Manipulation planning under changing external forces

Manipulation Planning to Keep an Object Stable under a Sequence of External Forces

We present a planner for a robot to keep an object stable under a sequence of external forces. We assume a robot with multiple manipulators, with a gripper at the end of each manipulator. We make two key contributions: First, given an external force, we propose a method to check the feasibility of gripper placements on the object to resist the force. This method takes into account both the mani...

Internal Forces in Piles “Under External Forces and Earthquake in Homogeneous and Nonhomogeneous Media”

Internal Forces in Piles “Under External Forces and Earthquake in Homogeneous and Nonhomogeneous Media”

Sinai Billiards under Small External Forces

Consider a particle moving freely on the torus and colliding elastically with some xed convex bodies. This model is called a periodic Lorentz gas, or a Sinai billiard. It is a Hamiltonian system with a smooth invariant measure, whose ergodic and statistical properties have been well investigated. Now let the particle be subjected to a small external force. This new system is not likely to have ...

Proprioception Is Robust under External Forces

Information from cutaneous, muscle and joint receptors is combined with efferent information to create a reliable percept of the configuration of our body (proprioception). We exposed the hand to several horizontal force fields to examine whether external forces influence this percept. In an end-point task subjects reached visually presented positions with their unseen hand. In a vector reprodu...