ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
This paper describes a new collision detection algorithm designed for interactive manipulation in virtual environments. Making some assumptions on objects motion, the collision ti...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internalforces is investigated. Thepresence of nonnegligible co...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
This paper describes a fast technique for modifying motion sequences for complex articulated mechanisms in a way that preserves physical properties of the motion. This technique i...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
We describe a framework for derivation of several forward dynamics algorithms used in robotics. The framework is based on formulating an augmented system and performing block matr...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
We have constructed an autonomous quadruped, Scout II, which features only a hip actuator and a passive compliant prismatic joint per leg. In this paper we demonstrate in simulati...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
This paper formally introduces several stability characterizations of £xtured three-dimensional rigid bodies initially at rest and in unilateral contact with Coulomb friction. The...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
Fiber-optics gyroscopes (“gyros”) are gaining importance as a means for improving dead-reckoning accuracy in mobile robots. In the past, the relatively high drift rate of mode...