Existing contact modeling in rigid body simulation is inadequate for robotics: no algorithms guarantee both convergence and nonpenetration at multiple contact points in the presen...
— Most mobile robots in existence today have large, heavy, statically stable bases. To enable manipulation, actuated arms and effectors are attached to the base providing limited...
Bryan J. Thibodeau, Patrick Deegan, Roderic A. Gru...
Abstract— This paper presents a methodology for the modeling and control of internal forces and moments produced during multi-contact interactions between humanoid robots and the...
This paper deals with the problem of controlling a robot during a physical interaction through a representation of its tactile system. Although the force feedback has been widely u...
Giorgio Cannata, Simone Denei, Fulvio Mastrogiovan...
Successful control of contact transitions is an important capability of dextrous robotic manipulators. In this paper we examine several methods for controlling the transition from...