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This paper presents a general and efficient method that uses a configuration space for planning a collision-free path among known stationary obstacles for an arbitrarily moving object with six degrees of freedom. The basic approach taken in this method is to restrict the free space concerning path planning and to avoid executing unnecessary collision(More)
We apply manipulation planning to computer animation. A new path planner is presented that automatically computes the collision-free trajectories for several cooperating arms to manipulate a movable object between two configurations. This implemented planner is capable of dealing with complicated tasks where regrasping is involved. In addition, we present a(More)
This paper describes a new inverse kinematics algorithm for a human arm. Potential applications of this algorithm include computer-aided design and concurrent engineering from the viewpoint o f h uman factors. For example, it may be used to evaluate a new design in terms of its usability and to automatically generate instruction videos. The inverse(More)
a dissertation submitted to the department of mechanical engineering and the committee on graduate studies of stanford university in partial fulfillment of the requirements for the degree of doctor of philosophy Abstract This dissertation considers the manipulation task planning problem of automatically generating the trajectories for several cooperating(More)
Matrices where all minors are nonnegative are said to be totally nonnegative (TN) matrices. In the case of banded TN matrices, which can be expressed by products of several bidiagonal TN matrices, Fukuda et al. (Annal. Mat. Pura Appl. 192, 423–445, 2013) discussed the eigenvalue problem from the viewpoint of the discrete hungry Toda (dhToda) equation. The(More)