In a typical dextrous manipulation task, a goal configuration is reached through a sequence of continuous motions. Most often, a motion plan is computed offline and subsequently...
This paper discusses a novel approach to combining human and machine intelligence in teleoperation of 6 degree of freedom (DOF) arm manipulators. Two algorithms are presented that...
: To conduct tasks that need high dexterity by teleoperation, a unified hand/arm master-slave system was developed. To measure the dexterity of individual teleoperation systems all...
— 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...
— This paper describes a test-bed for planar micro manipulation tasks and a framework for planning based on quasistatic models of mechanical systems with frictional contacts. We ...
David J. Cappelleri, Jonathan Fink, Barry Munkunda...