Interaction between a robot and its environment requires perception about the environment,
which helps the robot in making a clear decision about the object type and its location. After …

In recent years, we have witnessed a rapid surge in assisted living technologies due to a
rapidly aging society. The aging population, the increasing cost of formal health care, the …

We investigate the premise that robust grasping performance is enabled by exploiting
constraints present in the environment. These constraints, leveraged through motion in …

We have built an anatomically correct testbed (ACT) hand with the purpose of understanding
the intrinsic biomechanical and control features in human hands that are critical for …

The stable and repeatable grasping of objects lying on a flat hard surface is addressed in
this paper. A physical model of an object lying on a flat surface and its interaction with the …

While complex hands seem to offer generality, simple hands are often more practical. This
raises the question: how do generality and simplicity trade off in the design of robot hands …

This paper presents a geometric approach to solve the unknown joint angles required for the
autonomous positioning of a robotic arm. A plethora of complex mathematical processes is …

People with physical disabilities have ranked object retrieval as a high-priority task for
assistive robots. We have developed Dusty, a teleoperated mobile manipulator that fetches …

A robot for lifting an object, including systems and methods, are herein described. One
embodiment comprises a robot is disclosed having a generally planar receiving surface for …

While complex hands seem to offer generality, simple hands are more practical for most
robotic and telerobotic manipulation tasks, and will remain so for the foreseeable future. This …