The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining
a good grasp requires algorithms to automatically determine proper contact points on the …

Recent advances in both anthropomorphic robots and bimanual industrial manipulators had
led to an increased interest in the specific problems pertaining to dual arm manipulation. For …

Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological
interest but consist of terrain that is inaccessible with traditional robot locomotion. To support …

A robotic gras** simulator, called Graspit!, is presented as versatile tool for the gras**
community. The focus of the grasp analysis has been on force-closure grasps, which are …

Control barrier functions have been demonstrated to be a useful method of ensuring
constraint satisfaction for a wide class of controllers. However, the existing results are mostly …

A new methodology for constructing convex optimization models called disciplined convex
programming is introduced. The methodology enforces a set of conventions upon the …

Existing grasp synthesis methods are either analytical or data-driven. The former one is
oftentimes limited to specific application scope. The latter one depends heavily on …

This paper presents a new balancing control approach for regulating the center of mass
position and trunk orientation of a bipedal robot in a compliant way. The controller computes …

We design, optimize and demonstrate the behavior of a tendon-driven robotic gripper
performing parallel, envelo** and fingertip grasps. The gripper consists of two fingers …