Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions

Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions

We have developed a new operator interface system for high-DoF articulated robots based on the idea of allowing the operator to extend the robot's actual kinematics with virtual articulations. These virtual links and joints can model both primary task DoF and constraints on whole-robot coordina...

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Bibliographic Details
Main Authors: Vona, Marsette A. (Contributor), Mittman, David (Author), Norris, Jeffrey S. (Author), Rus, Daniela L. (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: International Conference on Field and Service Robotics, 2011-06-02T18:13:38Z.
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