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ICRA
2009
IEEE
196views Robotics» more  ICRA 2009»
10 years 11 days ago
CHOMP: Gradient optimization techniques for efficient motion planning
Abstract-- Existing high-dimensional motion planning algorithms are simultaneously overpowered and underpowered. In domains sparsely populated by obstacles, the heuristics used by ...
Nathan D. Ratliff, Matt Zucker, J. Andrew Bagnell,...
ICRA
2009
IEEE
122views Robotics» more  ICRA 2009»
10 years 11 days ago
Body torque modulation for a microrobotic fly
The Harvard Microrobotics Lab has previously demonstrated the world's first at-scale robotic insect capable of vertical takeoff with external power. Both of the robot's w...
Benjamin M. Finio, Jessica K. Shang, Robert J. Woo...
ICRA
2009
IEEE
155views Robotics» more  ICRA 2009»
10 years 11 days ago
Active multi-view object search on a humanoid head
Visual search is a common daily human activity and a prerequisite to the interaction with objects encountered in cluttered environments. Humanoid robots that are supposed to take p...
Kai Welke, Tamim Asfour, Rüdiger Dillmann
ICRA
2009
IEEE
123views Robotics» more  ICRA 2009»
10 years 11 days ago
Time-minimal path planning in dynamic current fields
Numerous approaches have been proposed for path planning in dynamic current fields, for a fixed departure time. However, in many applications, the departure time is not necessarily...
Michaël Soulignac, Patrick Taillibert, Michel...
ICRA
2009
IEEE
108views Robotics» more  ICRA 2009»
10 years 11 days ago
On the generation of feasible paths for aerial robots with limited climb angle
This paper presents a methodology based on a variation of the Quintic Pythagorean Hodographs curves for generating smooth feasible paths for autonomous vehicles in three-dimensiona...
Armando Alves Neto, Mario Fernando Montenegro Camp...
ICRA
2009
IEEE
127views Robotics» more  ICRA 2009»
10 years 11 days ago
Gaussian Process modeling of large scale terrain
Shrihari Vasudevan, Fabio T. Ramos, Eric Nettleton...
ICRA
2009
IEEE
188views Robotics» more  ICRA 2009»
10 years 11 days ago
Onboard contextual classification of 3-D point clouds with learned high-order Markov Random Fields
Contextual reasoning through graphical models such as Markov Random Fields often show superior performance against local classifiers in many domains. Unfortunately, this performanc...
Daniel Munoz, Nicolas Vandapel, Martial Hebert
ICRA
2009
IEEE
113views Robotics» more  ICRA 2009»
10 years 11 days ago
Study on adhesion force reduction and state estimation by piezo-transducer
Our previous paper presented a method for reducing adhesion forces by oscillation and showed the adhesion state can be checked by analyzing the data obtained by laser displacement ...
Tetsuyou Watanabe, Makoto Iwasaki, Hidekazu Matsum...
ICRA
2009
IEEE
115views Robotics» more  ICRA 2009»
10 years 11 days ago
Trajectory generation of robotic fingers based on tri-axial tactile data for cap screwing task
In a previous paper, we developed a robotic finger equipped with optical three-axis tactile sensors, of which the sensing cell can separately detect normal and shearing forces. Wit...
Masahiro Ohka, Nobuyuki Morisawa, Hanafiah B. Yuss...
ICRA
2009
IEEE
188views Robotics» more  ICRA 2009»
10 years 11 days ago
Mining GPS data for extracting significant places
This paper presents a fast and robust algorithm for extracting significant places from a set of raw GPS data points. Determining such places provides valuable context information ...
Gabriel Agamennoni, Juan Nieto, Eduardo Mario Nebo...
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