Pictures

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Videos:

1. A robotic Telepresence system:
 http://guppy.mpe.nus.edu.sg/~mpeangh/videos/hem2.MPG

 2. Compliant motion capabilities:
http://guppy.mpe.nus.edu.sg/~mpeangh/videos/ compliant-moment-1.MPG

3. Aircraft canopy polishing application with base motion disturbance
http://guppy.mpe.nus.edu.sg/~mpeangh/videos/ polishing-base-disturbance.mpg

4. Aircraft canopy polishing where motion is across the  wrist singularity of the PUMA 560 robot:
http://guppy.mpe.nus.edu.sg/~mpeangh/videos/polishing-wrist-singularity.mpg