Bertram Shi

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This paper presents a theoretical analysis of the convergence properties of a parameter estimation based cellular neural network algorithm for estimating the time-to-contact from a one dimensional image. The algorithm uses a model of the image motion based upon the assumption that the camera is approaching a planar object oriented parallel to the image(More)
Cartesian stiiness is usually described by a 6 6 matrix which is vital in the study of rigid body grasping by m ultiple robot ngers. In this thesis, a closed form expression is derived for evaluating the grasped object stiiness based on the contact geometry and stiiness properties of individual robot ngers. The kinematics of manipulation by elastic ngers is(More)
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