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Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. Unfortunately, at very high tempora...
This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control s...
Real-time evaluation of distributed contact forces for rigid or deformable 3D objects is important for providing multi-sensory feedback in emerging real-time applications, such as...
Algorithms and computational complexity measures for simulating the motion of contacting bodies with friction are presented. The bodies are restricted to be perfectly rigid bodies...
A new algorithm for computing contact forces between solid objects with friction is presented. The algorithm allows a mix of contact points with static and dynamic friction. In co...
— Manipulating microscopic objects with the necessary dexterity still remains a very challenging task. In this paper, we propose a freeze gripper able to manipulate micro-objects...
— In this paper, force-controlled microcontact printing using microassembly-based particle templates is investigated. Polystyrene microparticles are assembled semi-automatically ...
— A legged robot walking on uneven terrain can avoid falling only by applying contact forces with its feet on the ground that compensate for gravity without causing slip. To plan...
— In this paper, we analyze indeterminate contact forces in robotic grasping and contact tasks. Previous studies by Omata and Nagata showed that there is a constraint on static f...
Transparent haptic rendering of the contact between a tool and its environment requires very frequent update of the contact forces acting on the tool. Given a rigid tool and a def...