1 citations · 1 across the 1 of their papers we have counts for
8 papers
Grasp Stability Analysis with Passive Reactions
Maximilian Haas-Heger
[...] We argue that the traditional grasp modeling theory assumes a complexity that most robotic hands do not possess and is therefore of limited applicability to the robotic hands…
A Continuous Teleoperation Subspace with Empirical and Algorithmic Mapping Algorithms for Non-Anthropomorphic Hands
Cassie Meeker, Maximilian Haas-Heger, Matei Ciocarlie
Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic…
Automatic Snake Gait Generation Using Model Predictive Control
Emily Hannigan, Bing Song, Gagan Khandate +3
In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Mod…
Underactuation Design for Tendon-driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces
Tianjian Chen, Long Wang, Maximilan Haas-Heger +1
Grasp synergies represent a useful idea to reduce grasping complexity without compromising versatility. Synergies describe coordination patterns between joints, either in terms of…
Accurate Energetic Constraints for Passive Grasp Stability Analysis
Maximilian Haas-Heger, Matei Ciocarlie
Passive reaction effects in grasp stability analysis occur when the contact forces and joint torques applied by a grasp change in response to external disturbances applied to the g…
Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis
Maximilian Haas-Heger, Christos Papadimitriou, Mihalis Yannakakis +2
This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the co…