— This paper presents a 3D object recognition method based on spin-images for a humanoid robot having a stereoscopic vision system. Spin-images have been proposed to search CAD m...
— We have previously shown that hemispherical soft fingertips are at equilibrium when they are in contact with objects, suggesting that the contact force and flexibility of the...
—This paper presents two experiments with Electric Field Servoing for robotic manipulation. In the first, a robot hand pre-shapes to the geometry and pose of objects to be graspe...
— We present a first attempt to accomplish a simple object manipulation task using the self-reconfigurable robotic system swarm-bot. The number of modular entities involved, th...
We propose a novel approach to dynamic simulation of grasps that overcomes di culties due to inconsistencies in the forward dynamics problem. The key idea in the paper is a minima...