159 search results - page 22 / 32 » The Instantaneous Kinematics of Manipulation |
IPPS
1999
IEEE
15 years 2 months ago
1999
IEEE
The system of equations that govern kinematically redundant manipulators is commonly solved by nding the singular value decomposition (SVD) of the corresponding Jacobian matrix. T...
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ICRA
2002
IEEE
15 years 2 months ago
2002
IEEE
We present motion planning for dexterous manipulation by whole arm grasp system based on switching contact modes. Motion planning for such a system should consider changing dynami...
ICRA
2000
IEEE
15 years 2 months ago
2000
IEEE
This paper investigates controllability of underactuated rolling systems consisting of a smooth object rolling on a moving smooth surface. Our system consists of a spherical ball ...
SIGGRAPH
1994
ACM
15 years 2 months ago
1994
ACM
We apply manipulation planning to computer animation. A new path planner is presented that automatically computes the collision-free trajectories for several cooperating arms toma...
ICRA
2003
IEEE
15 years 3 months ago
2003
IEEE
— In this paper a robotic catching algorithm based on a nonlinear mapping of visual information to the desired trajectory is proposed. The nonlinear mapping is optimized by learn...