28 search results - page 1 / 6 » Dynamic Simulation for Grasping and Whole Arm Manipulation |
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
We propose a novel approach to dynamic simulation of grasps that overcomes di culties due to inconsistencies in the forward dynamics problem. The key idea in the paper is a minima...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
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...
IROS
2006
IEEE
13 years 10 months ago
2006
IEEE
Abstract— A system is detailed here for using imitation learning to teach a robot to grasp objects using both hand and wholebody grasps, which use the arms and torso as well as h...
IROS
2006
IEEE
13 years 10 months ago
2006
IEEE
— This paper discusses the whole arm manipulation allowing the contact state transition. For manipulation of an object under fully constrained, the contact state transition becom...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
— We present results of successful telemanipulation of large, heavy objects by a humanoid robot. Using a single joystick the operator controls walking and whole body manipulation...