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Caging provides an alternative to point-contact-based rigid grasping, relying on reasoning about the global free configuration space of an object under consideration. While substantial progress has been made toward the analysis, verification, and synthesis of cages of polygonal objects in the plane, the use of caging as a tool for manipulating general complex objects in 3-D remains challenging. In...
This paper considers a tracking problem for three manipulators grasping a rigid object. The control objective is to coordinate the movements of the manipulators using local information in order to align the object attitude with a desired rest attitude and the object position with a time parameterized reference trajectory. The object rigidity is modelled as a constraint on the motion of the end-effectors...
This paper proposes a local information based control law in order to solve the planar manipulation problem of rotating a grasped rigid object to a desired orientation using multiple mobile manipulators. We adopt a multi-agent systems theory approach and assume that: (i) the manipulators (agents) are capable of sensing the relative position to their neighbors at discrete time instances, (ii) neighboring...
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