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Objective of the overall system is that of understanding (and demonstrating) what are the tasks that a robotic crew assistant must be able to execute, in order to be effective for space exploration missions. One of the most important tasks to be accomplished is the autonomous grasping of objects, which has been achieved through a vision and force-based control strategy. This paper deals with the completion...
In the present work modular reconfigurable complex kinematic chains, characterized by the presence of an embedded distributed control system will be considered. More specifically, every single joint of the structure is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof...
The present work considers modular robotic structures equipped with an embedded control architecture and proposes a distributed kinematic inversion technique enabling the execution of manipulation operations. The presented strategy is not based on role assignments; all the modules are identical from the control point of view and can be therefore added, removed or exchanged on wish, with no impact...
In recent years self-reconfigurable modular robots have witnessed an increasing interest by part of the robotic community. Despite recent robots exhibit advanced electromechanical designs, in the field of supporting control techniques, strong results have been registered only within locomotion, while the manipulation capabilities of existing systems are still quite limited. Aiming to provide a contribution...
The present work deals with complex robotic structures characterized by the presence of an embedded distributed control system. More specifically, every single joint of the kinematic chain is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately...
The present work deals with complex robotic structures characterized by the presence of an embedded distributed control system. More specifically, every single joint of the kinematic chain is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately...
The present work deals with complex robotic structures characterized by the presence of an embedded distributed control system. More specifically, every single joint of the kinematic chain is assumed to be equipped with a simple local processing unit for properly driving its motion. As a consequence, each joint and the associated link may be considered as a defective "1-dof only" separately...
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