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ICRA
2002
IEEE
141views Robotics» more  ICRA 2002»
10 years 3 months ago
Realtime Humanoid Motion Generation through ZMP Manipulation Based on Inverted Pendulum Control
Humanoid robot is expected as a rational form of machine to act in the real human environment and support people through interaction with them. Current humanoid robots, however, l...
Tomomichi Sugihara, Yoshihiko Nakamura, Hirochika ...
ICRA
2002
IEEE
148views Robotics» more  ICRA 2002»
10 years 3 months ago
Experiments with Nonholonomic Manipulation
This paper summarizes ongoing work with a mobile manipulator (Mobipulator). We describe the system architecture of the latest version of the robot, a hierarchy of robot motion com...
Siddhartha S. Srinivasa, Christopher R. Baker, Eli...
ICRA
2002
IEEE
94views Robotics» more  ICRA 2002»
10 years 3 months ago
Sensor Planning and Control in a Dynamic Environment
This paper presents an approach to the problem of controlling the configuration of a team of mobile agents equipped with cameras so as to optimize the quality of the estimates de...
John R. Spletzer, Camillo J. Taylor
ICRA
2002
IEEE
86views Robotics» more  ICRA 2002»
10 years 3 months ago
Analysis and Design of an Omnidirectional Platform for Operation on Non-Ideal Floors
An omnidirectional platform with an Active Offset Split Caster (ASOC) is described and its ability to operate on non-ideal floors is studied. It is shown that all of its driven wh...
Matthew Spenko, Haoyong Yu, Steven Dubowsky
ICRA
2002
IEEE
110views Robotics» more  ICRA 2002»
10 years 3 months ago
Using Spatial Language in a Human-Robot Dialog
In conversation, people often use spatial relationships to describe their environment, e.g., “There is a desk in front of me and a doorway behind it”, and to issue directives,...
Marjorie Skubic, Dennis Perzanowski, Alan C. Schul...
ICRA
2002
IEEE
123views Robotics» more  ICRA 2002»
10 years 3 months ago
Sensor Fusion of Structure-from-Motion, Bathymetric 3D, and Beacon-Based Navigation Modalities
This paper describes an approach for the fusion of 3D data underwater obtained from multiple sensing modalities. In particular, we examine the combination of imagebased Structure-...
Hanumant Singh, Garbis Salgian, Ryan Eustice, Robe...
ICRA
2002
IEEE
113views Robotics» more  ICRA 2002»
10 years 3 months ago
Modeling of Needle Insertion Forces for Robot-Assisted Percutaneous Therapy
Force information from needle insertions was measured and modeled for use in robot-assisted percutaneous therapies. Data was collected on bovine livers using the Johns Hopkins Uni...
Christina Simone, Allison M. Okamura
ICRA
2002
IEEE
87views Robotics» more  ICRA 2002»
10 years 3 months ago
A Pragmatic 3D Visual Servoing System
T. P. Sim, Geok Soon Hong, Kah Bin Lim
ICRA
2002
IEEE
116views Robotics» more  ICRA 2002»
10 years 3 months ago
Staying Alive: A Docking Station for Autonomous Robot Recharging
—Autonomous mobile robots are constrained in their long-term functionality due to a limited on-board power supply. Typically, rechargeable batteries are utilized that may only pr...
Milo C. Silverman, Dan Nies, Boyoon Jung, Gaurav S...
ICRA
2002
IEEE
72views Robotics» more  ICRA 2002»
10 years 3 months ago
Distributed and Dynamic Task Reallocation in Robot Organizations
Task reallocation in a multi-robot organization is a process that distributes a decomposed global task to individual robots. This process must be distributed and dynamic because i...
Wei-Min Shen, Behnam Salemi
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