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The goal of this paper is to study how a surface force profile may be estimated from the information on strain or stress distribution detected by tactile sensors. This problem is referred to as the inverse problem since ...

In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...

Integrated tactile sensors appear to be essential for dextrous control of multifingered robotic hands. Such sensors would feature (1) compliant contact surfaces, (2) high resolution surface stress transduction, (3) local ...

Continuing our program to understand the geometry and dynamics of floating four-bar linkages, we explore the relative equilibria of an assembly that admits symmetric configurations. We show that a symmetric configuration ...

The hamiltonian structure of floating, planar four-bar linkages is discussed. The geometry of configuration space is related to the classical theory of mechanisms due to Grashof. For generic value of kinematic parameters, ...

In this paper, we investigate the kinematics and dynamics of floating, planar four-bar linkages. The geometry of configuration space is analyzed through the classical theory of mechanisms due to Grashof. The techniques of ...

This paper is concerned with the exploration of reduction and explicit solvability of optimal control problems on principal bundles with connections from a Hamiltonian point of view. The particular mechanical system we ...