Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project

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A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys

Aude Billard, Silvestro Micera, Marco Capogrosso, Seyed Sina Mirrazavi Salehian, Sophie Marie Marthe Wurth, Marion Aimée Geneviève Badi-Dubois, Sara Conti

Objective. Translational studies on motor control and neurological disorders require detailed monitoring of sensorimotor components of natural limb movements in relevant animal models. However, available experimental tools do not provide a sufficiently ric ...

IOP PUBLISHING LTD2020

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

Aude Billard, Salman Faraji, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

IEEE2020