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Line Kinematics for Whole-Arm Manipulation

Author(s)
Eberman, Brian; Brock, David L.
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Abstract
A Whole-Arm Manipulator uses every surface to both sense and interact with the environment. To facilitate the analysis and control of a Whole-Arm Manipulator, line geometry is used to describe the location and trajectory of the links. Applications of line kinematics are described and implemented on the MIT Whole-Arm Manipulator (WAM-1).
Date issued
1991-01-01
URI
http://hdl.handle.net/1721.1/6561
Other identifiers
AIM-1255
Series/Report no.
AIM-1255

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  • AI Memos (1959 - 2004)
  • MIT Auto-ID Laboratory

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