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ICRA
2002
IEEE
83views Robotics» more  ICRA 2002»
9 years 8 months ago
Dynamic Friction Closure
Makoto Kaneko, Kensuke Harada, Toshio Tsuji
ICRA
2005
IEEE
128views Robotics» more  ICRA 2005»
9 years 9 months ago
Object Manipulation under Hybrid Active/Passive Closure
— In this paper, we discuss the manipulation of an object under hybrid active/passive closure. We show the orthogonality between the directions of active and passive force closur...
Tetsuyoh Watanabe, Kensuke Harada, Zhongwei Jiang,...
ICRA
1993
IEEE
88views Robotics» more  ICRA 1993»
9 years 8 months ago
On the Form-Closure of Polygonal Objects with Frictional and Frictionless Contact Models
This paper investigates the problem of "formclosure"for three-fingered grasps of polygonal objects under various combinations of contact models at the contact points. We...
Yu-Che Chen, Jeffrey C. Trinkle
IROS
2008
IEEE
134views Robotics» more  IROS 2008»
9 years 10 months ago
Friction observer and compensation for control of robots with joint torque measurement
— In this paper we introduce a friction observer for robots with joint torque sensing (in particular for the DLR medical robot) in order to increase the positioning accuracy and ...
Luc Le Tien, Alin Albu-Schäffer, Alessandro D...
ICRA
2005
IEEE
114views Robotics» more  ICRA 2005»
9 years 9 months ago
Geometric Reformulation of 3-Fingered Force-Closure Condition
— This paper addresses the problem of testing whether three contact points form a 3-fingered force-closure grasp in two dimensions. In particular, assuming frictional point cont...
Attawith Sudsang, Thanathorn Phoka
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