Underactuated manipulation is the process of controlling several object degrees-of-freedom with fewer robot actuators. Underactuated manipulation allows us to build dexterous robots with only a few actuators. In this paper we explore the possibility of useful dynamic manipulation with only a single actuator. Our case study is a ball rolling in an asymmetrical bowl which can be accelerated along...

We present an interface for 3D object manipulation in which standard transformation tools are replaced with transient 3D widgets invoked by sketching context-dependent strokes. The widgets are automatically aligned to axes and planes determined by the user’s stroke. Sketched pivot-points further expand the interaction vocabulary. Using gestural commands, these basic elements can be assembled in...

Slipping detection and avoidance are key issues in dexterous robotic manipulation. The capability of robots to grasp manipulate objects common use can be greatly enhanced by endowing these with force/tactile sensors on their fingertips. Object slipping caused both tangential torsional loads when the grip force is too low. Contact moment measurements required counteract such avoid slippage contr...

This paper presents an H.323 standard compliant virtual video conferencing system. The proposed system not only serves as a multipoint control unit (MCU) for multipoint connection but also provides a gateway function between the H.323 LAN (localarea network) and the H.324 WAN (wide-area network) users. The proposed virtual video conferencing system provides userfriendly object compositing and m...