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This paper concerns the motion of moving a polyhedral object while maintaining contact with a set of stationary polyhedral objects. A method is developed for deriving a sequence of compliant-guarded motions in order to move an object from an initial configuration to a final configuration while it is in contact. This sequence is derived from a sequence of(More)
This paper reports preliminary work with an RFID based local positioning system (LPS) designed for location and guidance of people and autonomous vehicles in indoor environments. The system consists of an RF reader carried by the mobile user, and a number of active RFID tags, disseminated at known positions in the displacement region, which regularly emit(More)
In this paper we present a system for tactile object exploration. The system is built using a gripper with two parallel fingers, each equipped with a tactile array and a force/torque sensor. We have designed and implemented a set of exploratory procedures for acquiring the following properties: weight, shape, texture, and hardness. The system is successful(More)
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