ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
— We present a system of coupled nonlinear oscillators to be used as programmable central pattern generators, and apply it to control the locomotion of a humanoid robot. Central ...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
— This paper demonstrates a learning mechanism for complex tasks. Such tasks may be inherently expensive to learn in terms of training time and/or cost of obtaining each training...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
Abstract – This paper presents a real-time 3D ultrasoundguided robotic system, designed to autonomously navigate a surgical instrument to surgeon-specified target points. The sys...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
Abstract— In this paper, the robustness of graspless manipulation (or nonprehensile manipulation) is investigated. We derive some new constraints for static frictional forces in ...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
— Most work on the simultaneous localization and mapping (SLAM) problem assumes the frequent availability of dense information about the environment such as that provided by a la...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
– Virtual fixtures are virtual constraints that enhance human performance in motion tasks. They can either confine and/or guide a user’s motion. In this paper, we use a commerc...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
Abstract— Tomorrow’s humanoids will operate in human environments, where efficient manipulation and locomotion skills, and safe contact interactions will be critical design fa...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
- Exploration is the fundamental task of guiding a robot autonomously during mapping so that it covers the entire environment with its sensors. In the frontier-based exploration, a...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
Abstract— The Deformatron robot is a homogeneous, modular robot. The Deformatron modules can play one of three roles in the physical structure of the robot: bone, tendon, and mus...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
— In this paper, we propose a power assist system that amplifies sinusoidal human’s torque and attains minimization of control input requirement using an impedance control and...