there have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. however undesired slippage can occur due to environmental conditions and many other reasons. in this research, dynamic analysis and control synthesis of a cooperating ...

Skillful tool use requires knowledge of the dynamic properties of tools in order to specify the mapping between applied force and tool motion. Importantly, this mapping depends on the orientation of the tool in the hand. Here we investigate the representation of dynamics during skillful manipulation of a tool that can be grasped at different orientations. We ask whether the motor system uses a ...

Recent results suggest that it is possible to grasp a variety of singulated objects with high precision using Convolutional Neural Networks (CNNs) trained on synthetic data. This paper considers the task of bin picking, where multiple objects are randomly arranged in a heap and the objective is to sequentially grasp and transport each into a packing box. We model bin picking with a discrete-tim...

This study introduces a criteria-based methodology for grasp synthesis. The method allows using multiple performance criteria both at the finger and the hand levels, which are used to generate a preliminary grasp and an optimum grasp, respectively. The approach offers reduced complexity by decomposing grasp synthesis into manageable phases. A case study using a physical hand demonstrates the ef...

we consider the queueing maximal covering location-allocation problem (qm-clap) with an m/m/1 queueing system. we propose a new solution procedure based on decomposition of the problem into smaller sub-problems. we solve the resulting sub-problems both with a branch and bound algorithm and with the meta-heuristic grasp. we also solve the entire model with grasp. computational results for these ...