This paper presents a method to deal the dynamic stability for a mobile manipulator. Although the system has static stability, manipulation on the moving base or mobile locomotion...
Jinhyun Kim, Wan Kyun Chung, Youngil Youm, Beom He...
This paper describes TEMPEST, a planner that enables a solar-powered rover to reason about path selection and event placement in terms of available solar energy and anticipated po...
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...
Grasping a curved object free in the plane may be done through rolling a pair of fingers on the object’s boundary. Each finger is equipped with a tactile sensor able to record...
Systems that act autonomously in the environment have to be able to integrate three basic behaviors: planning, execution, and learning. Planning involves describing a set of action...