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Multidrug-resistant Acinetobacter baumannii is a well-documented pathogen associated with hospital-acquired infections. In addition to multidrug resistance, A. baumannii can also become resistant to colistin, the antibiotic treatment of last resort, by the loss of the lipopolysaccharide from its outer membrane. Here, we demonstrate that the development of colistin resistance also increases the resistance...
The objective of this paper is to develop an analytical inverse kinematic solution for a 7-DoF redundant manipulator with offsets at shoulder and wrist. Firstly, the key ingredient is to derive closed-form inverse kinematic solution using different joint as redundancy based on parameterization method. By having these redundant parameters,we obtain different null-space self-motion pattern of the arm...
This paper describes Cartesian position and force control with adaptive impedance/compliance capabilities for a humanoid robot arm including velocity control incorporate with End-Effector Fixation Control (EEFC). We successfully demonstrated the end-effector positioning to reach the target point in Cartesian coordinate frame based on force control without solving the inverse kinematic problem. The...
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