3 papers
cs.RO2026
Trajectory Optimization for Self-Wrap-Aware Cable-Towed Planar Object Manipulation under Implicit Tension Constraints
Yu Li, Amin Fakhari, Hamid Sadeghian
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are de…
cs.RO2024
Motion Planning for Object Manipulation by Edge-Rolling
Maede Boroji, Vahid Danesh, Imin Kao +1
A common way to manipulate heavy objects is to maintain at least one point of the object in contact with the environment during the manipulation. When the object has a cylindrical…
cs.RO2024
Development of a Novel Impedance-Controlled Quasi-Direct-Drive Robotic Hand
Jay Best, Amin Fakhari
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the…