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ICRA
2003
IEEE
116views Robotics» more  ICRA 2003»
10 years 7 months ago
Decoupling based Cartesian impedance control of flexible joint robots
— This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the...
Christian Ott, Alin Albu-Schäffer, Andreas Ku...
ICRA
2003
IEEE
120views Robotics» more  ICRA 2003»
10 years 7 months ago
Inverse dynamics of gel robots made of electro-active polymer gel
— This paper formulates and solves the inverse dynamics problem of deformable robots made entirely of electro-active polymer gel. One of the primary difficulties with deformable...
Mihoko Otake, Yoshiharu Kagami, Yasuo Kuniyoshi, M...
ICRA
2003
IEEE
154views Robotics» more  ICRA 2003»
10 years 7 months ago
Automated multisensor polyhedral model acquisition
Abstract—We describe a method for automatically generating accurate piecewise planar models of indoor scenes using a combination of a 2D laser scanner and a camera on a mobile pl...
Diego Ortin, J. M. M. Montiel, Andrew Zisserman
ICRA
2003
IEEE
124views Robotics» more  ICRA 2003»
10 years 7 months ago
Intelligent control of an experimental articulated leg for a galloping machine
Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a sing...
Luther R. Palmer, David E. Orin, Duane W. Marhefka...
ICRA
2003
IEEE
107views Robotics» more  ICRA 2003»
10 years 7 months ago
The haptic scissors: cutting in virtual environments
The “Haptic Scissors” is a device that creates the sensation of cutting in virtual environments. The scissors have two degrees of freedom of motion and force feedback, one for...
Allison M. Okamura, Robert J. Webster III, Jason T...
ICRA
2003
IEEE
121views Robotics» more  ICRA 2003»
10 years 7 months ago
Double spherical joint and backlash clutch for lower limbs of humanoids
In this paper, we develop tw o mechanisms for improving humanoid robot motions. The double spherical joint is a six DOF mechanism whose axes intersect in one point. This mechanism...
Masafumi Okada, Tetsuya Shinohara, Tatsuya Gotoh, ...
ICRA
2003
IEEE
154views Robotics» more  ICRA 2003»
10 years 7 months ago
Obstacle avoidance in formation
Abstract— In this paper, we present an approach to obstacle avoidance for a group of unmanned vehicles moving in formation. The goal of the group is to move through a partially u...
Petter Ögren, Naomi Ehrich Leonard
ICRA
2003
IEEE
119views Robotics» more  ICRA 2003»
10 years 7 months ago
Autonomous feature-based exploration
: The performance of single-camera SLAM is improved when wide-angle optics provide a field of view greater than the 40 to 50 degrees lenses normally used in computer vision. The is...
Paul M. Newman, Michael Bosse, John J. Leonard
ICRA
2003
IEEE
116views Robotics» more  ICRA 2003»
10 years 7 months ago
Linear time vehicle relocation in SLAM
Abstract— In this paper we propose an algorithm to determine the location of a vehicle in an environment represented by a stochastic map, given a set of environment measurements ...
José Neira, Juan D. Tardós, Jos&eacu...
ICRA
2003
IEEE
114views Robotics» more  ICRA 2003»
10 years 7 months ago
Robotic catching using a direct mapping from visual information to motor command
— In this paper a robotic catching algorithm based on a nonlinear mapping of visual information to the desired trajectory is proposed. The nonlinear mapping is optimized by learn...
Akio Namiki, Masatoshi Ishikawa
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