Abstract: An algorithm to search for a kinematically desired robotic grasp pose with rolling contacts is presented. A manipulability measure is defined to characterize the grasp for multi-fingered robotic handling. The methodology ...

Abstract: This study has investigated the response of the Total Human Model for Safety (THUMS) lower extremity finite element model under blast loading. Response of the model was estimated in simulated underbody blast (UBB) loading ...

Abstract: This article reports a method for regulating the internal forces during in-hand manipulation of an unknown shaped object with soft robotic fingers. The internal forces ensure that the object does not move between the robotic ...

Abstract: Uncertainty and disturbance are common in a planar snake robot model due to its structural complexity and variation in system parameters. To achieve efficient head angle and velocity tracking with least computational ...