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Mechanics and Control of Grasping and Manipulation

This theme concentrates on the computational and control aspects of multi-body systems such as fingers of a dexterous mechanical hand, cooperative manipulators, interaction of manipulator with passive environment and interaction of manipulator with active environment.

Some recent publications related to this theme are below:

Force and Position Control of Grasp in Multi Robotic Mechanisms,
Journal of Robotic Systems, Vol. 13, No. 8, pp. 515-526, 1996 (Co-authored with Shahram Payandeh and Mehrdad Saif)

On Computing the Friction Forces Associated with Three-Fingered Grasp,
International Journal of Robotics Research, Vol. 13, No. 2, pp. 119-126, 1994 (Co-authored with Dominique Chevallier and Shahram Payandeh)

On Manipulation of Objects in Three-Fingered Grasp,
Transaction of ASME, Journal of Mechanical Design, Vol. 117, pp. 561-566, 1995 (Co-authored with Dominique Chevallier and Shahram Payandeh)

On Invariant Configuration of a Three-Fingered Grasp,
Journal of Robotic Systems, Vol. 14, No. 7, July 97, pp. 571-578 (Co-authored with Dominique Chevallier and Shahram Payandeh)

On Computation of Grasping Forces in Dynamic Manipulation Using a Three-Fingered Grasp,
Journal of Mechanisms and Machine Theory, Vol. 33/3, December 1997, pp. 225-244 (Co-authored with Dominique Chevallier and Shahram Payandeh)

Extensions of Nonlinear Control Concepts to Object Manipulation with Finger Relocation,
Proceedings of IFAC, SYROCO 2000, (Co-authored with Istvan Harmati, Bela Lantos and Shahram Payandeh)

Application of Simulated Annealing to Object Manipulation Using Multiple Agents,
Proceedings of IFAC, SYROCO 2000, (Co-authored with Gabor Vass, Shahram Payandeh and Bela Lantos)

On Properties of the Screw Geometry of Contact Wrenches in Multiple Grasping Agents ,
Proceedings of ASME 26th Biennial Mechanisms and Robotics Conference,Sept. 2000 (Co-authored with Dominique Chevallier and Shahram Payandeh)

A Model for Controlled Planning for Object Manipulation Using Multiple Agents ,
Proceedings of ASME Annual Meetings: Symposium on Intelligent Control (Dynamics, System, Measuremenmts and Control), 1998, pp. 759-801 (Co-authored with Shahram Payandeh)

Flexible Part Orienting Using Rotation Direction and Force Measurements,
International Journal of Robotics Research, Vol. 20, No. 6, June 2001 (Co-authored with Shawn Rusaw, Kamal Gupta and Shahram Payandeh)

On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocation ,
International Journal of Robotics Research, Vol. 21, No. 5-6, June 2002, pp. 489-510 (Co-authored with Istvan Harmati, Bela Lantos and Shahram Payandeh)

Orienting with Overhead Pins - An Exploratory Study Toward the Design of Part Feeder,
Submitted to IEEE ICAR03, (Co-authored with Herbert Noriega, Kamal Gupta and Shahram Payandeh)

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