3 accepted papers
A novel algorithm for planning robotic manipulation tasks is presented in which the base position and joint motions of a robot are simultaneously optimized to follow a smooth desired end-effector trajectory. During the optimization routine, the manipulator's base position and joint motions are plann…
We present a method for the design optimization of a soft, inflatable robot. The method described utilizes a multi-objective fitness function together with custom, platform-specific metrics related to the dexterity and load-bearing capacity of inflatable manipulators. Candidate designs are scored by…
This paper studies cages of convex polygonal objects using three point fingers. The fingers are said to cage the object when it is impossible to move the object arbitrarily far from its initial placement without penetrating the fingers. We consider a three-parameter model of the relative position of…