,

A real-time approach for singularity avoidance in Resolved Motion Rate Control of Robotic Manipulators

,

Characterization of Instability of Dynamic Control for Kinematically Redundant Manipulators

,

Obtaining Passivity of Micro-Teleoperation Handling a Small Inertia Object

,

Optimization with Joint Space Reduction and Extension induced by Kinematic Limits for Redundant Manipulators

,

Real-time ZMP Compensation Method using Null Motion for Mobile Manipulators