Redundancy (engineering)
Related papers: 20
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Redundancy in engineering refers to a system having more degrees of freedom, actuators, or resources than the minimum strictly required to complete a given task. In robotics, this most commonly appears as kinematic redundancy, where a manipulator arm has more joints than the number of dimensions needed to position and orient its end-effector — for example, a seven-jointed arm operating in six-dimensional space. This extra freedom is not wasted; it allows the robot to simultaneously satisfy multiple objectives, such as avoiding obstacles, escaping singular configurations, optimizing joint torques, or maintaining safe postures while still executing the primary task. Redundancy resolution techniques — including task-priority frameworks, quadratic programming, and neural network approaches — determine how to allocate this surplus freedom intelligently. Beyond kinematics, redundancy also improves fault tolerance and robustness in actuator and sensor systems. In human-robot collaboration, redundancy enables compliant, flexible motion that enhances safety and naturalness. As robots move into unstructured, human-shared environments, engineering redundancy into their design and control becomes essential for versatility, resilience, and performance.
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Advanced robotics: redundancy and optimization
Citations: 1137 • 1991
Task-Priority Based Redundancy Control of Robot Manipulators
Yoshihiko Nakamura, Hideo Hanafusa, Tsuneo Yoshikawa
Citations: 1002 • 1987
Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators
S. Chiaverini
Citations: 669 • 1997
Analysis and Control of Robot Manipulators with Redundancy
Tetsuro Yoshikawa
Citations: 631 • 1983
The DLR lightweight robot: design and control concepts for robots in human environments
Alin Albu‐Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, G. Hirzinger
Citations: 616 • 2007
Hierarchical quadratic programming: Fast online humanoid-robot motion generation
Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber
Citations: 529 • 2014
Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction
Fanny Ficuciello, Luigi Villani, Bruno Siciliano
Citations: 436 • 2015
3D point cloud segmentation: A survey
Anh Nguyen, Bac Le
Citations: 420 • 2013
Configuration control of redundant manipulators: theory and implementation
H. Seraji
Citations: 414 • 1989
An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots
Kai Xu, Nabil Simaan
Citations: 390 • 2008
High-speed manipulation by using parallel wire-driven robots
Sadao Kawamura, Hitoshi Kino, Won Choe
Citations: 370 • 2000
Foundations of Robotics
Tsuneo Yoshikawa
Citations: 348 • 1990
Kinematic Control of Redundant Manipulators Using Neural Networks
Shuai Li, Yunong Zhang, Long Jin
Citations: 329 • 2016
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
Sang-Ho Hyon, Joshua G. Hale, Gordon Cheng
Citations: 316 • 2007
A Unified Quadratic-Programming-Based Dynamical System Approach to Joint Torque Optimization of Physically Constrained Redundant Manipulators
Yuan‐Ting Zhang, Shuzhi Sam Ge, T.H. Lee
Citations: 306 • 2004
Task Compatibility of Manipulator Postures
S. Chiu
Citations: 305 • 1988
Neural-Learning-Based Telerobot Control With Guaranteed Performance
Chenguang Yang, Xinyu Wang, Long Cheng, Hongbin Ma
Citations: 299 • 2016
Redundancy resolution through local optimization: A review
Dragomir N. Nenchev
Citations: 295 • 1989
Manipulability and redundancy control of robotic mechanisms
T. Yoshikawa
Citations: 295 • 2005
On Advances in Robot Kinematics
Citations: 284 • 2004