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 ...
jr.sagepub.com/cgi/content/abstract/21/5-6/475 The online version of this article can be found at: Published by: http://www.sagepublications.com On behalf of: Multimedia Archives c...
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 ...
— We explore the control synthesis problem for a robot dynamically manipulating an object in the presence of multiple frictional contacts. Contacts occur both between the object ...
Siddhartha S. Srinivasa, Michael Erdmann, Matthew ...
A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, pos...