Conference on Robotics and Automation c 1996 IEEE . Online Grasp Synthesis

1996 International Conference on Robotics and Automation c 1996 IEEEMinneapolis

c 1996 IEEE Minneapolis, MN, 1996 Motion Planning for Multiple Mobile Manipulators Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulator...

Fast Construction of Force-Closure Grasps - Robotics and Automation, IEEE Transactions on

AbstructThis article presents a new theorem and an algorithm for fast synthesis of two-fingered force-closure grasps for arbitrary polygonal objects. The polygonal objects are allowed to be of arbitrary shape, in the sense that there is no restriction that the objects he convex. Moreover, each edge of the polygon is allowed to have different frictional characteristics. Our novel formulation res...

Specification of force-controlled actions in the "task frame formalism"-a synthesis

Motion Generation for Formations of Robots a Geometric Approach

This paper develops a method for generating smooth trajectories for mobile robots in formation. The problem of trajectory generation is cast in terms of designing optimal curves on the Euclidean group, SE(3). Specifically, the method generates the trajectory that minimizes the total energy associated with the translations and rotations of the robots, while maintaining a rigid formation. When th...

Grasp analysis and synthesis based on a new quantitative measure

In this paper, we present a quantitative measure of multifingered grasps. The measure quantifies the capability of a grasp in firmly holding an object while resisting external loads and/or disturbances. It can also be used for qualitative test of closure properties (form closure and force closure). For planar grasps and frictionless three-dimensional (3-D) grasps, the quantitative measure can b...