3 accepted papers
Estimating the inertial properties of an object can make robotic manipulations more efficient, especially in extreme environments. This paper presents a novel method of estimating the 2D inertial parameters of an object, by having a robot applying a push on it. We draw inspiration from previous anal…
This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations are important for safety in human-robot interaction, where eve…
This paper addresses the problem of jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems ar…