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In this article, we present a feedback control method for tactile coverage tasks such as cleaning or surface inspection. Although these tasks are challenging to plan due to the complexity of continuous physical interactions, the coverage target and progres ...
In this work, we are presenting an extension of the cooperative dual-task space (CDTS) in conformal geometric algebra. The CDTS was first defined using dual quaternion algebra and is a well established framework for the simplified definition of tasks using ...
Many problems in robotics are fundamentally problems of geometry, which have led to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie algebra, and d ...
