نتایج جستجو برای: dynamic object manipulation
تعداد نتایج: 738814 فیلتر نتایج به سال:
In this papera, we present a dynamic semantics for the Java Virtual Machine Language (JVML). The semantics is specified in an operational style according to the syntactic structure of JVML programs. In order to ascribe meanings to threading, the semantics is made small-step and is structured in two layers: The first layer consists of judgements that capture the semantics of sequential JVML prog...
This paper deals with whole-body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a geometric and kinematic motion planner with a dynamic humanoid motion generator. The second part deals with whole-body reaching tasks by usi...
SQL3 generalizes the relational model into an object model offering abstract data types, multiple inheritance, and dynamic polymorphism. Tables may then contain collections (multisets) of objects, and sets and lists are defined as closely related collection types. By specifying an SQL-Table type template to correspond to the existing Table concept, it is possible to treat sets and lists as subt...
This paper presents a scheme by which a manipulator can use dynamic tactile sensing to detect when it is about to lose hold of a grasped object and take preventive measures before gross sliding occurs. By detecting localized slips on the gripping surface which precede gross slip, the controller can modify the grasp force to prevent the object from slipping. Also, by monitoring normal and tangen...
In this paper, a novel planning method is proposed to solve initial velocities of the free sliding object for given initial and final configurations. Finding the desired initial velocities for free sliding objects is a key step for implementing impulse manipulation and multi-agent dynamic cooperative manipulation. The motion of free sliding objects on a plane is governed by friction forces and ...
Tactile sensing is a fundamental component of object manipulation and tool handling skills. With robots entering unstructured environments, tactile feedback also becomes an important ability for robot manipulation and use of tools. In this work, we explore how a robot can learn to use tactile sensing in object manipulation tasks. We first address the problem of in-hand object localization and a...
extended kalman filtering (ekf) is a nonlinear dynamic data reconciliation (nddr) method. one of its main advantages is its suitability for on-line applications. this paper presents an on-line nddr method using ekf. it is implemented for two case studies, temperature measurements of a distillation column and concentration measurements of a cstr. in each time step, random numbers with zero mean ...
-Representation of video objects using hierarchical 2D content-based meshes for accurate tracking and level of detail (LOD) rendering have been previously proposed, where a simple suboptimal hierarchical mesh design algorithm was employed. However, it was concluded that the performance of the tracking and rendering very much depends on how well each level of the hierarchical mesh structure fits...
The aim of this paper is to validate a virtual reality (VR) environment for the analysis of the sensorimotor processes underlying learning of object grasping and manipulation. This study was inspired by recent grasping studies indicating that subjects learn skilled manipulation by concurrently modulating digit placement and forces as a function of the position of object center of mass (CM) in a...
Haptic exploration of unknown objects is of great importance for acquiring multimodal object representations, which enable a humanoid robot to autonomously execute grasping and manipulation tasks. In this paper we present our ongoing work on tactile object exploration with an anthropomorphic five-finger robot hand. In particular we present a method for guiding the hand along the surface of an u...
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