Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots

This repo contains the model data of RH5 Manus robot used as a case study in the paper Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots. The paper was accepted at the IROS 2022 Conference. A preprint is available on Researchgate.

The urdf and meshes of the robot can be found in model folder.

Citation

R. Kumar, S. Kumar, A. Müller and F. Kirchner, "Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 3476-3483, doi: 10.1109/IROS47612.2022.9981474.

@INPROCEEDINGS{9981474,  
author={Kumar, Rohit and Kumar, Shivesh and Müller, Andreas and Kirchner, Frank},  
booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},   
title={Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots},   
year={2022},  
volume={},  
number={},  
pages={3476-3483},  
doi={10.1109/IROS47612.2022.9981474}
}