User interfaces that allow the direct manipulation of conceptu al objects with adequate semantic feedback are not su ciently supported by the user interface tools of today We have designed a layered archi tecture for user interface objects based upon the de nition of a three di mensional object space for object manipulation In this space the usual user centered events are replaced by a logical ...

Enhancing the abilities of service robots is important for expanding what they can achieve in everyday manipulation tasks. In addition, it also essential to ensure that determine cannot achieve. Such necessity may arise due anomalies during task execution. These situations should be detected and identified overcome recover from them. Identification necessitates a deeper time series analysis onb...

The dynamic equations of motion for a system of multiple mobile manipulators carrying a common deformable object are developed. The derived centralized model is based on Kane’s approach to dynamics. The imposed kinematic nonholonomic constraints are included and incorporated into the dynamics. It is pointed out, however, that these kinematic constraints are only necessary, and they only become ...