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ICRA
2000
IEEE
120views Robotics» more  ICRA 2000»
9 years 4 months ago
An Algebraic Solution to the Problem of Collision Detection for Rigid Polyhedral Objects
This paper describes a new collision detection algorithm designed for interactive manipulation in virtual environments. Making some assumptions on objects motion, the collision ti...
Stephane Redon, Abderrahmane Kheddar, Sabine Coqui...
ICRA
2000
IEEE
125views Robotics» more  ICRA 2000»
9 years 4 months ago
Motion-Decoupled Internal Force Control in Grasping with Visco-Elastic Contacts
Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internalforces is investigated. Thepresence of nonnegligible co...
Domenico Prattichizzo, Paolo Mercorelli
ICRA
2000
IEEE
125views Robotics» more  ICRA 2000»
9 years 4 months ago
Force-Based Motion Editing for Locomotion Tasks
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...
Nancy S. Pollard, Fareed Behmaram-Mosavat
ICRA
2000
IEEE
77views Robotics» more  ICRA 2000»
9 years 4 months ago
Unknown Object Grasping Using Statistical Pressure Models
Douglas P. Perrin, Christopher E. Smith, Osama Mas...
ICRA
2000
IEEE
86views Robotics» more  ICRA 2000»
9 years 4 months ago
Forward Dynamics Algorithms for Multibody Chains and Contact
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...
Dinesh K. Pai, Uri M. Ascher, Paul G. Kry
ICRA
2000
IEEE
94views Robotics» more  ICRA 2000»
9 years 4 months ago
Stable Running in a Quadruped Robot with Compliant Legs
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...
Didier Papadopoulos, Martin Buehler
ICRA
2000
IEEE
73views Robotics» more  ICRA 2000»
9 years 4 months ago
Stability Characterizations of Fixtured Rigid Bodies with Coulomb Friction
This paper formally introduces several stability characterizations of £xtured three-dimensional rigid bodies initially at rest and in unilateral contact with Coulomb friction. The...
Jong-Shi Pang, Jeffrey C. Trinkle
ICRA
2000
IEEE
85views Robotics» more  ICRA 2000»
9 years 4 months ago
An Overview of Dexterous Manipulation
Allison M. Okamura, Niels Smaby, Mark R. Cutkosky
ICRA
2000
IEEE
95views Robotics» more  ICRA 2000»
9 years 4 months ago
Precision-Calibration of Fiber-Optics Gyroscopes for Mobile Robot Navigation
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...
Lauro Ojeda, Hakyoung Chung, Johann Borenstein
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