— In this paper, we address the issues of compliant control of a robot under contact constraints with a goal of using joint space based pattern generators as movement primitives,...
— On a scene of a natural disaster, rescuers require heavy duty hydraulic machines to answer their need of large forces, or to approach an unreachable spot. Those industrial vehi...
Abstract-- This work aims at the development of a versatile control strategy for operating unknown mechanically constrained devices such as drawers or doors. Few assumptions on the...
Ewald Lutscher, Martin Lawitzky, Gordon Cheng, San...
— There are two main limitations in the conventional robot-assisted spinal fusion surgery. Since the end effector in the state of art has a role of guiding the insertion pose of ...
Jongwon Lee, Keehoon Kim, Wan Kyun Chung, Seungmoo...
The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. ...