— We explore the control synthesis problem for a robot dynamically manipulating an object in the presence of multiple frictional contacts. Contacts occur both between the object ...
Siddhartha S. Srinivasa, Michael Erdmann, Matthew ...
A human performs a variety of skillful movements by adjusting dynamic characteristics of his or her musculoskeletal system according to a task involved. Such characteristics of hu...
When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-base...
Previous interactive works have used springs, heuristics, and dynamics for surface placement applications. We present an analytical technique for kilohertz rate manipulation of CA...
Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internalforces is investigated. Thepresence of nonnegligible co...