Learn More
A hybrid model/learning-based dynamic equation has been developed for robots in order to take advantage of the attractive features of both techniques. The regular dynamic equation is used to model the ideal behavior, while wavelets are used to learn the joint friction. The friction may be coupled, such that it is a function of the velocity of multiple(More)
Force-closure independent regions are parts of the object edges such that a grasp with a finger in each region ensures a force-closure grasp. These regions are useful to provide some robustness to the grasp in the presence of uncertainty as well as in grasp planning. Most of the approaches to the computation of these regions for N fingers work on the(More)
This paper presents an adaptive control scheme for improving the performance of a surgical robot when it executes tasks autonomously. A commercial tracking system is used to correlate the robot with the preoperative plan as well as to correct the position of the robot when errors between the real and planned positions are detected. Due to the noisy signals(More)
This paper presents a new approach to obtain three-finger robust grasps of 2D irregular objects. Given a discrete description of the object boundary, a partial representation of the force-closure space considering the position of two contact points is obtained. The computational cost of this representation is low and it still includes enough information to(More)
A wavelet network (WN) friction model has been developed for robots where the friction is coupled, such that it is a function of the velocity of multiple joints. Wavelets have the ability to estimate random friction maps without any prior modeling while preserving linearity in the model parameters. The WN friction model was compared against the(More)
This paper addresses the problem of training of operators for telemanipulation tasks. In particular, it describes the development of a physics based virtual environment that allows a user to train in the control of an innovative robotic tool designed for the retrieval of spent nuclear fuels. The robotic device is designed to adapt to very different(More)