Develops a Voronoi-based roadmap on the spherical contact manifold combined with log-exp smoothing and Montana kinematics to generate admissible multi-contact rolling motions for spheres.
Design of a roller-based dexterous hand for object grasping and within-hand manipulation,
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2026 1verdicts
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A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems
Develops a Voronoi-based roadmap on the spherical contact manifold combined with log-exp smoothing and Montana kinematics to generate admissible multi-contact rolling motions for spheres.