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Fault detection and fault tolerance methods for robotics
Fault tolerance is increasingly important in modern autonomous or industrial robots. The ability to detect and tolerate failures allows robots to effectively cope with internal failures and continue performing designated ...
A practical application of a force feedback control system for a mechanical, 3-fingered, dextrous hand
The trajectory planning and control system for a mechanical, 3-fingered, dextrous hand are analyzed and implemented. The forward and inverse kinematics of the fingers are derived and used to analyze the capabilities of the ...