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within Oussama Khatib Remove this filter Physics Remove this filter Control, Robotics, Mechatronics Remove this filter Engineering Design Remove this filter

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  1. No Access

    Chapter

    Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation

    A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement force and motion control with dynamic compensation, a torque-cont...

    Denny Oetomo, Marcelo H. Ang Jr., Rodrigo Jamisola, Oussama Khatib in Romansy 14 (2002)

  2. No Access

    Chapter and Conference Paper

    A Powered-Caster Holonomic Robotic Vehicle for Mobile Manipulation Tasks

    Mobile manipulator systems hold promise in many industrial and service applications including assembly, inspection, and work in hazardous environments. The integration of a manipulator and a mobile robot base ...

    Robert Holmberg, Oussama Khatib in Romansy 13 (2000)

  3. No Access

    Chapter and Conference Paper

    Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Redundant Manipulators

    The paper investigates the dynamic characterization of redundant manipulators and formalizes the problem of dynamic optimization in manipulator design. The dynamic performance of a manipulator is described by ...

    Oussama Khatib, Sunil Agrawal in Dynamics of Controlled Mechanical Systems (1989)