators. In Proceedings of the 2000 IEEE international conference on robotics & automation (pp. 2563–2569).
• Chung, W., Chung, W., & Youm, Y. (1993). Null torque based dynamic control for kinematically redundant manipulators. Journal of Robotic Systems, 10(6), 811–834.
  Article MATH Google Scholar
• Craig, J. (1989). Introduction to robotics: mechanics and control. New York: Prentice Hall.
  MATH Google Scholar
• Hanafusa, H., Yoshikawa, T., & Nakamura, Y. (1981). Analysis and control of articulated robot with redundancy. In Proceedings of IFAC symposium on robot control (Vol. 4, pp. 1927–1932).
• Hollerbach, J. M., & Suh, K. C. (1987). Redundancy resolution of manipulators through torque optimization. International Journal of Robotics and Automation, 3(4), 308–316.
  Article Google Scholar
• Hsu, P., Hauser, J., & Sastry, S. (1989). Dynamic control of redundant manipulators. Journal of Robotic Systems, 6(2), 133–148.
  Article MATH Google Scholar
• Isidori, A. (1995). Nonlinear control systems. Berlin: Springer.
  MATH Google Scholar
• Kazerounian, K., & Wang, Z. (1988). Global versus local optimization in redundancy resolution of robotic manipulators. International Journal of Robotics Research, 7(5), 3–12.
  Article Google Scholar
• Khatib, O. (1987). A unified approach for motion and force control of robot manipulators: the operational space formulation. IEEE Journal of Robotics and Automation, 3(1), 43–53.
  Google Scholar
• Khatib, O., Sentis, L., Park, J., & Warren, J. (2004). Whole body dynamic behavior and control of human-like robots. International Journal of Humanoid Robotics, 1(1), 29–43.
  Article Google Scholar
• Maciejewski, A., & Klein, C. (1985). Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments. International Journal of Robotics Research, 4(3), 109–117.
  Article Google Scholar
• Minamide, N., & Nakamura, K. (1969). Minimum error control problem in Banach space. Research Report of Automatic Control Lab 16, Nagoya University, Nagoya, Japan.
• Nakamura, Y. (1991). Advanced robotics: redundancy and optimization. Reading: Addison-Wesley.
  Google Scholar
• Nakamura, Y., Hanafusa, H., & Yoshikawa, T. (1987). Task-priority based control of robot manipulators. International Journal of Robotics Research, 6(2), 3–15.
  Article Google Scholar
• Nakanishi, J., Cory, R., Mistry, M., Peters, J., & Schaal, S. (2005). Comparative experiments on task space control with redundancy resolution. In IEEE international conference on intelligent robots and systems (IROS 2005), Edmonton, Alberta, Canada.
• Park, J., Chung, W.-K., & Youm, Y. (1995). Specification and control of motion for kinematically redundant manipulators. In Proceedings international conference of robotics systems.
• Park, J., Chung, W.-K., & Youm, Y. (2002). Characterization of instability of dynamic control for kinematically redundant manipulators. In Proceedings of the IEEE international conference on robotics and automation.
• Pratt, J., & Pratt, G. (1998). Intuitive control of a planar bipedal walking robot. In Proceedings of the 1998 IEEE international conference on robotics & automation (pp. 1024–2021).
• Samson, C., Borgne, M. L., & Espiau, B. (1991). Oxford engineering science series. Robot control: the task function approach. Oxford: Oxford University Press.
  Google Scholar
• Sciavicco, L., & Siciliano, B. (1996). Modeling and control of robot manipulators. New York: McGraw-Hill.
  Google Scholar
• Sentis, L., & Khatib, O. (2004). A prioritized multi-objective dynamic controller for robots in human environments. In International conference on humanoid robots, Los Angeles, USA. New York: IEEE/RSJ.
  Google Scholar
• Sentis, L., & Khatib, O. (2005). Control of free-floating humanoid robots through task prioritization. In International conference on robotics and automation (pp. 1730–1735), Barcelona, Spain. New York: IEEE.
  Google Scholar
• Siciliano, B., & Slotine, J. (1991). A general framework for managing multiple tasks in highly redundant robotic systems. In International conference on advanced robotics (pp. 1211–1216), Pisa, Italy. New York: IEEE.
  Google Scholar
• Spo (1984). On pointwise optimal control strategies for robot manipulators. Princeton: Princeton University Press.
  Google Scholar
• Spong, M., Thorp, J., & Kleinwaks, J. (1986). The control of robot manipulators with bounded input. IEEE Transactions on Automatic Control, 31(6), 483–490.
  Article MATH Google Scholar
• Suh, K. C., & Hollerbach, J. M. (1987). Local versus global torque optimization of redundant manipulators. In Proceedings of the IEEE international conference on robotics and automation (pp. 619–624).
• Udwadia, F. E. (2003). A new perspective on tracking control of nonlinear structural and mechanical systems. Proceedings of the Royal Society of London Series A, 2003, 1783–1800.
  MathSciNet Google Scholar
• Udwadia, F. E., & Kalaba, R. E. (1996). Analytical dynamics: a new approach. Cambridge: Cambridge University Press.
  Google Scholar
• Wahba, G., & Nashed, M. Z. (1973). The approximate solution of a class of constrained control problems. In Proceedings of the sixth Hawaii international conference on systems sciences, Hawaii.
• Wit, C. A. C. D., Siciliano, B., & Bastin, G. (1996). Theory of robot control. Telos: Springer.
  MATH Google Scholar
• Yamane, K., & Nakamura, Y. (2003). Natural motion animation through constraining and deconstraining at will constraining and deconstraining at will. IEEE Transactions on Visualization and Computer Graphics, 9(3).
• Yoshikawa, T. (1990). Foundations of robotics: analysis and control. Cambridge: MIT Press.
  Google Scholar

Download references