SAGA: Stochastic Whole-Body Grasping with Contact

Extending fingertip grasping to whole body grasping

A theory on grasping objects using effectors with curved contact surfaces and its application to whole-arm grasping

This paper develops a theoretical framework for grasping objects using customized effectors that have curved contact surfaces and presents its application to the problem of robotic whole-arm grasping. We present a collection of immobilizing grasps and cages that can effectively restrain the mobility of a wide range of object shapes including polyhedra. Each of the grasps or cages is formed by a...

Whole-Body Dynamic Planning and Stabilization with Contact

As robots impact the ground or the enviroment, the impacts induce discontinuities in both state trajectories and in the governing dynamics. Given the complexity of the impact dynamics, as well as the high degree-of-freedom nature of humanoid robots, approaches to locomotion control and planning are often rely on simplified dynamical models, such as the LIP or SLIP. However, recent advances in b...

Protective Immunity in Mice with Whole Body of Echinococcus granulosus

Despite the establishment of extensive and successful control programmes in some countries or regions, Echinococcus granulosus still has a very wide geographical distribution. Mature E. granulosus (n = 120) obtained from Parasitology Department, School of Veterinary Medicine, Ferdowsi University of Mashhad (Iran). Soluble protein of whole body of parasite was prepared by freeze-thawing in liqui...

Immunization of lambs with whole body Echinococcus granulosus

We conducted this study to determine the level of immunity after vaccination of lambs with whole bodyEchinococcus granulosus. To do so, 200 mature E. granulosus parasites, which were kept in 10% formalinefor 8 months, were obtained from the Department of Parasitology, School of Veterinary Medicine, FerdowsiUniversity of Mashhad. The soluble protein of the parasite was prepared. The sample was h...