In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is suggested Optimal sets of actuator locatiom and link lengths for the cases of minimum actuat...
Jai Hoon Lee, Byung-Ju Yi, Sang-Rok Oh, Il Hong Su...
A haptic display system is presented for manipulating virtual mechanisms derived from a mechanical CAD design. Links are designed and assembled into mechanisms using Utah's A...
Ali Nahvi, Donald D. Nelson, John M. Hollerbach, D...
In this paper we address the problem of energyoptimal gait generation for biped robots. Using a simpli ed robot dynamics that ignores the e ects of centripetal forces, we obtain u...
L. Roussel, Carlos Canudas de Wit, Ambarish Goswam...
This paper describes the innovative use of a genetic algorithm to solve the grasp synthesis problem for multifingered robot hands. The goal of our algorithm is to select a `best...
We describe a model-based object tracking system that updates the configuration parameters of an object model based upon information gathered from a sequence of monocular images. ...