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This paper presents the design, modeling and control of a compact wrist, which can work in active mode with position or torque control, or passive mode with interactive force compensation. This characteristic makes it suitable for dexterous manipulation in unstructured environments, such as door opening. Mechanism design is presented briefly, and forward, inverse as well as differential kinematics...
This paper analyzes track-terrain and vehicle-manipulator interactions and develops posture optimization algorithms for a reconfigurable tracked mobile modular manipulator negotiating slopes. A tracked mobile robot is associated with unavoidable slippage due to the fact that there are infinite number of contact points between the tracks and the terrain. Furthermore, the reconfiguration of the tracked...
This paper presents the investigation on mobile manipulation of a self-reconfigurable tracked mobile robot, using its tracks for both manipulation and locomotion. It is desirable for a mobile robot to possess manipulation capability in unstructured environments, especially in the scenario which is unsuitable for human beings. However, it is not convenient for such a mobile robot to carry an onboard...
We present a real-time crowded model in virtual environments. In our model, we simulate the group behavior of huge crowds in real-time. Considering the limitation of computing speed, we adopt a hierarchical management model and construct the movement area in virtual environment by a dynamical potential field. The improved leader-follower structure yields realistic group behavior comparatively. Combination...
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