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ICRA
2009
IEEE
125views Robotics» more  ICRA 2009»
10 years 11 days ago
Robust hitting with dynamics shaping
The present paper proposes the motion planning based on "the dynamics shaping" for a robotic arm to hit the target robustly toward the desired direction, of which the con...
Tasuku Yamawaki, Yusuke Tsuzuki, Masahito Yashima
ICRA
2009
IEEE
125views Robotics» more  ICRA 2009»
10 years 11 days ago
Photometry-based visual servoing using light reflexion models
Abstract-- We present in this paper a way to achieve positioning tasks by visual servoing under complex luminance variations. To do that, we use as visual features the luminance of...
Christophe Collewet, Éric Marchand
ICRA
2009
IEEE
103views Robotics» more  ICRA 2009»
10 years 11 days ago
Prioritizing linear equality and inequality systems: Application to local motion planning for redundant robots
We present a novel method for prioritizing both linear equality and inequality systems and provide one algorithm for its resolution. This algorithm can be summarized as a sequence ...
Oussama Kanoun, Florent Lamiraux, Pierre-Brice Wie...
ICRA
2009
IEEE
129views Robotics» more  ICRA 2009»
10 years 11 days ago
Modeling and control of a pair of robot fingers with saddle joint under orderless actuations
A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinni...
Morio Yoshida, Suguru Arimoto, Kenji Tahara
ICRA
2009
IEEE
140views Robotics» more  ICRA 2009»
10 years 11 days ago
Robot basketball: A comparison of ball dribbling with visual and force/torque feedback
Ball dribbling is a central element of basketball and one main challenge for realizing basketball robots is to achieve the stability of the periodic dribbling task. In this paper t...
Georg Batz, Kwang-Kyu Lee, Dirk Wollherr, Martin B...
ICRA
2009
IEEE
116views Robotics» more  ICRA 2009»
10 years 11 days ago
Kinematic analysis and optimal design of a 3T1R type parallel mechanism
In previous studies on 4-DOF parallel mechanisms with four sub-chains, only symmetric arrangement of those four chains connected to the top plate was considered. Such symmetric sha...
Sung Mok Kim, Whee Kuk Kim, Byung-Ju Yi
ICRA
2009
IEEE
134views Robotics» more  ICRA 2009»
10 years 11 days ago
High dynamic range stereo vision for outdoor mobile robotics
We present a technique for high-dynamic range stereo for outdoor mobile robot applications. Stereo pairs are captured at a number of different exposures (exposure bracketing), and ...
Stefan Hrabar, Peter I. Corke, Michael Bosse
ICRA
2009
IEEE
125views Robotics» more  ICRA 2009»
10 years 11 days ago
Real-world robot navigation amongst deformable obstacles
Abstract-- In this paper, we consider the problem of mobile robots navigating in environments with non-rigid objects. Whereas robots can plan their paths more effectively when they...
Barbara Frank, Cyrill Stachniss, Ruediger Schmeddi...
ICRA
2009
IEEE
127views Robotics» more  ICRA 2009»
10 years 11 days ago
Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture
We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for ...
Alexander Spröwitz, Aude Billard, Pierre Dill...
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