5 accepted papers
The recently developed approach to motion planning in graphs of convex sets (GCS) provides an efficient framework for computing shortest-distance collision-free paths using convex optimization. This new motion planner is notably more computationally efficient than popular sampling-based motion plann…
The failure-tolerant workspace of a robot is defined as the reachable workspace both before and after an arbitrary joint is locked at an arbitrary angle during a motion. Once the task is located within the failure-tolerant workspace, task completion can be guaranteed. However, a failure-tolerant wor
A novel motion planning method is proposed to generate human-like motion for anthropomorphic robot arms. Its highlight is to consider the robot arm to be human-like not only in its configuration but also in its motion patterns. To achieve this, the intrinsic mechanisms of human arm motion generation…
A measure of fault tolerance for different joint failure probabilities is defined based on the properties of the singular values of the Jacobian after failures. Using this measure, methods to design optimally fault tolerant robots for an arbitrary set of joint failure probabilities and multiple case
A measure of local fault tolerance for kinematically redundant robots has previously been defined based on the properties of the singular values of the Jacobian matrix. Based on these measures, one can determine a Jacobian that is optimal. Because these measures are solely based on the singular valu