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ICRA
2006
IEEE
136views Robotics» more  ICRA 2006»
9 years 10 months ago
A Bipedal Running Robot with one Actuator per Leg
- This paper presents experiments with a new, three-dimensional bipedal running behaviour for our Robotic Hexapod, RHex. The robot and the bipedal gait are underactuated, using onl...
Neil Neville, Martin Buehler, Inna Sharf
ICRA
2006
IEEE
144views Robotics» more  ICRA 2006»
9 years 10 months ago
Adapting Probabilistic Roadmaps to Handle Uncertain Maps
Abstract— Randomized motion planning techniques are responsible for many of the recent successes in robot control. However, most motion planning algorithms assume perfect and com...
Patrycja E. Missiuro, Nicholas Roy
ICRA
2006
IEEE
158views Robotics» more  ICRA 2006»
9 years 10 months ago
An Agent-based Mobile Robot System using Configurable SOC Technique
– To make a mobile robot with real-time vision system adapt to the highly dynamic environments and emergencies under the real-time constraints, a significant account of processin...
Yan Meng
ICRA
2006
IEEE
98views Robotics» more  ICRA 2006»
9 years 10 months ago
Sensor Selection and Placement for Failure Diagnosis in Networked Aerial Robots
Abstract—Unmanned aerial vehicles (UAVs) represent an important class of networked robotic applications that must be both highly dependable and autonomous. This paper addresses s...
Nagarajan Kandasamy, Fadi A. Aloul, Tak-John Koo
ICRA
2006
IEEE
112views Robotics» more  ICRA 2006»
9 years 10 months ago
Robot-assisted Catheter Insertion using Hybrid Impedance Control
— Angioplasty is a minimally invasive procedure wherein a catheter (a thermoplastic hollow wire) is inserted into the femoral artery and guided till it reaches a blockage in the ...
Jagadeesan Jayender, Rajnikant V. Patel, S. Nikumb
ICRA
2006
IEEE
113views Robotics» more  ICRA 2006»
9 years 10 months ago
Mobile in vivo Biopsy Robot
– A mobile in vivo camera robot was developed to provide the ability for a single port biopsy procedure. Such a robot can be inserted into the abdominal cavity through a standard...
Mark Rentschler, Jason Dumpert, Stephen Platt, Dmi...
ICRA
2006
IEEE
91views Robotics» more  ICRA 2006»
9 years 10 months ago
Design, Development and Experiments of a High Stroke-precision 2DoF (Linear-angular) Microsystem
— This paper presents the design, the development and the experiments on a two degrees of freedom (2DoF) microsystem. The originality of the microsystem is its ability to do angu...
Micky Rakotondrabe, Yassine Haddab, Philippe Lutz
ICRA
2006
IEEE
131views Robotics» more  ICRA 2006»
9 years 10 months ago
CMOS+FPGA Vision System for Visual Feedback of Mechanical Systems
— This paper describes a 1,000Hz visual feedback using the CMOS+FPGA vision. It is required to obtain positional and angular signals around 1,000Hz to control a mechanical system...
Kazuhiro Shimizu, Shinichi Hirai
ICRA
2006
IEEE
103views Robotics» more  ICRA 2006»
9 years 10 months ago
Soft Object Manipulation by Simultaneous Control of Motion and Deformation
— One of features of soft object manipulation is motion during deformation of the soft body. We analyze the stability of soft object manipulation by simultaneous control of motio...
Mizuho Shibata, Shinichi Hirai
ICRA
2006
IEEE
99views Robotics» more  ICRA 2006»
9 years 10 months ago
Point-to-point Planning: Methodologies for Underactuated Space Robots
Ioannis Tortopidis, Evangelos Papadopoulos
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