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Recent advances in both anthropomorphic robots and bimanual industrial ma-nipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing human-like tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in(More)
One of the big challenges for robots working outside of traditional industrial settings is the ability to robustly and flexibly grasp and manipulate tools for various tasks. When a tool is interacting with another object during task execution, several problems arise: a tool can be partially or completely occluded from the robot's view, it can slip or shift(More)
This paper proposes a PID type regulator that achieves not only the global asymptotic convergence of the robot joint velocities and position errors to zero but it also guarantees a prescribed performance for the position error transient that is independent of system constants and control parameters. The proportional term of the control input uses a(More)
— The problem of door opening is fundamental for robots operating in domestic environments. Since these environments are generally less structured than industrial environments, several types of uncertainties associated with the dynamics and kinematics of a door must be dealt with to achieve successful opening. This paper proposes a method that can open(More)
This paper proposes a local information based control law in order to solve the planar manipulation problem of rotating a grasped rigid object to a desired orientation using multiple mobile manipulators. We adopt a multi-agent systems theory approach and assume that: (i) the manipulators (agents) are capable of sensing the relative position to their(More)