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We propose a method for modeling dextrous manipulation with sliding fingers. The approach combines compliance and friction limit surfaces. The method is useful for describing how a grasp will behave in the presence of external forces (e.g., when and how the fingertips will slide) and for planning...
This article presents a method for determining three- dimensional stress and strain tensors within elastic layers covering or embedding tactile sensors. When an object comes in contact with the elastic surface of a sensing array, the distribution of forces on the surface is mechani cally filtered...
The most significant control problem to be solved in robotics is the use of sensor information. This article pre sents a new method of on-line motion generation. New joint reference trajectories are calculated to be more adapted to the situation detected by the position and velocity sensors. This...