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...

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...

this research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (tlrfm) for dynamic object manipulation (dom) missions. for the first time, achievement of dom task using a rotating one flexible link robot was taken into account in [20]. the authors do not aim to contribute on either trajectory tracking or vibration control of the end-...

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with and without grasp. The aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled...

Cooperative arms are two or more arms in series which assume the structure of a parallel robot on account of gripping an intermediary object, and are commonly used in accurate assembly industries, coaxialization, movement of object, etc. Gripping an intermediary object is one of the complicated subjects in analysis of cooperative arms, whose analysis is mostly dependent upon the manner the obje...

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

Object manipulation is a basic task in robotics and automation. Active manipulation by grasp is conventional approach in object manipulation. However, in many cases, grasp-less manipulation can be beneficial in terms of cost, minimalism and extension of workspace. On the other hand passive mechanisms are advantageous from the energy saving viewpoint. In this paper we combine these ideas to deve...

This paper focuses on the soft contact-based rigid object manipulation. First, a dynamic model of an object manipulation by two-fingered robot hand with soft fingertips is presented. In particular, we deal with a planar case to show certain valuable features in softfingertiped manipulation tasks. Next, in order to analyze the motion of using soft fingertips, a dynamic manipulation control schem...

objective: this is a parallel, three group, randomized, controlled clinical trial, with outcomes evaluated up to three months after randomization for children and adolescents with chronic nail biting. the current study investigates the efficacy of habit reversal training (hrt) and compares its effect with object manipulation training (omt) considering the limitations of the current literature ....