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261
GraspIt!  A Versatile Simulator for Robotic Grasping
, 2004
"... Research in robotic grasping has flourished in the last 25 years. A recent survey by Bicchi [1] covered over 140 papers, and many more than that have been published. Stemming from our desire to implement some of the work in grasp analysis for particular hand designs, we created an interactive graspi ..."
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Cited by 174 (20 self)
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Research in robotic grasping has flourished in the last 25 years. A recent survey by Bicchi [1] covered over 140 papers, and many more than that have been published. Stemming from our desire to implement some of the work in grasp analysis for particular hand designs, we created an interactive grasping simulator that can import a wide variety of hand and object models and can evaluate the grasps formed by these hands. This system, dubbed “GraspIt!,” has since expanded in scope to the point where we feel it could serve as a useful tool for other researchers in the field. To that end, we are making the system publicly available (GraspIt! is available for download for a variety of platforms from
The calculation of robot dynamics using articulatedbody inertias
 Int J. Robot. Res
, 1983
"... This paper describes a new method for calculating the acceleration of a robot in response to given actuator forces. The method is applicable to openloop kinematic chains containing revolute and prismatic joints. The algorithm is based on recursive formulas involving quantities called articulatedbo ..."
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Cited by 110 (4 self)
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This paper describes a new method for calculating the acceleration of a robot in response to given actuator forces. The method is applicable to openloop kinematic chains containing revolute and prismatic joints. The algorithm is based on recursive formulas involving quantities called articulatedbody inertias, which represent the inertia properties of collections of rigid bodies connected together by joints allowing constrained relative motion between the bodies. A new, matrixbased notation is introduced to represent articulatedbody inertias and other spatial quantities. This notation is used to develop the algorithm, and results in a compact representation of the equations. The new algorithm has a computational requirement that varies linearly with the number of joints,
On Computing FourFinger Equilibrium and ForceClosure Grasps of Polyhedral Objects
 International Journal of Robotics Research
, 1996
"... : This paper addresses the problem of computing stable grasps of threedimensional polyhedral objects. We consider the case of a hand equipped with four hard fingers and assume point contact with friction. We prove new necessary and sufficient conditions for equilibrium and force closure, and presen ..."
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Cited by 99 (6 self)
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: This paper addresses the problem of computing stable grasps of threedimensional polyhedral objects. We consider the case of a hand equipped with four hard fingers and assume point contact with friction. We prove new necessary and sufficient conditions for equilibrium and force closure, and present a geometric characterization of all possible types of fourfinger equilibrium grasps. We then focus on concurrent grasps, for which the lines of action of the four contact forces all intersect in a point. In this case, the equilibrium conditions are linear in the unknown grasp parameters, which reduces the problem of computing the stable grasp regions in configuration space to the problem of constructing the eightdimensional projection of an elevendimensional polytope. We present two projection methods: the first one uses a simple Gaussian elimination approach, while the second one relies on a novel outputsensitive contourtracking algorithm. Finally, we use linear optimization within t...
Force Distribution in Closed Kinematic Chains
 IEEE Transactions on Robotics and Automation
, 1988
"... ©1988 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other wo ..."
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Cited by 65 (12 self)
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©1988 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This paper is posted at ScholarlyCommons.
Cooperative Manipulation and Transportation with Aerial Robots
"... Abstract—In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provid ..."
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Cited by 63 (7 self)
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Abstract—In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial robots via simulation and experimentation. I.
Contact Sensing from Force Measurements
 International Journal of Robotics Research
, 1990
"... location of a contact, the force at the interface and the moment about the contact normals. Called "intrinsic" contact sensing for the use of in ternal force and torque measurements, this method allows for practical devices which provide simple, relevant contact information in practica ..."
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Cited by 57 (5 self)
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location of a contact, the force at the interface and the moment about the contact normals. Called "intrinsic" contact sensing for the use of in ternal force and torque measurements, this method allows for practical devices which provide simple, relevant contact information in practical robotic applications. Such sensors have been used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, control collision and a variety of other useful tasks. This paper describes the theoretical basis for their operation and provides a framework for future device design.
The geometry of configuration spaces for closed chains in two and three dimensions. Homology Homotopy Appl
, 2002
"... In this note we analyze the topology of the spaces of configurations in the euclidian space Rn of all linearly immersed polygonal circles with either fixed lengths for the sides or one side allowed to vary. Specifically, this means that the allowed maps of a kgon 〈l1, l2,..., lk 〉 where the li are ..."
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Cited by 38 (7 self)
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In this note we analyze the topology of the spaces of configurations in the euclidian space Rn of all linearly immersed polygonal circles with either fixed lengths for the sides or one side allowed to vary. Specifically, this means that the allowed maps of a kgon 〈l1, l2,..., lk 〉 where the li are the lengths of the successive sides, are specified by an ordered ktuple of points in Rn, P1, P2,..., Pk with d(Pi, Pi+1) = li, 1 6 i 6 k − 1 and d(Pk, P1) = lk. The most useful cases are when n = 2 or 3, but there is no added complexity in doing the general case. In all dimensions, we show that the configuration spaces are manifolds built out of unions of specific products (Sn−1)H × I(n−1)(k−2−H), over (specific) common submanifolds of the same form or the boundaries of such manifolds. Once the topology is specified, it is indicated how to apply these results to motion planning problems in R2. 1.
Planning and control for cooperative manipulation and transportation with aerial robots
 The International Journal of Robotics Research
, 2011
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Manipulability of Cooperating Robots with Unactuated Joints and ClosedChain Mechanisms
, 2000
"... In this paper, we study the differential kinematics and the kinetostatic manipulability indices of multiple cooperating robot arms, including active and passive joints. The kinematic manipulability indices are derived extending previous results on cooperating robots without passive joints. The forc ..."
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Cited by 30 (1 self)
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In this paper, we study the differential kinematics and the kinetostatic manipulability indices of multiple cooperating robot arms, including active and passive joints. The kinematic manipulability indices are derived extending previous results on cooperating robots without passive joints. The force manipulability analysis for cooperative robot systems cannot be straightforwardly derived by "duality" arguments as it can with conventional arms, rather a distinction between active and passive force manipulability must be introduced. Results in this paper apply directly to the analysis of cooperating robots, parallel robots, dextrous robotic hands and legged vehicles, and, in general, to closed kinematic chains.