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ICRA
2000
IEEE
132views Robotics» more  ICRA 2000»
9 years 2 months ago
Design of a 5-cm Monopod Hopping Robot
The monopod hopper described here fits into a cube that is 5 cm on a side, is autonomous, and is designed to be statically and passively dynamically stable. Hopping is achieved th...
Terence E. Wei, Gabriel M. Nelson, Roger D. Quinn,...
ICRA
2000
IEEE
92views Robotics» more  ICRA 2000»
9 years 2 months ago
A Physical Implementation of the Self-Reconfiguring Crystalline Robot
We discuss a physical implementation of the Crystalline robot system. Crystalline robots consist of modules that can aggregate together to form distributed robot systems. Crystall...
Daniela Rus, Marsette Vona
ICRA
2000
IEEE
120views Robotics» more  ICRA 2000»
9 years 2 months ago
Biomechanics and Simulation of Cricket for Microrobot Design
This paper describes the kinematic analysis of two different cricket locomotion modalities, and the use of these data in a dynamic simulation to combine and simplify the insect�...
Sathaporn Laksanacharoen, Alan J. Pollack, Gabriel...
ICRA
2000
IEEE
176views Robotics» more  ICRA 2000»
9 years 2 months ago
RRT-Connect: An Efficient Approach to Single-Query Path Planning
A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementall...
James J. Kuffner Jr., Steven M. LaValle
ICRA
2000
IEEE
145views Robotics» more  ICRA 2000»
9 years 2 months ago
Feature Based Condensation for Mobile Robot Localization
Much attention has been given to CONDENSATION methods for mobile robot localization. This has resulted in somewhat of a breakthrough in representing uncertainty for mobile robots....
Patric Jensfelt, David J. Austin, Olle Wijk, Magnu...
ICRA
2000
IEEE
163views Robotics» more  ICRA 2000»
9 years 2 months ago
The Anthropomorphic Biped Robot BIP2000
This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved for 4 years, as uimed at the realization of the lower part of an an...
Bernard Espiau, Philippe Sardain
ICRA
2000
IEEE
126views Robotics» more  ICRA 2000»
9 years 2 months ago
Identification and Decoupling Control of Flexure Jointed Hexapods
By exploiting properties of the joint space mass-inertia matrix of flexure jointed hexapods, a new decoupling method is proposed. The new decoupling method, through a static input...
Yixin Chen, John E. McInroy
ICRA
2000
IEEE
124views Robotics» more  ICRA 2000»
9 years 2 months ago
Design of a Cricket Microrobot
Our goal is to develop an autonomous robot that will fit within a two-inch cube and will locomote by walking and jumping. The robot will be based on the kinematics of a cricket. I...
Matthew C. Birch, Roger D. Quinn, Geon Hahm, Steph...
ICRA
2000
IEEE
127views Robotics» more  ICRA 2000»
9 years 2 months ago
Design, Experiments and Motion Planning of a Spherical Rolling Robot
This paper describes a prototype and analytical studies of a spherical rolling robot, a new design of a nonholonomic system. The spherical robot is driven by two remotely controll...
Shourov Bhattacharya, Sunil Kumar Agrawal
ICRA
2000
IEEE
121views Robotics» more  ICRA 2000»
9 years 2 months ago
Using Multiple Gaussian Hypotheses to Represent Probability Distributions for Mobile Robot Localization
A new mobile robot localization technique is presented which uses multiple Gaussian hypotheses to represent the probability distribution of the robots location in the environment....
David J. Austin, Patric Jensfelt
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