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This paper presents the design of a novel robot capable of climbing on vertical and rough surfaces, such as stucco walls. Termed CLIBO (claw inspired robot), the robot can remain in position for a long period of time. Such a capability offers important civilian and military advantages such as surveillance, observation, search and rescue and even for(More)
A novel algorithm is proposed for offline motion planning of a robotic arm to perform a throw task of an object to reach a goal target. The planning algorithm searches for a throw trajectory that could be performed under kinematic and dynamic (i.e., kinodynamic) constraints. We parameterize the throw trajectory by a time-invariant high-dimensional vector.(More)
This work proposes an algorithm for designing a simple End Effector configuration for a robotic arm which is able to grasp a given set of objects. The algorithm searches for a common 3-finger grasp over a set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account an external wrench(More)
In this paper we propose an energy control based algorithm for performing swing-up regrasping. In such regrasping motion, an object is manipulated using a robotic arm around a point pinched by the arms gripper. The aim is to manipulate the object from an initial angle to regrasp it on a new desired angle relative to the gripper. The pinching point function(More)
— This paper addresses the problem of defining a simple End-Effector design for a robotic arm that is able to grasp a given set of planar objects. The OCOG (Objects COmmon Grasp search) algorithm proposed in this paper searches for a common grasp over the set of objects mapping all possible grasps for each object that satisfy force closure and quality(More)
Destructive results of natural disasters like the earthquake in Japan are not subject to control. Fukushima catastrophe has shown that for now, robots do not have human capabilities when it comes to search and rescue. At time of writing this paper a robotics competition takes place whose goal is promoting research on issues related to operation of robots in(More)
The work presented in this paper proposes a new method for time based motion planning of a dynamic system to reach a dynamical goal within a specified time. The method enables trajectory planning based on the dynamics of the system with time constraint. Moreover, this method allows rendezvous planning of two dynamic systems where only one is controlled. To(More)
In this work we present a library of methods to perform dynamic regrasping to alternate grasp configurations of an object with respect to the task to be done. In these methods, we utilize the dynamics of the arm and therefore can use a simple non-dexterous gripper, enabling fast manipulations and low costs. We investigated two regrasping methods. One is an(More)