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The shortcomings of inertial sensor-based localization for mobile robots are discussed and a method to improve the performance of localization is introduced. Because dead reckoning using wheel speed sensors is insufficient for accurate motion estimation in uneven and slippery environments, many studies have used inertial sensors in order to improve the performance of localization. However, inertial...
In this paper, novel upper body humanoid manipulators are presented. Each manipulator has 8 joints with coupled wrist joints, actually it has 7DOF. Torque-based interaction is our main manipulation strategy. We chose back-drivable mechanism and current control of motor as significant design factors. Shoulder and elbow joints were composed of gear mechanism, and wrist joints were composed of ball-screw...
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