We present motion planning for dexterous manipulation by whole arm grasp system based on switching contact modes. Motion planning for such a system should consider changing dynami...
Abstract. This paper presents an endoscopic vision framework for modelbased 3D guidance of surgical instruments used in robotized laparoscopic surgery. In order to develop such a s...
Christophe Doignon, Florent Nageotte, Michel de Ma...
— Unlike active force closure, which is a property for the multi-finger robotic hand grasping, passive force closure are involved in the grasping systems with constraining devic...
The authors’ aim in this work is to develop an easy-to-use computer-human interaction (CHI) platform. In this paper, i-ball 2 (interactive/information ball 2) is introduced as a...
– In this paper, a model-based impedance control strategy is developed for a 3 DOF parallel manipulator to manage the interaction of the robot with the environment. Kinematic and...