Xianglong Wan

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This paper demonstrates that singular configuration of a two-link robot arm is advantageous in doing the task of pulling or lifting up a heavy object with small joint torques. As a result of numerical optimization, the initial configuration that minimizes the joint torques necessary for the task is close to the singular configuration where the arm is(More)
This paper deals with the optimal motion of a mobile manipulator for dragging a heavy object with the end effector. When the object is moved a certain distance, the torques that are consumed in the mobile manipulator during the motion are minimized by numerical optimization. In the optimized motion, the arm mounted on the mobile base passes through its(More)
In this paper, we reveal the advantage of singular configuration in pulling heavy objects with a two-link mobile manipulator. Unlike humans, the mobile manipulator can pull or drag the objects passing through its singular configuration where the manipulator is stretched out. The motion through singular configuration can generate, from the same amount of(More)
This paper deals with an optimal landing motion of a 4-link legged robot that minimizes the impact force at the contact point and the joint torques necessary during the motion. The cost function for optimization is given as the weighted sum of the one for impact force and the one for joint torques. While the configuration where the leg is bent is(More)
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