This paper presents a scheme by which a manipulator can use dynamic tactile sensing to detect when it is about to lose hold of a grasped object and take preventive measures before...
Applications in mobile manipulation require sophisticated motion execution skills to address issues like redundancy resolution, reactive obstacle avoidance, and transitioning betw...
— In this paper, we present an approach that allows a robot to observe, generalize, and reproduce tasks observed from multiple demonstrations. Motion capture data is recorded in ...
Many practical dextrous manipulation tasks involve large-scale motion of the grasped object while maintaining a stable grasp. To plan such tasks, one must control both the motion ...
Abstract—Measures of dynamic manipulability summarize a manipulator’s capacity to generate accelerations for arbitrary tasks, and such measures are useful tools for the design ...