Abstract: This paper presents a novel design of a Jiegged "spider" robot capable of moving in a wide range of two-dimensional tunnels. The spider moves in a quasistatic m...
While most previous work in planning manipulation tasks relies on the assumption of quasi-static conditions, there can be situations where the quasi-static assumption may not hold...
— This paper provides that an elastic force and an elastic potential energy due to the deformation of soft fingers, which are previously derived, can be calculated into straight...
A haptic display system is presented for manipulating virtual mechanisms derived from a mechanical CAD design. Links are designed and assembled into mechanisms using Utah's A...
Ali Nahvi, Donald D. Nelson, John M. Hollerbach, D...
— Highly underactuated and passively adaptive robotic hands have shown great promise for robust performance in unstructured settings. In order to fully realize this potential, ef...