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ICRA
2003
IEEE
93views Robotics» more  ICRA 2003»
10 years 8 months ago
Design of all-accelerometer inertial measurement unit for tremor sensing in hand-held microsurgical instrument
– We present the design of an all-accelerometer inertial measurement unit (IMU). The IMU forms part of an intelligent hand-held microsurgical instrument that senses its own motio...
Wei Tech Ang, Pradeep K. Khosla, Cameron N. Rivier...
ICRA
2003
IEEE
100views Robotics» more  ICRA 2003»
10 years 8 months ago
Quadrotor control using dual camera visual feedback
— In this paper, a vision-based stabilization and output tracking control method for a four-rotor helicopter has been proposed. A novel 2 camera method has been described for est...
Erdinç Altug, James P. Ostrowski, Camillo J...
ICRA
2003
IEEE
148views Robotics» more  ICRA 2003»
10 years 8 months ago
Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis
− To facilitate training and planning for medical procedures such as prostate brachytherapy, we are developing an interactive simulation of needle insertion and radioactive seed ...
Ron Alterovitz, Kenneth Y. Goldberg, Jean Pouliot,...
ICRA
2003
IEEE
98views Robotics» more  ICRA 2003»
10 years 8 months ago
Towards a Factored Analysis of Legged Locomotion Models
In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of th...
Richard Altendorfer, Daniel E. Koditschek, Philip ...
ICRA
2003
IEEE
152views Robotics» more  ICRA 2003»
10 years 8 months ago
3D Modeling of Historic Sites Using Range and Image Data
— Preserving cultural heritage and historic sites is an important problem. These sites are subject to erosion, vandalism, and as long-lived artifacts, they have gone through many...
Peter K. Allen, Ioannis Stamos, Alejandro Troccoli...
ICRA
2003
IEEE
135views Robotics» more  ICRA 2003»
10 years 8 months ago
Visual servoing based on dynamic vision
This paper deals with the way to achieve positioning tasks by visual servoing in the case of planar and motionless objects whose shape is unknown. In fact, we consider here comple...
Ali Alhaj, Christophe Collewet, François Ch...
ICRA
2003
IEEE
112views Robotics» more  ICRA 2003»
10 years 8 months ago
Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms
— This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turn...
Alin Albu-Schäffer, Christian Ott, Udo Frese,...
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