This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary account sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object contact interactions. this letter, we propose bipedal control strategy that can cope with forces. First, the basic formulas of dynamics, i.e., linear inverted pendulum m...

In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a “pivoting” manipulation method that allows the humanoid to displace an object without lifting, but by the support of the ground contact. First, the smalltime controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking int...

In this paper, kinematic models for multiple manipulator space robotic systems are developed, as functions of body-fixed barycentric vectors. These models are used to define workspaces for single and multi-manipulator freefloating systems. It is shown that following the capture of a large payload, the location of these workspaces in space changes, and their size is reduced. These effects, commo...

We present a new open-source software framework (called Humanoid Path Planner – HPP) for path and manipulation planning. Some features like built-in kinematic chains and implementation of non-linear constraints make the framework a good fit for humanoid robot applications. The implementation of kinematic chains takes into account the Lie-group structure (rotation in 3D space SO(3)) of robot con...

Before the introduction of a call auction at the close, the last minute of trading at the Paris Bourse was the most active of the whole day. Even though the bid–ask spread increased substantially, the probability of large and aggressive orders increased, as did price volatility. In addition, both the one-minute returns and the proportion of partially hidden orders increased. In this paper, we d...

We present an agent-based model of manipulating prices in financial markets through spoofing: submitting spurious orders to mislead traders who learn from the order book. Our captures a complex market environment for single security, whose common value is given by dynamic fundamental time series. Agents trade limit-order book, based on their private values and noisy observations fundamental. co...

In this paper, we present a paradigm for allowing subjects to configure a user interface for multi-robot manipulation tasks. Multi-robot manipulation tasks can be complicated, due to the need for tight temporal coupling between the robots. However, this is an ideal scenario for human-agent-robot teams, since performing all of the manipulation aspects of the task autonomously is not feasible wit...