A general framework for managing multiple tasks in highly redundant robotic systems

Impedance Control: An Approach to Manipulation: Part I—Theory

1985 • 3,467 citations

Impedance Control: An Approach to Manipulation

1984 • 2,744 citations

On the Adaptive Control of Robot Manipulators

1987 • 2,211 citations

Resolved-acceleration control of mechanical manipulators

1980 • 1,209 citations

Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms

1977 • 1,184 citations

Automatic Supervisory Control of the Configuration and Behaviour of Multibody Mechanisms

1977 • 1,125 citations

Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control

1986 • 1,038 citations

Adaptive manipulator control: A case study

1988 • 1,023 citations

Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments

1985 • 980 citations

Task-Priority Based Redundancy Control of Robot Manipulators

1987 • 975 citations

Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods

1986 • 789 citations

Kinematic programming alternatives for redundant manipulators

2005 • 597 citations

A solution algorithm to the inverse kinematic problem for redundant manipulators

1988 • 362 citations

Avoiding obstacles and resolving kinematic redundancy

1986 • 244 citations

Numerical filtering for the operation of robotic manipulators through kinematically singular configurations

1988 • 240 citations

Preliminary design of a whole-arm manipulation system (WAMS)

2003 • 222 citations

Programming and control of kinematically redundant manipulators

1984 • 193 citations

Global versus Local Optimization in Redundancy Resolution of Robotic Manipulators

1988 • 185 citations

Local versus global torque optimization of redundant manipulators

2005 • 183 citations

Analysis and Control of Articulated Robot Arms with Redundancy

1981 • 150 citations

Dynamic control of redundant manipulators

1988 • 107 citations

Whole arm manipulation

1988 • 83 citations

Computational algorithms for adaptive compliant motion

2003 • 34 citations

Adaptive Cartesian Control of Redundant Manipulators

1990 • 12 citations

A New Second-Order Inverse Kinematics Solution for Redundant Manipulators

1991 • 6 citations