— This paper describes a test-bed for planar micro manipulation tasks and a framework for planning based on quasistatic models of mechanical systems with frictional contacts. We ...
David J. Cappelleri, Jonathan Fink, Barry Munkunda...
In this paper, the stability of objects in graspless manipulation (or nonprehensile manipulation) is investigated. In contrast with the stability of grasps, it is crucial for the ...
Abstract In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a "pivoting" manipulation method that allows the humanoid to disp...
— Probabilistic sampling-based motion planners are unable to detect when no feasible path exists. A common heuristic is to declare a query infeasible if a path is not found in a ...
Kris K. Hauser, Timothy Bretl, Jean-Claude Latombe
A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, pos...