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 ...
Abstract— This paper presents a randomized manipulation planner for a multi-fingered hand by switching contact modes. Manipulation planning for such a system should consider cha...
We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonh...
— A generalized kinematic modeling framework, called Mechanism_Model, has been developed for use in the CLARAty robotic reusable software. Mechanism_Model supports a wide range o...