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ICRA
2000
IEEE
71views Robotics» more  ICRA 2000»
9 years 4 months ago
Dynamic Simulation for Grasping and Whole Arm Manipulation
We propose a novel approach to dynamic simulation of grasps that overcomes di culties due to inconsistencies in the forward dynamics problem. The key idea in the paper is a minima...
Peng Song, Masahito Yashima, Vijay Kumar
ICRA
2000
IEEE
90views Robotics» more  ICRA 2000»
9 years 4 months ago
On the Nonlinear Control of Hydraulic Servo-Systems
In this paper the control problem of a hydraulic servosystem is addressed. The performance achievable by classical linear controllers, e.g. PD, are usually limited due to highly n...
Mohammad Reza Sirouspour, S. E. Salcudean
ICRA
2000
IEEE
133views Robotics» more  ICRA 2000»
9 years 4 months ago
Haptic Interface Control - Design Issues and Experiments with a Planar Device
This paper describes the haptic rendering of a virtual environment by drawing upon concepts developed in the area of teleoperation. A four-channel teleoperation architecure is sho...
Mohammad Reza Sirouspour, Simon P. DiMaio, S. E. S...
ICRA
2000
IEEE
136views Robotics» more  ICRA 2000»
9 years 4 months ago
Recent Progress in Local and Global Traversability for Planetary Rovers
Autonomous planetary rovers operating in vast unknown environments must operate efficiently because of size, power and computing limitations. Recently, we have developed a rover c...
Sanjiv Singh, Reid G. Simmons, Trey Smith, Anthony...
ICRA
2000
IEEE
114views Robotics» more  ICRA 2000»
9 years 4 months ago
In-Situ Attitude Calibration for High Resolution Bathymetric Surveys with Underwater Robotic Vehicles
In this paper we present a methodology for high resolution acoustic bathymetric mapping from a robotic underwater vehicle. Based on data obtained from navigation, attitude, and ba...
Hanumant Singh, Oscar Pizarro, Louis L. Whitcomb, ...
ICRA
2000
IEEE
120views Robotics» more  ICRA 2000»
9 years 4 months ago
Instantaneous Evaluation of Friction Based on ARTC Tactile Sensor
A human can lift up an object with almost minimal grasping force regardless of the friction coefficient between the fingers and the object, but the sensing mechanism for this rema...
Hiroyuki Shinoda, Shinya Sasaki, Katsuhiko Nakamur...
ICRA
2000
IEEE
142views Robotics» more  ICRA 2000»
9 years 4 months ago
Automated CAD-Guided Automobile Part Dimensional Inspection
Structured light is one of the well-known methods in part dimensional inspection that have been successfully employed in various applications in the past decades. In this method, ...
Weihua Sheng, Ning Xi, Mumin Song, Yifan Chen, Jam...
ICRA
2000
IEEE
102views Robotics» more  ICRA 2000»
9 years 4 months ago
Experimental Evaluation of a Robotic Image-Directed Radiation Therapy System
Kapil Sharma, Wyatt S. Newman, Martin Weinhous, Gr...
ICRA
2000
IEEE
125views Robotics» more  ICRA 2000»
9 years 4 months ago
Controlling a Multijoint Robot for Autonomous Sewer Inspection
In this paper a multijoint robot for sewer inspection tasks is presented. In order to increase the operating scope the robot has been made able to run round or over obstacles, to ...
Kai-Ulrich Scholl, Volker Kepplin, Karsten Berns, ...
ICRA
2000
IEEE
113views Robotics» more  ICRA 2000»
9 years 4 months ago
PADyC: A Synergistic Robot for Cardiac Puncturing
Olivier Schneider, Jocelyne Troccaz, Olivier Chava...
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