7 search results - page 1 / 2 » Computing Wrench Cones for Planar Contact Tasks |
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computin...
IJRR
2002
13 years 4 months ago
2002
The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. The successful execution of any contact task...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— This paper is concerned with the problem of identifying robust equilibrium postures of a planar mechanism supported by fixed frictional contacts in a twodimensional gravitation...
IJRR
2010
13 years 3 months ago
2010
This paper considers grasps and fixtures whose contacts react according to force-displacement laws consistent with friction constrains at the contacts. The passive force closure s...
ICRA
1999
IEEE
13 years 8 months ago
1999
IEEE
Three fundamental problems in the study of grasping and dextrous manipulation with multifingered robotic hands are as follows. a) Given a robotic hand and a grasp characterized by ...