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There is no doubt that the task of gripping and handling objects in space is an important one. The ability to easily manipulate objects in a zero gravity environment will play a key role in future space activities. It is ...

As the field of robotics continues to strive forward, the need for artificial tactile sensing becomes increasingly evident. Real-time, local processing of tactile sensory data also becomes a crucial issue in most applications ...

The purpose of this experiment was to determine the static friction (stiction) present in each finger of a three fingered modular hand and determine the torque required to break away from a stuck position. The static ...

This thesis presents a method to construct a smooth obstacle free path for a mobile robot on which to navigate. The first step is to assign potential functions to each obstacle and the goal. Then, the gradient system ...

In this thesis, questions in the analysis and synthesis of stability robustness properties for linear and nonlinear control systems are considered. The first part of this work is devoted to linear systems., where the ...