We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-l...
In a number of industrial, space, or mobile systems applications, reaction forces and moments transmitted by a manipulator to its base are undesirable. Based on force and moment t...
This paper summarizes ongoing work with a mobile manipulator (Mobipulator). We describe the system architecture of the latest version of the robot, a hierarchy of robot motion com...
Siddhartha S. Srinivasa, Christopher R. Baker, Eli...
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...
Abstract— Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can’t be controlled like industrial robotic manipulator whe...