The Hidden Robot: An Efficient Concept Contributing to the Analysis of the Controllability of Parallel Robots in Advanced Visual Servoing Techniques

Previous works on parallel robots have shown that their visual servoing using the observation of their leg directions was possible. There were, however, found two main results for which no answer was given. These results were: 1) the observed robot that is composed of n legs could be controlled in m...

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Bibliographic Details
Published in:IEEE transactions on robotics 2015-12, Vol.31 (6), p.1337-1352
Main Authors: Briot, Sebastien, Martinet, Philippe, Rosenzveig, Victor
Format: Article
Language:English
Subjects:
Computer Science
Controllability
kinematics
Legged locomotion
Mapping
Parallel robots
Robot kinematics
Robotics
Robots
Simulation
singularity
Visual servoing
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Summary:Previous works on parallel robots have shown that their visual servoing using the observation of their leg directions was possible. There were, however, found two main results for which no answer was given. These results were: 1) the observed robot that is composed of n legs could be controlled in most cases using the observation of only m leg directions (m
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2015.2489499