43 search results - page 3 / 9 » Manipulation planning on constraint manifolds |
ICRA
2000
IEEE
13 years 10 months ago
2000
IEEE
This paper addresses the problem of path planning for a class of deformable volumes under fairly general manipulation constraints. The underlying geometric model for the volume is...
ICRA
2003
IEEE
13 years 11 months ago
2003
IEEE
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...
ICRA
2005
IEEE
13 years 12 months ago
2005
IEEE
— We explore the control synthesis problem for a robot dynamically manipulating an object in the presence of multiple frictional contacts. Contacts occur both between the object ...
IROS
2009
IEEE
14 years 27 days ago
2009
IEEE
Abstract— We consider the problem of planning collisionfree motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approac...
ICRA
1998
IEEE
13 years 10 months ago
1998
IEEE
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 ...