— In this paper, we propose a new method for the motion planning problem of rigid object dexterous manipulation with a robotic multi-fingered hand, under quasi-static movement a...
— The successful acquisition and organization of a large number of skills for humanoid robots can be facilitated with a collection of performable tasks organized in a task matrix...
—We present an efficient approach to generating paths for a robotic manipulator that are collision-free and guaranteed to meet task specifications despite pose uncertainty. We ...
Dmitry Berenson, Siddhartha S. Srinivasa, James J....
— We propose a novel solution to the problem of inverse kinematics for redundant robotic manipulators for the purposes of goal selection for path planning. We unify the calculati...
The inherent uncertainty associated with unstructured environments makes establishing a successful grasp difficult. Traditional approaches to this problem involve hands that are c...