A zonotope-based approach for manipulability study of redundant robot limbs

  • Bertrand Tondu
  • Published 2011 in
    2011 11th IEEE-RAS International Conference on…

Abstract

Kinematic efficiency of robot limbs can be analyzed by means of the manipulability concept defined by T. Yoshikawa. However when it is applied to redundant serial chains, that are the most common case in humanoid robotics, Yoshikawa's manipulability measure is not able to take into account the joint velocity range of each robot joint. In order to overcome… (More)
DOI: 10.1109/Humanoids.2011.6100802

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