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—The advent of sensor arrays providing tactile feedback with high spatial and temporal resolution asks for new control strategies to exploit this important and valuable sensory channel for grasping and manipulation tasks. In this paper, we introduce a control framework to realize a whole set of tactile servoing tasks, i.e. control tasks that intend to(More)
This paper introduces a multi-objective linear programming model for transit itinerary planning (TIP) with multimodal and fixed-route transit networks and presents an efficient two-phase TIP algorithm to find the optimal path that has the least combination cost from a given origin to a given destination. The algorithm recognizes the inherent nature of the(More)
—In order to realize in-hand manipulation of unknown objects, we introduce an extension to our previously developed manipulation framework, such that long manipulation sequences, involving finger regrasping, become feasible. To this end, we propose a novel feedback controller, which searches for locally optimal contact points (suitable for regrasping),(More)
— We propose a feedback-based solution for the accurate manipulation of an unknown object in hand. This method does not explicitly take the friction and surface geometry of the manipulated object into consideration for the controller design, but employs a fast feedback loop based on visual and tactile feedback to perform robust manipulation even in the(More)
— We focus on manipulating the object of unknown shape, weight and friction properties in hand task. Unlike the traditional method considering the manipulation as multi times grasp planning, we follow the behavior robotics opinion and propose the reactive manipulation strategy. Firstly, we design the compact closed loop control (local controller) to(More)
OBJECTIVE To study influence of 100 Hz sinusoidal vibration on muscle spindle afferents discharges of rat soleus muscles in simulated-weightlessness situation. METHOD The tail-suspended rat model was used to simulate weightlessness, and 100 Hz sinusoidal vibration was performed by a vibrator. Unit activity was recorded electrophysiologically from the(More)
We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties – prerequisites which are necessary for classical offline grasping and manipulation methods. With this strategy, the object can be manipulated in hand in a large scale,(eg. to rotate the object 360 degree) regardless whether there is(More)
— We propose a simple but efficient control strategy to in-hand manipulate objects of unknown shape, weight, and friction properties. With this strategy, the object can be manipulated in hand in a large scale regardless there is rolling or sliding motion between the fingertips and object. We define several finger/fingers manipulation primitives and propose(More)
We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties – prerequisites which are necessary for classical offline grasping and manipulation methods. Instead, the proposed control strategy employs estimated contact point locations, which can be obtained from modern tactile sensors with good(More)