32 search results - page 1 / 7 » Static Analysis of Contact Forces with a Mobile Manipulator |
ICRA
2006
IEEE
13 years 11 months ago
2006
IEEE
— Most mobile robots in existence today have large, heavy, statically stable bases. To enable manipulation, actuated arms and effectors are attached to the base providing limited...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— In this paper, we analyze indeterminate contact forces in robotic grasping and contact tasks. Previous studies by Omata and Nagata showed that there is a constraint on static f...
VR
2000
IEEE
13 years 9 months ago
2000
IEEE
Previous interactive works have used springs, heuristics, and dynamics for surface placement applications. We present an analytical technique for kilohertz rate manipulation of CA...
ICRA
1993
IEEE
13 years 9 months ago
1993
IEEE
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...
IJRR
2006
13 years 4 months ago
2006
This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control s...