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06/06/2022
Lane-Level Route Planning for Autonomous Vehicles
We present an algorithm that, given a representation of a road network i...
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03/10/2021
Grasp Stability Analysis with Passive Reactions
[...] We argue that the traditional grasp modeling theory assumes a comp...
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11/21/2019
A Continuous Teleoperation Subspace with Empirical and Algorithmic Mapping Algorithms for Non-Anthropomorphic Hands
Teleoperation is a valuable tool for robotic manipulators in highly unst...
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09/24/2019
Automatic Snake Gait Generation Using Model Predictive Control
In this paper, we propose a method for generating undulatory gaits for s...
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04/30/2019
3D Grasp Stability Analysis with Coulomb Friction with Hierarchical Convex Relaxations
We present an algorithm to determine quasistatic equilibrium of three di...
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06/04/2018
Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis
This paper studies the problem of passive grasp stability under an exter...
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03/26/2018
Underactuated Hand Design Using Mechanically Realizable Manifolds
Hand synergies, or joint coordination patterns, have become an effective...
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01/19/2018