8 accepted papers
This paper describes a method for steering flexible linear objects using two robot hands in environments populated by sparsely spaced obstacles. The approach involves manipulating an elastic inextensible rod by varying the gripping endpoint positions and tangents. Closed form solutions that describe
Mobile robot navigation functions provide geometric path planning that can be used to control the physical mobile robot system. This letter extends the theory of mobile robot navigation functions to planar environments populated by unknown obstacles. The robot has knowledge of the environment outer
Gravity based caging describes robotic grasps where the robot hand forms a basket-shape supporting an object against gravity. Basket grasps allow secure object transport with simple hands that use a small number of fingers. A basket grasp can be described in the grasped object configuration space as
Multi-finger equilibrium grasps form the basic building block for synthesizing secure grasps by robot hands. This letter describes a catalog of the 2-D equilibrium grasps. The letter reviews graphical techniques for synthesizing two and three-finger equilibrium grasps, then describes new techniques
Modern robotic grippers are either specialized and simple, complex and general purpose, or soft and compliant hands. The first provide high reliability but are limited in the range of objects they grasp. Compliant or soft grippers can grasp wide ranges of objects, but are not yet reliable enough for
This paper considers basket grasps, where a two-finger robot hand forms a basket that can safely lift and carry rigid objects in a 2-D gravitational environment. The two-finger basket grasps form special points in a high-dimensional configuration space of the object and two-finger robot hand. This p…
Caging offers a robust strategy for grasping objects with robot hands. This letter utilizes caging for locking polygonal objects against a wall using minimalistic two-finger robot hands. From the object's perspective, the wall and two-finger hand form an equivalent three-finger hand. The object is f
Caging offers a robust strategy for grasping objects with robot hands. This letter describes an efficient caging-to-grasping algorithm for polygonal objects using minimalistic three-finger robot hands. This letter describes how to cage and then grasp polygonal objects, using single actuator triangul