Research from N. Mansard et al broadens understanding of automation science.

Robotics & Machine Learning | July 20, 2009 | Copyright

According to recent research published in the journal IEEE Transactions on Automatic Control, "The paper presents a new approach to design a control law that realizes a main task with a robotic system and simultaneously takes supplementary constraints into account. Classically, this is done by using the redundancy formalism."

"If the main task does not constrain all the motions of the robot, a secondary task can be achieved by using only the remaining degrees of freedom (DOF). We propose a new general method that frees up some of the DOF constrained by the main task ...

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