— The control of humanoid manipulators is very challenging due to the large number of degrees of freedom and the resulting redundancy. Using joint-level control complex planning ...
We have built a system that allows users to naturally manipulate virtual 3D models with both hands on the Responsive Workbench, a tabletop VR device. Our design is largely based u...
Abstract— In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at th...
Many tasks are di cult or impossible for onearmed" robots, for example, assembly with long parts. Multi-armed robots can do such tasks well, but only if both robot and contro...
Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most cu...