Abstract:Summary. This chapter presents the theory, implementation, and application of a novel operations system for articulated robots with large numbers (10s to 100s) of degrees-of-freedom (DoF), based on virtual articulations and kinematic abstractions. Such robots are attractive in some applications, including space exploration, due to their application flexibility. But operating them can be challenging: they are capable of many different kinds of motion, but often this requires coordination of many joints. Prior m… Show more
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