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PhD Thesis, Georgia Institute of Technology, USA.",{},{"id":24,"text":884,"url":24,"identifiers":885},"10.1109\u002FROBOT.2005.1570814",{"doi":884},{"id":24,"text":887,"url":24,"identifiers":888},"10.1016\u002FS0098-1354(98)00301-9",{"doi":887},{"id":24,"text":890,"url":24,"identifiers":891},"Murray R, 1994, A Mathematical Introduction to Robotic Manipulation",{},{"id":24,"text":893,"url":24,"identifiers":894},"Natale L, 2006, International workshop on epigenetic robotics, 87",{},{"id":24,"text":896,"url":24,"identifiers":897},"10.1109\u002FROBOT.2001.932614",{"doi":896},{"id":24,"text":899,"url":24,"identifiers":900},"10.1109\u002FROBOT.1999.774042",{"doi":899},{"id":24,"text":902,"url":24,"identifiers":903},"10.1017\u002FS0263574708004281",{"doi":902},{"id":24,"text":905,"url":24,"identifiers":906},"10.1109\u002FIROS.2011.6095059",{"doi":905},{"id":24,"text":908,"url":24,"identifiers":909},"10.15607\u002FRSS.2011.VII.033",{"doi":908},{"id":24,"text":911,"url":24,"identifiers":912},"10.1109\u002FTRO.2011.2138450",{"doi":911},{"id":24,"text":914,"url":24,"identifiers":915},"10.1109\u002FROBOT.2007.363047",{"doi":914},{"id":24,"text":917,"url":24,"identifiers":918},"10.1109\u002FTRO.2011.2125350",{"doi":917},{"id":24,"text":920,"url":24,"identifiers":921},"10.1109\u002FROBOT.2003.1241997",{"doi":920},{"id":24,"text":923,"url":24,"identifiers":924},"10.1109\u002FTRO.2011.2139150",{"doi":923},{"id":24,"text":926,"url":24,"identifiers":927},"10.1093\u002Ficb\u002F42.1.174",{"doi":926},{"id":24,"text":929,"url":24,"identifiers":930},"10.1109\u002FIROS.1995.525827",{"doi":929},{"id":24,"text":932,"url":24,"identifiers":933},"Prescott T, 2010, 4th international workshop on robotics for risky interventions and environmental surveillance-maintenance (RISE ‘10)",{},{"id":24,"text":935,"url":24,"identifiers":936},"Quigley M, 2009, ICRA Open-Source Software workshop at: IEEE international conference on robotics and automation (ICRA ‘09)",{},{"id":24,"text":938,"url":24,"identifiers":939},"10.3182\u002F20080706-5-KR-1001.01833",{"doi":938},{"id":24,"text":484,"url":24,"identifiers":941},{"doi":484},{"id":24,"text":943,"url":24,"identifiers":944},"10.1109\u002FROBOT.2006.1642072",{"doi":943},{"id":24,"text":946,"url":24,"identifiers":947},"10.1109\u002FTRO.2011.2162271",{"doi":946},{"id":24,"text":949,"url":24,"identifiers":950},"10.1109\u002FROBOT.1984.1087180",{"doi":949},{"id":24,"text":952,"url":24,"identifiers":953},"10.1177\u002F02783640122067570",{"doi":952},{"id":24,"text":955,"url":24,"identifiers":956},"10.1177\u002F0278364907087172",{"doi":955},{"id":24,"text":958,"url":24,"identifiers":959},"10.1142\u002FS0219843605000594",{"doi":958},{"id":24,"text":961,"url":24,"identifiers":962},"10.1109\u002FTRO.2010.2043757",{"doi":961},{"id":24,"text":964,"url":24,"identifiers":965},"10.1080\u002F00222895.1993.9942052",{"doi":964},{"id":24,"text":967,"url":24,"identifiers":968},"10.1007\u002Fs10514-009-9160-9",{"doi":967},{"id":24,"text":970,"url":24,"identifiers":971},"10.1163\u002F156855307782227408",{"doi":970},{"id":24,"text":973,"url":24,"identifiers":974},"10.1109\u002FROBOT.2007.363986",{"doi":973},{"id":24,"text":976,"url":24,"identifiers":977},"10.1109\u002FDEVLRN.2009.5175511",{"doi":976},{"id":24,"text":979,"url":24,"identifiers":980},"10.1109\u002FROBOT.2003.1242122",{"doi":979},{"id":24,"text":982,"url":24,"identifiers":983},"Tilley A, 2001, The Measure of Man and Woman: Human Factors in Design",{},{"id":24,"text":985,"url":24,"identifiers":986},"10.1115\u002F1.3149634",{"doi":985},{"id":24,"text":988,"url":24,"identifiers":989},"Whitney D, 1979, 9th international symposium on industrial robots, 135",{},{"id":24,"text":991,"url":24,"identifiers":992},"10.1109\u002FICHR.2006.321375",{"doi":991},{"id":24,"text":994,"url":24,"identifiers":995},"Williamson M, 1996, 4th international conference on simulation of adaptive behavior, 124",{},{"id":24,"text":997,"url":24,"identifiers":998},"Williamson M (1999) Robot arm control exploiting natural dynamics. PhD Thesis, Massachusetts Institute of Technology, USA.",{},{"id":1000,"createTime":1001,"updateTime":1001,"relativeEntities":1002,"slug":1003,"properties":1004,"entityType":165,"verifyStatus":166,"verifyTime":1001,"verifyNote":167,"syncStatus":23,"languages":1016,"translateLanguages":24,"viewCount":25,"primaryUrl":1017,"fullTextUrl":24,"authors":1018,"publicationType":222,"publisherRelationship":1039,"citationCount":1072,"citationInfo":1073,"publishDate":1079,"publishYear":1080,"citationAnalyzeStatus":23,"lastCitationAnalyze":24,"indexDatabases":24,"openAccess":24,"references":1081,"isForceReanalyzing":313},"8174d860-2a89-43c7-b2f2-d4c25ab7ea81","2024-09-17T19:52:34.767+00:00",[],"Historical-Perspective-and-State-of-the-Art-in-Robot-Force-Control",{"mag":1005,"keywords":1007,"openalex":1008,"abstract":1010,"title":1012,"doi":1014},{"VOID":1006},"2156102255",{},{"VOID":1009},"W2156102255",{"EN":1011},"\u003Cjats:p> This paper combines histarical lineage, assessment of the state of the art, and discussion of unsolved problems in robot force control. The difference between continuous and logic branching strategies is described. The development of various impedance strategies and hybrid methods is traced and com pared. The problem of stability is discussed, and remedies are related to higher strategy issues. \u003C\u002Fjats:p>",{"EN":1013},"Historical Perspective and State of the Art in Robot Force Control",{"VOID":1015},"10.1177\u002F027836498700600101",[169],"https:\u002F\u002Fjournals.sagepub.com\u002Fdoi\u002F10.1177\u002F027836498700600101",[1019],{"id":1020,"sortIndex":25,"researcher":24,"roles":1021,"affiliations":1022,"properties":1034},"1d1bc132-343f-45f0-a584-a5c860d50ba4",[],[1023],{"id":1024,"sortIndex":25,"affiliation":1025,"properties":24},"af9d6eff-5d61-4abc-b5b9-c9d5118dacf7",{"id":1026,"createTime":1027,"updateTime":1028,"relativeEntities":1029,"slug":1030,"properties":1031,"entityType":85,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25},"d5b57e24-98eb-4041-9bbb-d54724500eb0","2024-09-03T02:56:56.306+00:00","2024-09-17T19:52:34.778+00:00",[],"Charles-Stark-Draper-Laboratory-Inc-Cambridge-Massachusetts-02139",{"title":1032},{"EN":1033},"Charles Stark Draper Laboratory, Inc., Cambridge, Massachusetts 02139",{"openalex":1035,"title":1037},{"VOID":1036},"A5068716485",{"EN":1038},"Daniel E. 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S.M. thesis",{},{"id":24,"text":1086,"url":24,"identifiers":1087},"Borrel, P., 1979, Modèle de comportement des manipulateurs, applications à I'analyse de leurs performances et à leur commande automatique",{},{"id":24,"text":1089,"url":24,"identifiers":1090},"Cannon, R.H., Presented at Intelligent Controls: Achievements and Issues",{},{"id":24,"text":1092,"url":24,"identifiers":1093},"DeFazio, T.L., 1984, Industr. Robot, 11, 238",{},{"id":24,"text":1095,"url":24,"identifiers":1096},"Drake, S.K., IFAC Symp. Information and Contr. Problems in Manufacturing Technology",{},{"id":24,"text":1098,"url":24,"identifiers":1099},"Drake, S.H., Proc. 5th Int. Symp. Industr. Robots",{},{"id":24,"text":1101,"url":24,"identifiers":1102},"Ernst, H.A., 1961, MH 1-a computer operated mechanical hand. Sc.D. thesis",{},{"id":24,"text":1104,"url":24,"identifiers":1105},"10.1109\u002FTHFE.1965.6591253",{"doi":1104},{"id":24,"text":1107,"url":24,"identifiers":1108},"10.1177\u002F001872086600800509",{"doi":1107},{"id":24,"text":1110,"url":24,"identifiers":1111},"10.1109\u002FMSPEC.1967.5217126",{"doi":1110},{"id":24,"text":1113,"url":24,"identifiers":1114},"Goertz, R.C., 1952, Nucleonics, 10, 36",{},{"id":24,"text":1116,"url":24,"identifiers":1117},"Groome, R.C., 1972, Force feedback steering of a teleoperator system. S. M. thesis",{},{"id":24,"text":1119,"url":24,"identifiers":1120},"Hanafusa, H., IFAC Symp. Information and Contr. Problems in Manufacturing Technology",{},{"id":24,"text":1122,"url":24,"identifiers":1123},"Hill, J.W., 17th Annual Human Factors Convention",{},{"id":24,"text":1125,"url":24,"identifiers":1126},"Hogan, N., Proc. 1980 JACC",{},{"id":24,"text":1128,"url":24,"identifiers":1129},"Khatib, O., Proc. 3rd Int. Symp. Robotics Res",{},{"id":24,"text":475,"url":24,"identifiers":1131},{"doi":475},{"id":24,"text":1133,"url":24,"identifiers":1134},"Nevins, J.L., Proc. 1st CISM-IFTOMM Symp. on Theory and Practice of Robots and Manipulators",{},{"id":24,"text":1136,"url":24,"identifiers":1137},"Paul, R.P., 1976, Proc. JACC, 694",{},{"id":24,"text":484,"url":24,"identifiers":1139},{"doi":484},{"id":24,"text":1141,"url":24,"identifiers":1142},"Roberts, R.K., 1985, Proc. IEEE Conf. on Robotics and Automation.",{},{"id":24,"text":1144,"url":24,"identifiers":1145},"Rothchild, R.A., Proc. 1966 Symp. on Biomedical Eng",{},{"id":24,"text":1147,"url":24,"identifiers":1148},"Salisbury, J.K., Proc. 19th IEEE Conf. on Decision and Contr",{},{"id":24,"text":1150,"url":24,"identifiers":1151},"10.1177\u002F027836498200100102",{"doi":1150},{"id":24,"text":1153,"url":24,"identifiers":1154},"10.1109\u002FROBOT.1985.1087272",{"doi":1153},{"id":24,"text":1156,"url":24,"identifiers":1157},"Watson, P.C., 1st North Amer. Robot Conf",{},{"id":24,"text":1159,"url":24,"identifiers":1160},"West, H., Proc. 1985 IEEE Conf. Robotics and Automation",{},{"id":24,"text":1162,"url":24,"identifiers":1163},"10.1115\u002F1.3426611",{"doi":1162},{"id":24,"text":1165,"url":24,"identifiers":1166},"10.1115\u002F1.3427095",{"doi":1165},{"id":24,"text":1168,"url":24,"identifiers":1169},"Whitney, D. E., 1985, Touching experiences, a history of robot force feedback",{},{"id":24,"text":1171,"url":24,"identifiers":1172},"Whitney, D.E., Proc. 1984 ACC",{},{"id":1174,"createTime":1175,"updateTime":1175,"relativeEntities":1176,"slug":1177,"properties":1178,"entityType":165,"verifyStatus":23,"verifyTime":1175,"verifyNote":1189,"syncStatus":23,"languages":1190,"translateLanguages":24,"viewCount":25,"primaryUrl":1191,"fullTextUrl":24,"authors":1192,"publicationType":222,"publisherRelationship":1250,"citationCount":1283,"citationInfo":1284,"publishDate":1296,"publishYear":1297,"citationAnalyzeStatus":23,"lastCitationAnalyze":24,"indexDatabases":24,"openAccess":24,"references":1298,"isForceReanalyzing":313},"037e2975-c6e8-4c72-a1db-9c55d2d728bd","2024-09-17T19:52:22.186+00:00",[],"Virtual-Model-Control-An-Intuitive-Approach-for-Bipedal-Locomotion",{"mag":1179,"keywords":1181,"openalex":1182,"abstract":1184,"title":1186,"doi":1188},{"VOID":1180},"2086587468",{},{"VOID":1183},"W2086587468",{"EN":1185},"\u003Cjats:p> Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This paper also describes how the algorithm can be augmented for rough terrain walking based on geometric consideration. The resulting algorithm is very simple and does not require the biped to have an extensive sensory system. The robot does not know the slope gradients and transition locations in advance. The ground is detected using foot contact switches. Using the algorithm, we have successfully compelled a simulated seven-link planar biped to walk blindly up and down slopes and over rolling terrain. \u003C\u002Fjats:p>",{"EN":1187},"Virtual Model Control: An Intuitive Approach for Bipedal Locomotion",{"VOID":801},"Author affiliation is blank",[169],"https:\u002F\u002Fjournals.sagepub.com\u002Fdoi\u002F10.1177\u002F02783640122067309",[1193,1202,1213,1222,1231],{"id":1194,"sortIndex":412,"researcher":24,"roles":1195,"affiliations":1196,"properties":1197},"2a5479a6-f8ab-4343-bcbd-2440ffc022b7",[],[],{"openalex":1198,"title":1200},{"VOID":1199},"A5038704071",{"EN":1201},"P. Dilworth",{"id":1203,"sortIndex":193,"researcher":24,"roles":1204,"affiliations":1205,"properties":1206},"786c2cef-5302-4c2f-b065-a111ea79b3f4",[],[],{"openalex":1207,"orcid":1209,"title":1211},{"VOID":1208},"A5073468340",{"VOID":1210},"https:\u002F\u002Forcid.org\u002F0000-0002-6396-4371",{"EN":1212},"Chee–Meng Chew",{"id":1214,"sortIndex":25,"researcher":24,"roles":1215,"affiliations":1216,"properties":1217},"1e02327f-c8d4-41f9-be27-71dcb591c162",[],[],{"openalex":1218,"title":1220},{"VOID":1219},"A5027661204",{"EN":1221},"Jerry Pratt",{"id":1223,"sortIndex":413,"researcher":24,"roles":1224,"affiliations":1225,"properties":1226},"20d50b55-0d99-47bb-80b7-c073067aecff",[],[],{"openalex":1227,"title":1229},{"VOID":1228},"A5075578590",{"EN":1230},"Ann L. Torres",{"id":1232,"sortIndex":86,"researcher":24,"roles":1233,"affiliations":1234,"properties":1245},"af53169e-4169-4862-b9ae-fc7eabc1a784",[],[1235],{"id":1236,"sortIndex":25,"affiliation":1237,"properties":24},"012e1377-69b6-4658-bdd9-3e644ff87a63",{"id":1238,"createTime":1239,"updateTime":1239,"relativeEntities":1240,"slug":1241,"properties":1242,"entityType":85,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25},"a000b741-6f34-4103-88fc-34765dd1ece7","2024-09-17T19:52:22.225+00:00",[],"Leg-Laboratory-Massachusetts-Institute-of-Technology-Cambridge-Massachusetts-02139-USA",{"title":1243},{"EN":1244},"Leg Laboratory, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, USA",{"openalex":1246,"title":1248},{"VOID":1247},"A5039749767",{"EN":1249},"Gill A. Pratt",{"url":24,"publisher":1251,"properties":1276},{"id":6,"createTime":7,"updateTime":8,"relativeEntities":1252,"slug":10,"properties":1253,"entityType":22,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25,"subjectFields":1259,"manageAffiliations":1260,"indexDatabases":1261,"url":143,"thumbnailPath":24,"statistic":24,"gsStatistic":24,"type":24,"analyzePriority":24},[],{"country":1254,"issn":1255,"introduce":1256,"eissn":1257,"title":1258},{"VOID":13},{"VOID":15},{"EN":17},{"VOID":19},{"EN":21},[],[],[1262,1269],{"id":125,"indexDatabase":1263,"url":140,"indexYears":24,"academicFieldIds":1268,"indexDatabaseRanking":24},{"id":127,"createTime":128,"updateTime":129,"relativeEntities":1264,"label":1265,"description":1266,"key":136,"publicationTags":1267,"standard":24},[],{"EN":132,"VI":132},{"VI":134,"EN":135},[138,139],[142],{"id":101,"indexDatabase":1270,"url":114,"indexYears":115,"academicFieldIds":1275,"indexDatabaseRanking":123},{"id":103,"createTime":104,"updateTime":105,"relativeEntities":1271,"label":1272,"description":1273,"key":111,"publicationTags":1274,"standard":24},[],{"EN":108,"VI":108},{"EN":108,"VI":110},[113],[117,118,119,120,121,122],{"volume":1277,"pages":1279,"issue":1281},{"VOID":1278},"20",{"VOID":1280},"129-143",{"VOID":1282},"2",516,{"total":1283,"publishYear":24,"statisticByYear":1285},{"2012":1077,"2013":1286,"2014":1287,"2015":1288,"2016":1289,"2017":1290,"2018":1291,"2019":1077,"2020":1292,"2021":1293,"2022":1294,"2023":1078,"2024":1295},32,29,36,35,37,33,26,27,20,8,"2001-02-01",2001,[1299,1302,1305,1308,1311,1315,1318,1320,1323,1327,1330,1333,1336,1339,1342,1345,1348,1352,1355,1359],{"id":24,"text":1300,"url":24,"identifiers":1301},"10.1109\u002FTBME.1987.326091",{"doi":1300},{"id":24,"text":1303,"url":24,"identifiers":1304},"Chew, C.M. 1998. Blind Walking of a Planar Biped over Sloped Terrain. Master’s thesis, Massachusetts Institute of Technology.",{},{"id":24,"text":1306,"url":24,"identifiers":1307},"Chew, C.M., and Pratt, G. A. 1999. A minimum model adaptive control approach for a planar biped . Proceedings of the IEEE\u002FRSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea.",{},{"id":24,"text":1309,"url":24,"identifiers":1310},"10.1177\u002F027836499000900207",{"doi":1309},{"id":24,"text":1312,"url":24,"identifiers":1313},"Golliday, C. L., and Hemami, H. 1977. An approach to analyzing biped locomotion dynamics and designing robot locomotion controls . IEEE Transactions on Automatic Control AC-42: 963–973 .",{"doi":1314},"10.1109\u002FTAC.1977.1101650",{"id":24,"text":1316,"url":24,"identifiers":1317},"10.1109\u002FTBME.1974.324294",{"doi":1316},{"id":24,"text":442,"url":24,"identifiers":1319},{"doi":442},{"id":24,"text":1321,"url":24,"identifiers":1322},"10.1016\u002F0005-1098(84)90099-2",{"doi":1321},{"id":24,"text":1324,"url":24,"identifiers":1325},"Khatib, O. 1986. Real-time obstacle avoidance for manipulators and mobile robots . IEEE Journal of Robotics and Automation 5(1): 90–98 .",{"doi":1326},"10.1177\u002F027836498600500106",{"id":24,"text":1328,"url":24,"identifiers":1329},"10.1080\u002F00207178408933260",{"doi":1328},{"id":24,"text":1331,"url":24,"identifiers":1332},"10.1177\u002F027836498400300206",{"doi":1331},{"id":24,"text":1334,"url":24,"identifiers":1335},"Pratt, G. A., and Williamson, M. M. 1995. Series elastic actuators . IEEE International Conference on Intelligent Robots and Systems 1: 399–406 .",{"doi":929},{"id":24,"text":1337,"url":24,"identifiers":1338},"Pratt, J. E. 1994. Learning Virtual Model Control of a Biped Walking Robot. Unpublished project report, Massachusetts Institute of Technology.",{},{"id":24,"text":1340,"url":24,"identifiers":1341},"Pratt, J. E. 1995. Virtual Model Control of a Biped Walking Robot. Master’s thesis, Massachusetts Institute of Technology.",{},{"id":24,"text":1343,"url":24,"identifiers":1344},"Pratt, J., Torres, A., Dilworth, P., and Pratt, G. 1996. Virtual actuator control . IEEE International Conference on Intelligent Robots and Systems, Osaka, Japan.",{},{"id":24,"text":1346,"url":24,"identifiers":1347},"Raibert, M. H., and Craig, J. J. 1981. Hybrid position\u002Fforce control of manipulators . Journal of Dynamic Systems, Measurement, and Control 102: 126–133 .",{"doi":484},{"id":24,"text":1349,"url":24,"identifiers":1350},"Salisbury, K. 1980. Active stiffness control of a manipulator in Cartesian coordinates . 19th IEEE Conference on Decision and Control, pp. 83–88 .",{"doi":1351},"10.1109\u002FCDC.1980.272026",{"id":24,"text":1353,"url":24,"identifiers":1354},"Torres, A. L. 1996. Implementation of Virtual Model Control on a Walking Hexapod. Undergraduate thesis, Massachusetts Institute of Technology.",{},{"id":24,"text":1356,"url":24,"identifiers":1357},"Vukobratovic, M., Borovac, B., Surla, D., and Stokic, D. 1990. Biped Locomotion: Dynamics, Stability, Control, and Applications. Berlin: Springer-Verlag .",{"doi":1358},"10.1007\u002F978-3-642-83006-8",{"id":24,"text":1360,"url":24,"identifiers":1361},"10.1109\u002F70.88120",{"doi":1360},{"id":1363,"createTime":1364,"updateTime":1364,"relativeEntities":1365,"slug":1366,"properties":1367,"entityType":165,"verifyStatus":166,"verifyTime":1364,"verifyNote":167,"syncStatus":23,"languages":1379,"translateLanguages":24,"viewCount":25,"primaryUrl":1380,"fullTextUrl":24,"authors":1381,"publicationType":222,"publisherRelationship":1421,"citationCount":1289,"citationInfo":1453,"publishDate":1455,"publishYear":1456,"citationAnalyzeStatus":23,"lastCitationAnalyze":24,"indexDatabases":24,"openAccess":24,"references":1457,"isForceReanalyzing":313},"811e6b86-0c7a-4272-9f16-275f5530e253","2024-09-17T19:52:08.887+00:00",[],"The-Equivalence-of-Second-Order-Impedance-Control-and-Proportional-Gain-Explicit-Force-Control",{"mag":1368,"keywords":1370,"openalex":1371,"abstract":1373,"title":1375,"doi":1377},{"VOID":1369},"2042809874",{},{"VOID":1372},"W2042809874",{"EN":1374},"\u003Cjats:p> This article discusses the essential equivalence of second-order impedance control with force feedback and proportional gain explicit force control with force feedforward. This is first done analytically by reviewing each control method and showing how they mathematically correspond for constrained manipula tor control. For stiff environments the correspondence is exact. However, even for softer environments, a similar response of the system is indicated. Next, the results of an implementation of these control schemes on the CMU DD Arm II are pre sented, confirming the predictions of the analysis. These results experimentally demonstrate that proportional gain force control and impedance control, with and without dynamics compensa tion, have equivalent response to commanded force trajectories. \u003C\u002Fjats:p>",{"EN":1376},"The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force Control",{"VOID":1378},"10.1177\u002F027836499501400604",[169],"https:\u002F\u002Fjournals.sagepub.com\u002Fdoi\u002F10.1177\u002F027836499501400604",[1382,1401],{"id":1383,"sortIndex":193,"researcher":24,"roles":1384,"affiliations":1385,"properties":1396},"f9c390bc-397d-49ab-be63-bc1705313093",[],[1386],{"id":1387,"sortIndex":25,"affiliation":1388,"properties":24},"ba94674a-4140-4dde-a3a8-f3af439ea755",{"id":1389,"createTime":1390,"updateTime":1390,"relativeEntities":1391,"slug":1392,"properties":1393,"entityType":85,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25},"4c573cf2-6ced-4ff5-8625-c328db1f6681","2024-09-17T19:52:08.921+00:00",[],"Department-of-Electrical-and-Computer-Engineering-The-Robotics-Institute-Carnegie-Mellon-University-Pittsburgh-Pennsylvania-15213",{"title":1394},{"EN":1395},"Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania, 15213",{"openalex":1397,"title":1399},{"VOID":1398},"A5103573531",{"EN":1400},"Pradeep K. Khosla",{"id":1402,"sortIndex":25,"researcher":24,"roles":1403,"affiliations":1404,"properties":1416},"73eb1b4c-736c-403a-a86f-c265732acc88",[],[1405],{"id":1406,"sortIndex":25,"affiliation":1407,"properties":24},"a0b06bfa-0afe-4cc6-b9b7-984e22e067aa",{"id":1408,"createTime":1409,"updateTime":1410,"relativeEntities":1411,"slug":1412,"properties":1413,"entityType":85,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25},"ad928a59-8200-43a5-926a-481880aae3f7","2023-12-17T19:55:35.100+00:00","2025-01-04T23:43:39.575+00:00",[],"Jet-Propulsion-Laboratory-California-Institute-of-Technology-Pasadena-California-91109",{"title":1414},{"VI":1415},"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California, 91109",{"openalex":1417,"title":1419},{"VOID":1418},"A5048439981",{"EN":1420},"R. Volpe",{"url":24,"publisher":1422,"properties":1447},{"id":6,"createTime":7,"updateTime":8,"relativeEntities":1423,"slug":10,"properties":1424,"entityType":22,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25,"subjectFields":1430,"manageAffiliations":1431,"indexDatabases":1432,"url":143,"thumbnailPath":24,"statistic":24,"gsStatistic":24,"type":24,"analyzePriority":24},[],{"country":1425,"issn":1426,"introduce":1427,"eissn":1428,"title":1429},{"VOID":13},{"VOID":15},{"EN":17},{"VOID":19},{"EN":21},[],[],[1433,1440],{"id":125,"indexDatabase":1434,"url":140,"indexYears":24,"academicFieldIds":1439,"indexDatabaseRanking":24},{"id":127,"createTime":128,"updateTime":129,"relativeEntities":1435,"label":1436,"description":1437,"key":136,"publicationTags":1438,"standard":24},[],{"EN":132,"VI":132},{"VI":134,"EN":135},[138,139],[142],{"id":101,"indexDatabase":1441,"url":114,"indexYears":115,"academicFieldIds":1446,"indexDatabaseRanking":123},{"id":103,"createTime":104,"updateTime":105,"relativeEntities":1442,"label":1443,"description":1444,"key":111,"publicationTags":1445,"standard":24},[],{"EN":108,"VI":108},{"EN":108,"VI":110},[113],[117,118,119,120,121,122],{"volume":1448,"pages":1450,"issue":1452},{"VOID":1449},"14",{"VOID":1451},"574-589",{"VOID":1067},{"total":1289,"publishYear":24,"statisticByYear":1454},{"2014":193,"2015":413,"2016":86,"2018":413,"2019":193,"2022":193,"2024":412},"1995-12-01",1995,[1458,1461,1464,1467,1470,1473,1475,1478,1481,1484,1486,1489,1492,1494,1497,1499,1503,1506,1508,1510,1513,1516,1519,1522,1525,1528,1531,1534,1537],{"id":24,"text":1459,"url":24,"identifiers":1460},"An, C., Proceedings of the IEEE Conference on Robotics and Automation",{},{"id":24,"text":1462,"url":24,"identifiers":1463},"10.1109\u002F56.20440",{"doi":1462},{"id":24,"text":1465,"url":24,"identifiers":1466},"Bejczy, A., 1974, Robot arm dynamics and control. Technical memorandum 33-669",{},{"id":24,"text":1468,"url":24,"identifiers":1469},"10.1115\u002F1.3426424",{"doi":1468},{"id":24,"text":1471,"url":24,"identifiers":1472},"Eppinger, S., Proceedings of the IEEE Conference on Robotics and Automation",{},{"id":24,"text":1471,"url":24,"identifiers":1474},{},{"id":24,"text":1476,"url":24,"identifiers":1477},"Goldenberg, A., Proceedings of the IEEE Conference on Robotics and Automation",{},{"id":24,"text":1479,"url":24,"identifiers":1480},"Goldenberg, A., Proceedings of the IEEE International Conference on Robotics and Automation",{},{"id":24,"text":1482,"url":24,"identifiers":1483},"Hamilton, W., Proceedings of the IEEE Conference on Robotics and Automation",{},{"id":24,"text":442,"url":24,"identifiers":1485},{"doi":442},{"id":24,"text":1487,"url":24,"identifiers":1488},"Hogan, N., Proceedings of the IEEE Conference on Robotics and Automation",{},{"id":24,"text":1490,"url":24,"identifiers":1491},"Hsia, T.C., Proceedings 1986 IEEE International Conference on Robotics and Automation",{},{"id":24,"text":451,"url":24,"identifiers":1493},{"doi":451},{"id":24,"text":1495,"url":24,"identifiers":1496},"Khatib, O., 1980, Ecole Nationale Superieure de l'Aeronautique et del'Espace (ENSAE)",{},{"id":24,"text":1326,"url":24,"identifiers":1498},{"doi":1326},{"id":24,"text":1500,"url":24,"identifiers":1501},"Khosla, P. 1988. Effect of sampling rates on the performance of model-based manipulator control schemes. In Schweitzer, G. (ed.): Dynamics of Controlled Mechanical Systems. New York: Springer-Verlag , pp. 271-284.",{"doi":1502},"10.1007\u002F978-3-642-83581-0_21",{"id":24,"text":1504,"url":24,"identifiers":1505},"Koivo, A.J., Proc. IEEE Conference on Decision and Control",{},{"id":24,"text":472,"url":24,"identifiers":1507},{"doi":472},{"id":24,"text":475,"url":24,"identifiers":1509},{"doi":475},{"id":24,"text":1511,"url":24,"identifiers":1512},"Slotine, J., Proceedings of the IEEE International Conference on Robotics and Automation",{},{"id":24,"text":1514,"url":24,"identifiers":1515},"Stewart, D., Proceedings of the 1992 IEEE International Conference on Intelligent Robots and Systems",{},{"id":24,"text":1517,"url":24,"identifiers":1518},"10.1080\u002F00207178808906094",{"doi":1517},{"id":24,"text":1520,"url":24,"identifiers":1521},"Volpe, R., 1990, (September). Real and artificial forces in the control of manipulators: Theory and experiments. PhD thesis. Department of Physics",{},{"id":24,"text":1523,"url":24,"identifiers":1524},"10.1109\u002F21.61211",{"doi":1523},{"id":24,"text":1526,"url":24,"identifiers":1527},"Volpe, R., Proceedings of the Second Annual International Symposium on Experimental Robotics",{},{"id":24,"text":1529,"url":24,"identifiers":1530},"10.1109\u002F9.262033",{"doi":1529},{"id":24,"text":1532,"url":24,"identifiers":1533},"10.1177\u002F027836499301200403",{"doi":1532},{"id":24,"text":1535,"url":24,"identifiers":1536},"10.1109\u002F100.298481",{"doi":1535},{"id":24,"text":1538,"url":24,"identifiers":1539},"10.1007\u002FBF01258316",{"doi":1538},{"id":1541,"createTime":1542,"updateTime":1542,"relativeEntities":1543,"slug":1544,"properties":1545,"entityType":165,"verifyStatus":23,"verifyTime":1542,"verifyNote":1189,"syncStatus":23,"languages":1557,"translateLanguages":24,"viewCount":25,"primaryUrl":1558,"fullTextUrl":24,"authors":1559,"publicationType":222,"publisherRelationship":1609,"citationCount":1641,"citationInfo":1642,"publishDate":1644,"publishYear":1297,"citationAnalyzeStatus":23,"lastCitationAnalyze":24,"indexDatabases":24,"openAccess":24,"references":1645,"isForceReanalyzing":313},"8e14ea7d-7258-422a-8db2-4e912f74ff9a","2024-09-17T19:52:01.075+00:00",[],"Force-Tracking-Impedance-Control-for-Robot-Manipulators-with-an-Unknown-Environment-Theory-Simulation-and-Experiment",{"mag":1546,"keywords":1548,"openalex":1549,"abstract":1551,"title":1553,"doi":1555},{"VOID":1547},"1973852338",{},{"VOID":1550},"W1973852338",{"EN":1552},"\u003Cjats:p> In impedance control for force tracking, it is well known that the reference trajectory of the robot is calculated from known environmental stiffness. The authors present a simple technique for determining the reference trajectory under the condition that the environment is unknown. The technique is developed based on the replacement of the unknown stiffness with a function of the measured force. Combining this technique with the impedance function yields the force tracking impedance function. Robot dynamic uncertainties are assumed to be compensated by a robust position control method based on time-delayed control. The local stability at equilibrium points is analyzed with respect to uncertainty in environmental position. Computer simulation studies demonstrate that force tracking using the proposed technique is excellent for unknown environment and dynamics uncertainty. The practicality of the technique is also verified experimentally using a PUMA 560 manipulator. \u003C\u002Fjats:p>",{"EN":1554},"Force Tracking Impedance Control for Robot Manipulators with an Unknown                 Environment: Theory, Simulation, and Experiment",{"VOID":1556},"10.1177\u002F02783640122067651",[169],"https:\u002F\u002Fjournals.sagepub.com\u002Fdoi\u002F10.1177\u002F02783640122067651",[1560,1581,1590],{"id":1561,"sortIndex":25,"researcher":24,"roles":1562,"affiliations":1563,"properties":1574},"9c21fb1f-7f5b-46a9-bc2c-82fe313c9a41",[],[1564],{"id":1565,"sortIndex":25,"affiliation":1566,"properties":24},"ee4cc305-f6c4-4c0b-bf49-3eb4ac43694a",{"id":1567,"createTime":1568,"updateTime":1568,"relativeEntities":1569,"slug":1570,"properties":1571,"entityType":85,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25},"e2b5754a-dfd1-4faf-b7a8-4ca177b6f38b","2024-09-17T19:52:01.089+00:00",[],"Intelligent-Systems-and-Emotional-Engineering-Laboratory-Department-of-Mechatronics-Engineering-Chungnam-National-University-Taejon-305-764-Korea",{"title":1572},{"EN":1573},"Intelligent Systems and Emotional Engineering Laboratory, Department of Mechatronics Engineering, Chungnam National University, Taejon 305-764, Korea",{"openalex":1575,"orcid":1577,"title":1579},{"VOID":1576},"A5062364054",{"VOID":1578},"https:\u002F\u002Forcid.org\u002F0000-0002-1670-4518",{"EN":1580},"Seul Jung",{"id":1582,"sortIndex":193,"researcher":24,"roles":1583,"affiliations":1584,"properties":1585},"4e9a56c6-b8a7-4124-9e72-ccc2616554df",[],[],{"openalex":1586,"title":1588},{"VOID":1587},"A5058369418",{"EN":1589},"T.C. Hsia",{"id":1591,"sortIndex":413,"researcher":24,"roles":1592,"affiliations":1593,"properties":1604},"21e61dbd-4d37-4bb7-81c6-0839d25390c5",[],[1594],{"id":1595,"sortIndex":25,"affiliation":1596,"properties":24},"a4dbd316-3fe0-42c9-af89-87c73d344f4f",{"id":1597,"createTime":1598,"updateTime":1598,"relativeEntities":1599,"slug":1600,"properties":1601,"entityType":85,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25},"478ba46c-91dc-4bae-b11c-06dd445c666c","2024-09-17T19:52:01.110+00:00",[],"Robotics-Research-Laboratory-Department-of-Electrical-and-Computer-Engineering-University-of-California-Davis-Davis-CA-95616-USA",{"title":1602},{"EN":1603},"Robotics Research Laboratory, Department of Electrical and Computer Engineering, University of California, Davis, Davis, CA 95616, USA",{"openalex":1605,"title":1607},{"VOID":1606},"A5085904572",{"EN":1608},"R.G. Bonitz",{"url":24,"publisher":1610,"properties":1635},{"id":6,"createTime":7,"updateTime":8,"relativeEntities":1611,"slug":10,"properties":1612,"entityType":22,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25,"subjectFields":1618,"manageAffiliations":1619,"indexDatabases":1620,"url":143,"thumbnailPath":24,"statistic":24,"gsStatistic":24,"type":24,"analyzePriority":24},[],{"country":1613,"issn":1614,"introduce":1615,"eissn":1616,"title":1617},{"VOID":13},{"VOID":15},{"EN":17},{"VOID":19},{"EN":21},[],[],[1621,1628],{"id":125,"indexDatabase":1622,"url":140,"indexYears":24,"academicFieldIds":1627,"indexDatabaseRanking":24},{"id":127,"createTime":128,"updateTime":129,"relativeEntities":1623,"label":1624,"description":1625,"key":136,"publicationTags":1626,"standard":24},[],{"EN":132,"VI":132},{"VI":134,"EN":135},[138,139],[142],{"id":101,"indexDatabase":1629,"url":114,"indexYears":115,"academicFieldIds":1634,"indexDatabaseRanking":123},{"id":103,"createTime":104,"updateTime":105,"relativeEntities":1630,"label":1631,"description":1632,"key":111,"publicationTags":1633,"standard":24},[],{"EN":108,"VI":108},{"EN":108,"VI":110},[113],[117,118,119,120,121,122],{"volume":1636,"pages":1637,"issue":1639},{"VOID":1278},{"VOID":1638},"765-774",{"VOID":1640},"9",100,{"total":1641,"publishYear":24,"statisticByYear":1643},{"2012":412,"2013":635,"2014":413,"2015":86,"2016":86,"2017":97,"2018":638,"2019":635,"2020":638,"2021":635,"2022":639,"2023":639,"2024":86},"2001-09-01",[1646,1650,1654,1656,1659,1662,1665,1668,1672,1676,1679,1682,1686],{"id":24,"text":1647,"url":24,"identifiers":1648},"Bonitz, R. G., and Hsia, T. C. 1996. Robust internal-force based impedance control for coordinating manipulators— Theory and experiments . IEEE International Conference on Robotics and Automation, pp. 622–628 .",{"doi":1649},"10.1109\u002FROBOT.1996.503844",{"id":24,"text":1651,"url":24,"identifiers":1652},"Goldenberg, A. A. 1992. Analysis of force control based on linear models . IEEE Conference on Robotics and Automation, pp. 1348–1353 .",{"doi":1653},"10.1109\u002FROBOT.1992.220162",{"id":24,"text":442,"url":24,"identifiers":1655},{"doi":442},{"id":24,"text":1657,"url":24,"identifiers":1658},"10.1109\u002F41.20338",{"doi":1657},{"id":24,"text":1660,"url":24,"identifiers":1661},"Hsia, T. C. 1994. Simple robust schemes for Cartesian space control of robot manipulators . International Journal of Robotics and Automation, pp. 167–174 .",{},{"id":24,"text":1663,"url":24,"identifiers":1664},"Jung, S., and Hsia, T. C. 1998a. Analysis of nonlinear neural network impedance force control for robot manipulators . Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 1731–1736 .",{},{"id":24,"text":1666,"url":24,"identifiers":1667},"10.1109\u002F41.679003",{"doi":1666},{"id":24,"text":1669,"url":24,"identifiers":1670},"Kiguchi, K., and Fukuda, T. 1999. Fuzzy-neuro position\u002Fforce control of robot manipulators—Two-stage adaptation approach . International Conference on Intelligent Robots and Systems, pp. 448–453 .",{"doi":1671},"10.1109\u002FIROS.1999.813045",{"id":24,"text":1673,"url":24,"identifiers":1674},"Lee, S., and Lee, H. S. 1991. Intelligent control of manipulators interfacing with an uncertain environment based on generalized impedance . Proceedings of the IEEE Symposium on Intelligent Control, pp. 61–66 .",{"doi":1675},"10.1109\u002FISIC.1991.187334",{"id":24,"text":1677,"url":24,"identifiers":1678},"Lasky, T., and Hsia, T. C. 1991. On force-tracking impedance control of robot manipulators . Proceedings of the IEEE International Conference on Robotics and Automation, pp. 274–280 .",{},{"id":24,"text":1680,"url":24,"identifiers":1681},"Raibert, M. H., and Craig, J. J. 1981. Hybrid position and force control of robot manipulators . ASME Journal of Dynamic Systems, Measurement, and Control 102: 126–133 .",{"doi":484},{"id":24,"text":1683,"url":24,"identifiers":1684},"Seraji, H. 1994. Adaptive admittance control: An approach to explicit force control in compliant motion . Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2705–2712 .",{"doi":1685},"10.1109\u002FROBOT.1994.350927",{"id":24,"text":1687,"url":24,"identifiers":1688},"Spong, M. W., and Vidyasagar, M. 1989. Robot Dynamics and Control. New York: John Wiley & Sons .",{},{"id":1690,"createTime":1691,"updateTime":1691,"relativeEntities":1692,"slug":1693,"properties":1694,"entityType":165,"verifyStatus":166,"verifyTime":1691,"verifyNote":167,"syncStatus":23,"languages":1706,"translateLanguages":24,"viewCount":25,"primaryUrl":1707,"fullTextUrl":24,"authors":1708,"publicationType":222,"publisherRelationship":1801,"citationCount":1833,"citationInfo":1834,"publishDate":1838,"publishYear":1839,"citationAnalyzeStatus":23,"lastCitationAnalyze":24,"indexDatabases":24,"openAccess":24,"references":1840,"isForceReanalyzing":313},"eeb91896-7b4e-4ce5-98e2-fb0d49973e5f","2024-09-17T19:51:58.056+00:00",[],"A-Force-Control-Approach-to-a-Robot-assisted-Cell-Microinjection-System",{"mag":1695,"keywords":1697,"openalex":1698,"abstract":1700,"title":1702,"doi":1704},{"VOID":1696},"2120356183",{},{"VOID":1699},"W2120356183",{"EN":1701},"\u003Cjats:p> Robotic cell microinjection is a technique that utilizes automation technology to insert substances into a single living cell with a fine needle. Compared with manual microinjection, the main benefits of the robotic cell injection are quality, productivity and repeatability. In this paper we aim to control the penetration force during robotic cell injection to quantify the influence of the penetration force on cells. A force-control-based cell injection approach that is capable of regulating the penetration force in a desired force trajectory is developed. The proposed force control framework includes two control loops. The inner loop is an impedance control used to specify the interaction between the needle and the cell. The outer loop is a force tracking non-linear controller using a feedback linearization technique. The cell model is identified online with a least-squares parameter estimator. With the proposed force control approach, the penetration force can be regulated explicitly to follow the desired force trajectory during the cell injection process. Experiments performed on fish embryos verify the effectiveness of the proposed approach. \u003C\u002Fjats:p>",{"EN":1703},"A Force Control Approach to a Robot-assisted Cell Microinjection 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In total, we recorded 6 hours of traffic scenarios at 10–100 Hz using a variety of sensor modalities such as high-resolution color and grayscale stereo cameras, a Velodyne 3D laser scanner and a high-precision GPS\u002FIMU inertial navigation system. The scenarios are diverse, capturing real-world traffic situations, and range from freeways over rural areas to inner-city scenes with many static and dynamic objects. Our data is calibrated, synchronized and timestamped, and we provide the rectified and raw image sequences. Our dataset also contains object labels in the form of 3D tracklets, and we provide online benchmarks for stereo, optical flow, object detection and other tasks. This paper describes our recording platform, the data format and the utilities that we provide. \u003C\u002Fjats:p>","\u003Cjats:p> Chúng tôi trình bày một tập dữ liệu mới được ghi lại từ một chiếc xe station wagon VW để phục vụ nghiên cứu về robot di động và lái xe tự động. Tổng cộng, chúng tôi đã ghi lại 6 giờ kịch bản giao thông với tần suất từ 10 đến 100 Hz, sử dụng nhiều phương thức cảm biến khác nhau như camera stereo màu và đen trắng độ phân giải cao, máy quét laser 3D Velodyne và hệ thống dẫn đường quán tính GPS\u002FIMU độ chính xác cao. Các kịch bản rất đa dạng, phản ánh các tình huống giao thông thực tế và trải dài từ các xa lộ, các khu vực nông thôn đến các cảnh trong thành phố với nhiều đối tượng tĩnh và động. Dữ liệu của chúng tôi đã được hiệu chỉnh, đồng bộ và gán thời gian, và chúng tôi cung cấp các chuỗi hình ảnh đã chỉnh sửa và thô. Tập dữ liệu của chúng tôi cũng chứa nhãn đối tượng dưới dạng các tracklet 3D, và chúng tôi cung cấp các bài kiểm tra trực tuyến cho stereo, dòng quang học, phát hiện đối tượng và các tác vụ khác. Bài báo này mô tả nền tảng ghi âm của chúng tôi, định dạng dữ liệu và các tiện ích mà chúng tôi cung cấp. \u003C\u002Fjats:p>",{"EN":1953,"VI":1954},"Vision meets robotics: The KITTI dataset","Tầm nhìn gặp gỡ robot: Tập dữ liệu 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Available at: http:\u002F\u002Fmercator.myzen.co.uk\u002Fmercator.pdf.",{},{"id":24,"text":2113,"url":24,"identifiers":2114},"10.1109\u002FROBOT.2010.5509587",{"doi":2113},{"id":24,"text":2116,"url":24,"identifiers":2117},"10.1109\u002FIVS.2010.5548114",{"doi":2116},{"id":24,"text":2119,"url":24,"identifiers":2120},"10.1109\u002FICRA.2012.6225282",{"doi":2119},{"id":24,"text":2122,"url":24,"identifiers":2123},"Wojek C, 2012, Proceedings of the Intelligent Vehicles Symposium (IV)",{},{"id":2125,"createTime":2126,"updateTime":2126,"relativeEntities":2127,"slug":2128,"properties":2129,"entityType":165,"verifyStatus":166,"verifyTime":2141,"verifyNote":167,"syncStatus":23,"languages":2142,"translateLanguages":24,"viewCount":25,"primaryUrl":2143,"fullTextUrl":24,"authors":2144,"publicationType":222,"publisherRelationship":2164,"citationCount":2196,"citationInfo":2197,"publishDate":2201,"publishYear":2202,"citationAnalyzeStatus":23,"lastCitationAnalyze":24,"indexDatabases":24,"openAccess":24,"references":2203,"isForceReanalyzing":313},"7d1ce27d-def6-4d64-b76a-4246dcb1452c","2024-09-11T19:06:15.256+00:00",[],"The-Kinematics-of-Contact-and-Grasp",{"mag":2130,"keywords":2132,"openalex":2133,"abstract":2135,"title":2137,"doi":2139},{"VOID":2131},"2017444601",{},{"VOID":2134},"W2017444601",{"EN":2136},"\u003Cjats:p> The kinematics of contact describe the motion of a point of contact over the surfaces of two contacting objects in response to a relative motion of these objects. Using concepts from differential geometry, I derive a set of equations, called the contact equations, that embody this relationship. I employ the contact equations to design the following applications to be executed by an end-effector with tactile sensing capability: ( 1) determining the curvature form of an unknown object at a point of contact; and ( 2) following the surface of an unknown object. The contact equations also serve as a basis for an investigation of the kinematics of grasp. I derive the relation ship between the relative motion of two fingers grasping an object and the motion of the points of contact over the object surface. Based on this analysis, we explore the following applications: ( 1) rolling a sphere between two arbitrarily shaped fingers ; ( 2) fine grip adjustment ( i.e., having two fingers that grasp an unknown object locally optimize their grip for maximum stability). \u003C\u002Fjats:p>",{"EN":2138},"The Kinematics of Contact and Grasp",{"VOID":2140},"10.1177\u002F027836498800700302","2024-09-11T19:06:15.255+00:00",[169],"http:\u002F\u002Fjournals.sagepub.com\u002Fdoi\u002F10.1177\u002F027836498800700302",[2145],{"id":2146,"sortIndex":25,"researcher":24,"roles":2147,"affiliations":2148,"properties":2159},"cfa4bfde-2eea-4c1e-85eb-f06e721bef0a",[],[2149],{"id":2150,"sortIndex":25,"affiliation":2151,"properties":24},"96268d83-4582-4284-9cee-1c09755b2354",{"id":2152,"createTime":2153,"updateTime":2153,"relativeEntities":2154,"slug":2155,"properties":2156,"entityType":85,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25},"cbcc6675-7987-418a-bba6-1c364b4b5a9d","2024-09-11T19:06:15.277+00:00",[],"BBN-Laboratories-Inc-70-Fawcett-Street-Cambridge-Massachusetts-02138",{"title":2157},{"EN":2158},"BBN Laboratories, Inc. 70 Fawcett Street Cambridge, Massachusetts 02138",{"openalex":2160,"title":2162},{"VOID":2161},"A5103330610",{"EN":2163},"David J. Montana",{"url":24,"publisher":2165,"properties":2190},{"id":6,"createTime":7,"updateTime":8,"relativeEntities":2166,"slug":10,"properties":2167,"entityType":22,"verifyStatus":23,"verifyTime":24,"verifyNote":24,"syncStatus":23,"languages":24,"translateLanguages":24,"viewCount":25,"subjectFields":2173,"manageAffiliations":2174,"indexDatabases":2175,"url":143,"thumbnailPath":24,"statistic":24,"gsStatistic":24,"type":24,"analyzePriority":24},[],{"country":2168,"issn":2169,"introduce":2170,"eissn":2171,"title":2172},{"VOID":13},{"VOID":15},{"EN":17},{"VOID":19},{"EN":21},[],[],[2176,2183],{"id":125,"indexDatabase":2177,"url":140,"indexYears":24,"academicFieldIds":2182,"indexDatabaseRanking":24},{"id":127,"createTime":128,"updateTime":129,"relativeEntities":2178,"label":2179,"description":2180,"key":136,"publicationTags":2181,"standard":24},[],{"EN":132,"VI":132},{"VI":134,"EN":135},[138,139],[142],{"id":101,"indexDatabase":2184,"url":114,"indexYears":115,"academicFieldIds":2189,"indexDatabaseRanking":123},{"id":103,"createTime":104,"updateTime":105,"relativeEntities":2185,"label":2186,"description":2187,"key":111,"publicationTags":2188,"standard":24},[],{"EN":108,"VI":108},{"EN":108,"VI":110},[113],[117,118,119,120,121,122],{"volume":2191,"pages":2193,"issue":2195},{"VOID":2192},"7",{"VOID":2194},"17-32",{"VOID":255},527,{"total":2196,"publishYear":24,"statisticByYear":2198},{"2012":1295,"2013":636,"2014":635,"2015":639,"2016":2199,"2017":639,"2018":2200,"2019":636,"2020":636,"2021":639,"2022":640,"2023":635,"2024":413},18,14,"1988-06-01",1988,[2204,2207,2210,2213,2216,2219,2222,2225,2228,2231,2233,2236,2239,2242,2245],{"id":24,"text":2205,"url":24,"identifiers":2206},"Bajcsy, R. 1984. What can we learn from one finger experiments ? 1st Symp. on Robotics Research: 509 - 527. Cambridge, Mass.: MIT Press.",{},{"id":24,"text":2208,"url":24,"identifiers":2209},"Cai, C., 1986, Mechanism and Machine Theory",{},{"id":24,"text":2211,"url":24,"identifiers":2212},"Cai, C., Proc. 1987 IEEE Conf. on Robotics and Automation",{},{"id":24,"text":2214,"url":24,"identifiers":2215},"Campbell, S.L., 1979, Generalised inverses of linear transformations",{},{"id":24,"text":2217,"url":24,"identifiers":2218},"Cartan, E., 1946, Lecons sur la geometrie de Riemann",{},{"id":24,"text":2220,"url":24,"identifiers":2221},"Craig, J.J., 1986, Introduction to robotics",{},{"id":24,"text":2223,"url":24,"identifiers":2224},"10.1177\u002F027836498500400304",{"doi":2223},{"id":24,"text":2226,"url":24,"identifiers":2227},"Hanafusa, H., Proc. 7th ISIR",{},{"id":24,"text":2229,"url":24,"identifiers":2230},"10.1177\u002F027836498600400401",{"doi":2229},{"id":24,"text":475,"url":24,"identifiers":2232},{"doi":475},{"id":24,"text":2234,"url":24,"identifiers":2235},"Mason, M.T., 1982, Manipulator grasping and pushing operations. Ph.D. Thesis, Department of Electrical Engineering and Computer Science",{},{"id":24,"text":2237,"url":24,"identifiers":2238},"Montana, D.J., 1986, Tactile sensing and the kinematics of contact. Ph.D. Thesis, Division of Applied Sciences",{},{"id":24,"text":2240,"url":24,"identifiers":2241},"10.1109\u002FTSMC.1982.4308818",{"doi":2240},{"id":24,"text":2243,"url":24,"identifiers":2244},"Salisbury, J.K., 1982, Kinematic and force analysis of articulated hands. Ph.D. Thesis",{},{"id":24,"text":2246,"url":24,"identifiers":2247},"Spivak, M., 1979, A comprehensive introduction to differential geometry",{}]