2012
Personal Mobility and Manipulation Appliance - Design, Development, and Initial Testing.
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Proc. IEEE, 2012
2010
Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics.
Int. J. Robotics Res., 2010
Sampling-based finger gaits planning for multifingered robotic hand.
Auton. Robots, 2010
Enhanced bimanual manipulation assistance with the Personal Mobility and Manipulation Appliance (PerMMA).
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
2009
Planning fireworks trajectories for steerable medical needles to reduce patient trauma.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
2008
A Kinematic Model of Finger Gaits by Multifingered Hand as Hybrid Automaton.
IEEE Trans Autom. Sci. Eng., 2008
3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics.
Proceedings of the Algorithmic Foundation of Robotics VIII, 2008
Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchaining.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008
2007
Finger gaits planning for multifingered manipulation.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007
Force Analysis of Whole Hand Grasp by Multifingered Robotic Hand.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007
Two-Degree-of-Freedom Based Cross-Coupled Control for High-Accuracy Tracking Systems.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2007
Development and implementation of NURBS interpolator with look-ahead technique.
Proceedings of the IEEE Conference on Automation Science and Engineering, 2007
2006
Hybrid Automaton: A Better Model of Finger Gaits.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
Grasping Force Optimization for Whole Hand Grasp.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
2005
Kinematic modelling of multifingered hand's finger gaits as hybrid automaton.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
2004
On geometric algorithms for real-time grasping force optimization.
IEEE Trans. Control. Syst. Technol., 2004
On quality functions for grasp synthesis, fixture planning, and coordinated manipulation.
IEEE Trans Autom. Sci. Eng., 2004
On Quality Functions for Grasp Synthesis and Fixture Planning.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004
A General Approach for Optimal Kinematic Design of Parallel Manipulators.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004
2003
A study on geometric algorithms for real-time grasping force optimization.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003
A study on quality functions for grasp synthesis and fixture planning.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003
Kinematic synthesis of parallel manipulators: a Lie theoretic approach.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003
A comparative study of geometric algorithms for real-time grasping force optimization.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003
Convergence analysis and experimental study of geometric algorithms for real-time grasping force optimization.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003
2002
Automatic real-time grasping force determination for multifingered manipulation: theory and experiments.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002