Contact Interpretation and Control

 This complementary theme concerns with the contact phenomenon which is a natural part of any application of a dexterous mechanisms or interaction with virtual world. The objectives are to model and experiment with various types of contact (with and without the effect of friction), contact signatures and methods of control and simulation of contact events. Appications of the results are in grasping and manipulation, active parts feeder, controlled impact in exploratory motions of the manipulators and haptic rendering.

Some of the recent publications related to this theme are:

  • On effect of Compliance in Robotic Contact Tasks Problem,
    Proceedings of 1995 American Control Conference, pp. 387-391

  • Curvature Based Shape Estimation Using Tactile Sensing,
    Proceedings of 1996 IEEE International Conference on Robotics and Automation, pp. 3502-3508, (Co-authored with Marks Charlebois, Kamal Gupta and Shahram Payandeh)

  • Shape Description of General, Curved Surfaces Using Tactile Sensing and Surface Normal Information,
    Proceedings of 1997 IEEE International Conference on Robotics and Automation,pp. 2819-2825 (Co-authored with Marks Charlebois, Kamal Gupta and Shahram Payandeh)

  • An Application of an 1 DOF Fence for Active Part Detection, Manipulation and Alignment on Conveyer Belt,
    Proceedings of 1997 International Conference on Intelligent Robots and Systems, pp. 428-434, (Co-authored with Andon Salvarinov and Shahram Payandeh)

  • Methods for Low Velocity Friction Compensation: Theory and Experiments,
    Journal of Robotic Systems, Vol. 13, No. 6, 1996, pp. 391-404, (Co-authored with John Adams and Shahram Payandeh)

  • A Method for Controlling Robotic Contact Tasks,
    Robotica, Volume 14, pp. 281-288, 1996, (co-authored with Shahram Payandeh)

  • A Natural Framework for Designing Bounce-less Controller for Robotic Contact tasks,
    Proceedings of 1997 IFAC Symposium on Robot Control, pp. 709-714 (co-authored with Shahram Payandeh)

  • On Effect of Compliance in Robotic Contact Tasks Problem,
    International Journal of Robotics and Automation(co-authored with Shahram Payandeh)

  • On Application of Active Fense for Dynamic Manipulation of Objects on Conveyer Belt,
    Proceedings of European Center for Pease and Development, Third Conference on Advanced Robotics, Intelligent Automation and Active Systems, pp. 453-459, (Co-authored with Andon Salvarinov and Shahram Payandeh)

  • Toward Smooth Analysis of Robotic Tasks Problem,
    Proceedings of 1999 American Control Conference, (co-authored Christine Wu and Shahram Payandeh)

  • Haptic Rendering: Practicle Modelling and Collision Detection,
    Proceedings of 1999 ASME Symposium on Haptic Interface for Virtual Environment and Tele-Operation (co-authored Zhu Lian Cai, John Dill and Shahram Payandeh)

  • On Usage of Wave Variables in Force-Reflecting Teleoperation,
    (co-authored Tissa Mirfakhrai and Shahram Payandeh)

  • Toward Deformation Modelling with Haptic Feedback ,
    Proceedings of 2000 ASME Symposium on Haptic Interface for Virtual Environment and Tele-Operation (co-authored Zhu Lian Cai, Shahram Payandeh and John Dill)

  • Haptic Subdivision: An Approach to Defining Level-of-detail in Haptic Rendering,
    IEEE VR2002, Haptics Symposium, (co-authored Jian Zhang , Shahram Payandeh and John Dill)

  • On Application of Virtual Fixtures as an Aid for Telemanipulation and Training,
    IEEE VR2002, Haptics Symposium, (co-authored Shahram Payandeh and Zoran Stanisic)

  • A Delay Prediction Approach for Teleoperation over the Internet,
    Proceedings of IEEE International Conference on Robotics and Automation, 2002, (co-authored Tissa Mirfakhrai and Shahram Payandeh)

  • Haptic-Aided-Design: A Case Study,
    To be presented in IEEE VR2003, Haptics Symposium, (co-authored Jian Zhang , Shahram Payandeh and John Dill)

  • Levels of Detail in Reducing Cost of Haptic Rendering: A Preliminary User Study,
    To be presented in IEEE VR2003, Haptic Symposium, (co-authored Jian Zhang , Shahram Payandeh and John Dill)

  • Toward Modeling of a Suturing Task,
    Submitted to GI2003, (co-authored Matt LeDuc, Shahram Payandeh and John Dill)

  • Simulation of Progressive Cutting on Surface Mesh Model,
    Submitted to GI2003, (co-authored Hui Zhang , Shahram Payandeh and John Dill)