Binary manipulator; Discrete actuation; Hyper-redundant manipulator; Inverse kinematics; Obstacle avoidance. Abstract In this paper, a newmethod is proposed for solving the obstacle avoidance problem of discretely actuated hyper-redundant manipulators. In each step of the solution, the closest collision to the base is removed and then the configuration of the next part of the manipulator is mod...

This paper presents the robust localization of an omnidirectional mobile robot using a regular polygonal array of optical mice that are installed at the bottom of a mobile robot. First, the basic principle of the proposed localization scheme is explained. Second, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. Third, for a g...

In this paper, for handling general minimum-effort inverse-kinematic problems, the nonuniqueness condition is investigated. A set of nonlinear equations and inequality is presented for online nonuniqueness-checking. The concept and utility of primal neural networks (NNs) are introduced in this context of dynamical inequalities and constraints. The proposed primal NN can handle well such a nonli...