Gary M. Bone

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– This paper describes the development of a novel vision-based modeling and grasping system for three-dimensional (3D) objects whose shape and location are unknown a priori. Our approach integrates online computer vision-based 3D object modeling with online 3D grasp planning and execution. A single wrist-mounted video camera is moved around the stationary(More)
A novel solution to the three-dimensional dynamic human-robot collision problem is presented. Sphere-based geometric models are used for the human and robot due to the efficiency of the distance computation. The collision avoidance algorithm searches for collision-free paths by moving the end-effector along a set of pre-defined search directions. An(More)
Pneumatic servo actuators have the benefits of low-cost, cleanliness and a high power-to-weight ratio. However , their relatively poor accuracy prevents them from competing with electro-mechanical systems when higher accuracy is needed. The cause of the steady-state error for a pneumatic servo system with an open-center servo valve is investigated. Full(More)
—We propose unilateral fixtures, a new class of fixtures for sheet metal parts with holes, where holding elements lie almost completely on one side of the part, maximizing access for welding, assembly, or inspection. Each primary jaw is cylindrical with a conical groove that provides the equivalent of four point contacts and facilitates part alignment. We(More)