—We formulate and address the problem of planning a pushing manipulation by a mobile robot which tries to rearrange several movable objects in its work space. We present an algor...
Physically-based modeling has been used in the past to support a variety of interactive modeling tasks including free-form surface design, mechanism design, constrained drawing, a...
— The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-dimension “task space” has proven to be an invaluable tool for designing feedback...
This paper describes an interactive sensor planning system that can be used to select viewpoints subject to camera visibility, field of view and task constraints. Application area...
— We present a new approach to path planning for flexible wires. We introduce a method for computing stable configurations of a wire subject to manipulation constraints. These ...