— 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...
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...
— 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 ...
— 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...