Improvement of Free Motion Operability for Slave Robot with Underactuated Joint in Bilateral System

Kiyotoshi Komuta, Toshiyuki Murakami

Research output: Contribution to journalArticle

Original languageEnglish
Pages (from-to)1-11
Number of pages11
JournalIEEJ Transactions on Industry Applications
Issue number8
Publication statusPublished - 2013


  • Bilateral system
  • null space control
  • operability
  • Two-Wheel driven mobile manipulator
  • underactuated mechanism

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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