Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internalforces is investigated. Thepresence of nonnegligible co...
Abstract— Tomorrow’s humanoids will operate in human environments, where efficient manipulation and locomotion skills, and safe contact interactions will be critical design fa...
This paper presents a control strategy for manipulation of exible objects by multiple robot arms. The control policy developed in this paper for exible objects is based on a contr...
An important component of compliant motion control is the estimation of contact states during task execution. This paper addresses two fundamental questions that must be answered w...
This paper addresses the question “Can the object be pushed from here to there?” We characterize the set of objects that are controllable (can be positioned arbitrarily), with...