Three fundamental problems in the study of grasping and dextrous manipulation with multifingered robotic hands are as follows. a) Given a robotic hand and a grasp characterized by ...
A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint friction and actuator dynamics. The manipulator is mou...
Guangjun Liu, Karl Iagnemma, Steven Dubowsky, Guil...
This paper deals with the solvability of contact problems with a local visco-plastic friction in the thermo-visco-plastic Bingham rheology. The generalized case of bodies of arbit...
We present an algorithm to efficiently and robustly process collisions, contact and friction in cloth simulation. It works with any technique for simulating the internal dynamics ...
— This paper proposes a necessary and sufficient condition for parallel grasps. We extend the use of this condition to the task of regrasp planning. In particular, we propose a ...