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ICRA
2009
IEEE
129views Robotics» more  ICRA 2009»
9 years 5 months ago
Modeling and control of a pair of robot fingers with saddle joint under orderless actuations
A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinni...
Morio Yoshida, Suguru Arimoto, Kenji Tahara
ICRA
2009
IEEE
140views Robotics» more  ICRA 2009»
9 years 5 months ago
Robot basketball: A comparison of ball dribbling with visual and force/torque feedback
Ball dribbling is a central element of basketball and one main challenge for realizing basketball robots is to achieve the stability of the periodic dribbling task. In this paper t...
Georg Batz, Kwang-Kyu Lee, Dirk Wollherr, Martin B...
ICRA
2009
IEEE
116views Robotics» more  ICRA 2009»
9 years 5 months ago
Kinematic analysis and optimal design of a 3T1R type parallel mechanism
In previous studies on 4-DOF parallel mechanisms with four sub-chains, only symmetric arrangement of those four chains connected to the top plate was considered. Such symmetric sha...
Sung Mok Kim, Whee Kuk Kim, Byung-Ju Yi
ICRA
2009
IEEE
134views Robotics» more  ICRA 2009»
9 years 5 months ago
High dynamic range stereo vision for outdoor mobile robotics
We present a technique for high-dynamic range stereo for outdoor mobile robot applications. Stereo pairs are captured at a number of different exposures (exposure bracketing), and ...
Stefan Hrabar, Peter I. Corke, Michael Bosse
ICRA
2009
IEEE
125views Robotics» more  ICRA 2009»
9 years 5 months ago
Real-world robot navigation amongst deformable obstacles
Abstract-- In this paper, we consider the problem of mobile robots navigating in environments with non-rigid objects. Whereas robots can plan their paths more effectively when they...
Barbara Frank, Cyrill Stachniss, Ruediger Schmeddi...
ICRA
2009
IEEE
127views Robotics» more  ICRA 2009»
9 years 5 months ago
Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture
We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for ...
Alexander Spröwitz, Aude Billard, Pierre Dill...
ICRA
2009
IEEE
196views Robotics» more  ICRA 2009»
9 years 5 months ago
CHOMP: Gradient optimization techniques for efficient motion planning
Abstract-- Existing high-dimensional motion planning algorithms are simultaneously overpowered and underpowered. In domains sparsely populated by obstacles, the heuristics used by ...
Nathan D. Ratliff, Matt Zucker, J. Andrew Bagnell,...
ICRA
2009
IEEE
122views Robotics» more  ICRA 2009»
9 years 5 months ago
Body torque modulation for a microrobotic fly
The Harvard Microrobotics Lab has previously demonstrated the world's first at-scale robotic insect capable of vertical takeoff with external power. Both of the robot's w...
Benjamin M. Finio, Jessica K. Shang, Robert J. Woo...
ICRA
2009
IEEE
155views Robotics» more  ICRA 2009»
9 years 5 months ago
Active multi-view object search on a humanoid head
Visual search is a common daily human activity and a prerequisite to the interaction with objects encountered in cluttered environments. Humanoid robots that are supposed to take p...
Kai Welke, Tamim Asfour, Rüdiger Dillmann
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