A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is
Geometry-aware Tracking of Manipulability Ellipsoids
Robotics: Science and Systems XIV
Body posture can greatly influence human performance when carrying out manipulation tasks. Adopting an appropriate pose helps us regulate our motion and strengthen our capability to achieve a given task. This effect is also observed in robotic manipulation where the robot joint configuration affects not only the ability to move freely in all directions in the workspace, but also the capability to generate forces along different axes. In this context, manipulability ellipsoids arise as adoi:10.15607/rss.2018.xiv.027 dblp:conf/rss/JaquierRCC18 fatcat:xifohcc3bjgircfspusjzyd2e4