: Inverse kinematic solutions with singularity robustness for robot manipulator control: Y.Nakamura and H. Hanafusa, Journal of Dynamic Systems, Measurement, and Control, vol. 108, pp 163-171, 1986
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... CLASS="MATH">{width="19" height="14"}{width="11" height="32"}^2^
: ロボットアームの可操作度, 吉川恒夫, 日本ロボット学会誌, vol. 2, no. 1, pp. 63-67, 1984.
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: Hybrid Position/Force Control: A Correct Formuration, William D. Fisher, M. Shahid Mujtaba, The Internationaltional Journal of Robotics Research, vol. 11, no. 4, pp. 299-311, 1992.
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: A unified approach for motion and force control of robot manipulators: The operational space formulation, O. Khatib, IEEE Journal of Robotics and Automation, vol. 3, no. 1, pp. 43-53, 1987.
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... 関節角度限界を考慮することはロボットによる実機実験の際に重要となる.本節では,文献^5^
: Exploiting Task Intervals for Whole Body Robot Control, Michael Gienger and Herbert Jansen and Christian Goeric In Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06), pp. 2484 - 2490, 2006
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: A weighted least-norm solution based scheme for avoiding jointlimits for redundant joint manipulators, Tan Fung Chan and Dubey R.V., Robotics and Automation, IEEE Transactions on, pp. 286-292,1995
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: Efficient gradient projection optimization for manipulators withmultiple degrees of redundancy, Zghal H., Dubey R.V., Euler J.A., 1990 IEEE International Conference on Robotics and Automation, pp. 1006-1011, 1990.
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: Real-Time Self Collision Avoidance for Humanoids by means of Nullspace Criteria and Task Intervals, H. Sugiura, M. Gienger, H. Janssen, C. Goerick, Proceedings of the 2006 IEEE-RAS International Conference on Humanoid Robots, pp. 575-580, 2006.
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: Real-time collision avoidance with whole body motion control for humanoid robots, Hisashi Sugiura, Michael Gienger, Herbert Janssen, Christian Goerick, In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), pp. 2053 - 2068, 2007
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: Fast distance queries with rectangular swept sphere volumes, Larsen E., Gottschalk S., Lin M.C., Manocha D, Proceedings of The 2000 IEEE International Conference on Robotics and Automation, pp. 3719-3726, 2000.
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: アーム・多指ハンド機構による把握と操り, 永井 清, 吉川 恒夫, 日本ロボット学会誌, vol. 13, no. 7, pp. 994-1005, 1995.
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: 一般化ヤコビ行列を用いた宇宙用ロボットマニピュレータの分解速度制御, 梅谷 陽二, 吉田 和哉, 日本ロボット学会誌, vol. 4, no. 7, pp. 63-73, 1989.
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: Control of Free-Floating Humanoid Robots Through Task Prioritization, Luis Sentis and Oussama Khatib, Proceedings of The 2005 IEEE International Conference on Robotics and Automation, pp. 1718-1723, 2005
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: Resolved Momentum Control:Humanoid Motion Planning based on the Linear and Angular Momentum, S.Kajita, F.Kanehiro, K.Kaneko, K.Fujiwara, K.Harada, K.Yokoi,H.Hirukawa, In Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), pp. 1644-1650, 2003
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