This work presents a novel object-level control framework for the dexterous in-hand
manipulation of objects with torque-controlled robotic hands. The proposed impedance …

On-orbit servicing, active debris removal or assembling large structures on orbit are only
some of the tasks that could be accomplished by space robots. In all these cases, a contact …

As one of the latest applications in the field of artificial intelligence, collaborative robots
(cobots) are playing an increasingly important role in manufacturing. This study is aimed to …

Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an
unstructured environment, is still out of reach of today's industrial robots. The main difficulties …

Due to the fact that backlash nonlinearity is widespread in actuators, it is impossible to
ignore its existence and achieve excellent and desirable mechanical system performance. In …

The continued growth in life sciences is being accompanied by the constantly rising demand
for robotic systems. Today, bioscreening and high–throughput screening processes are well …

This work presents a re-derivation of relative Jacobian matrix for parallel (dual-arm)
manipulators, expressed in terms of the individual manipulator Jacobians and multiplied by …

Teleoperation is a widely adopted strategy to control robotic manipulators executing
complex tasks that require highly dexterous movements and critical high-level intelligence …

This paper presents an approach to determine optimal grasping poses for dual-arm space
robot cooperatively grasping an uncooperative satellite. Aiming at better manipulating the …

MoveIt is the primary software library for motion planning and mobile manipulation in ROS,
and it incorporates the latest advances in motion planning, control and perception. However …