Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

a new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot

abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...

Grasp planning analysis and strategy modeling for underactuated multi-fingered robot hand using in fruits grasping

To solve the unfixed grasping tasks during the fruits picking and rating, grasping modeling is researched as the most important part of the robot hand solutions. A survey for grasping synthesis method with dexterous robot hand is presented in this paper. The difference of grasping characters is introduced between dexterous hand and underactuated hand. Especially, the feature of self-adaptive en...

Grasp Planning for a Multifingered Hand with a Humanoid Robot

This paper presents grasp planning for a multifingered hand with a humanoid robot. Our planner selects different ways of grasping even for the same object according to object position/orientation. If the planner cannot find a feasible grasp with arm/hand kinematics, it switches to full body motion planning. These functions are necessary for realizing the robust grasp planning. Our planner defin...

An Approach to the Design of a Light-Weight Reconfigurable Robot Arm for a Mobile Robot

Planning Considerations for a Roving Robot with Arm

The Jet Propulsion Laboratory is engaged in a robot research program. The program is aimed at the development and demonstration of technology required to integrate a variety of robntic functions {locomotion, manipulation, sensing and perception, decision making, and man-robot interaction) into a working robot unit operating in a real world environment and dealing with both man-made and natural ...