Dextrous manipulation planning is a problem of paramount importance in the study of multi ngered robotic hands. In this paper, we show in general, that all system variables the ng...
Many practical dextrous manipulation tasks involve large-scale motion of the grasped object while maintaining a stable grasp. To plan such tasks, one must control both the motion ...
This paper investigates how to "observe" a planar object being pushed by a finger. The pushing is governed by a nonlinear system that relates through contact the object ...
Signi cant advances have been made in the area of macro planning for assembly operations i.e., dividing a product into sub-assemblies, determining the sequence of assembly operati...
S. K. Gupta, Christiaan J. J. Paredis, P. F. Brown