Z
Zexiang Li
Researcher at Hong Kong University of Science and Technology
Publications - 255
Citations - 10164
Zexiang Li is an academic researcher from Hong Kong University of Science and Technology. The author has contributed to research in topics: Parallel manipulator & Motion control. The author has an hindex of 42, co-authored 251 publications receiving 9664 citations. Previous affiliations of Zexiang Li include University of California, Irvine & George Washington University.
Papers
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Journal ArticleDOI
Task oriented optimal grasping by multifingered robot hands
Zexiang Li,S. Shankar Sastry +1 more
TL;DR: Three quality measures for evaluating a grasp are proposed and one is task-oriented and needs the development of a procedure for modeling tasks as ellipsoids in the wrench space of the object.
Journal ArticleDOI
Motion of two rigid bodies with rolling constraint
Zexiang Li,John Canny +1 more
TL;DR: An algorithm is proposed that generates a desired path with one of the objects being flat between two contact configurations, using a generalized version of Frobenius's theorem for determining the existence of motion.
Book ChapterDOI
Nonholonomic Motion Planning
Zexiang Li,John Canny +1 more
TL;DR: In this article, nonholonomic kinematics and the role of elliptic functions in constructive controllability, R.W. Murray and S.J. Sussmann planning smooth paths for mobile robots, P. Jacobs and J.P. Laumond motion planning for non-holonomic dynamic systems, M. Reyhanoglu et al a differential geometric approach to motion planning, G.G. Lafferriere and H.
Journal ArticleDOI
Grasping and Coordinated Manipulation by a Multifingered Robot Hand
TL;DR: This paper develops the dual notions of grasp stability and grasp manipulability and proposes a procedure for task modeling and develops a computed torque-like con trol algorithm for the coordinated manipulation of a multi fingered robot hand.