18 search results - page 1 / 4 » Integration of planning and execution in force controlled co... |
RAS
2008
13 years 10 months ago
2008
This paper presents the Compliant Task Generator: a new approach for the automatic conversion of a geometric path generated by a compliant path planner to a force based task specif...
TROB
2010
13 years 9 months ago
2010
Abstract—This paper presents a new methodology for the analysis and control of internal forces and center-of-mass (CoM) behavior, which are produced during multicontact interacti...
ICRA
1999
IEEE
14 years 3 months ago
1999
IEEE
: This paper presents a general rst-order kinematic model of frictionless rigid-body contact for use in hybrid force motion control. It is formulated in an invariant manner by trea...
AR
2005
13 years 11 months ago
2005
Whether they are asked to polish or assemble parts, clean the house or open doors, the future generation of robots will have to cope with contact tasks under uncertainty in a stabl...
ICRA
2007
IEEE
14 years 5 months ago
2007
IEEE
— In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace, and at the same time the manipulator...