Titlebook: Redundancy in Robot Manipulators and Multi-Robot Systems; Dejan Milutinovi?,Jacob Rosen Book 2013 Springer-Verlag Berlin Heidelberg 2013 D

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Low-Cost Multi-robot Localization,main, to date, the solution to the localization problem for fully decentralized, largescale multi-robot systems is still an open question. In this chapter, we contribute to this particular problem outline by proposing a low-cost method: we describe a fully decentralized algorithm, particularly desig

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Using Torque Redundancy to Optimize Contact Forces in Legged Robots,nvironment. More specifically the control of contact interaction with the environment is of crucial importance to ensure stable, robust and safe motions. In the following, we present an inverse dynamics controller that exploits torque redundancy to directly and explicitly minimize any combination of

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Exploiting Heterogeneity in Robotic Networks,ission goal. An approach that makes use of a heterogeneous team of agents has several advantages when cost, integration of capabilities, or possible large search areas need to be investigated. A heterogeneous team allows for the robots to become “specialized” in their abilities and therefore accompl

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Cooperating Mobile Cable Robots: Screw Theoretic Analysis, payload capacity and end effector stiffness. While conventional cable robots have fixed bases, we seek to explore inclusion of mobility into the bases (in the form of gantries, and/or vehicle bases) which can significantly further enhance the capabilities of cable robots. However, this also introdu

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