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 ...
This paper investigates controllability of underactuated rolling systems consisting of a smooth object rolling on a moving smooth surface. Our system consists of a spherical ball ...
Grasping a curved object free in the plane may be done through rolling a pair of fingers on the object’s boundary. Each finger is equipped with a tactile sensor able to record...
In this paper, we show how reinforcement learning can be applied to real robots to achieve optimal robot behavior. As example, we enable an autonomous soccer robot to learn interce...
In this study, we intend to show the basis of a general legged locomotion controller with the ability to integrate both posture and rhythmic motion controls and shift continuously ...