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ICRA
2009
IEEE
151views Robotics» more  ICRA 2009»
10 years 11 days ago
Encoding molecular motions in voxel maps
This paper builds on the combination of robotic path planning algorithms and molecular modeling methods for computing large-amplitude molecular motions, and introduces voxel maps a...
Juan Cortés, Sophie Barbe, Monique Erard, T...
ICRA
2009
IEEE
178views Robotics» more  ICRA 2009»
10 years 11 days ago
A riemannian-geometry approach for dynamics and control of object manipulation under constraints
A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, pos...
Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto, ...
ICRA
2009
IEEE
170views Robotics» more  ICRA 2009»
10 years 11 days ago
Mixed reality simulation for mobile robots
Mobile robots are increasingly entering the real and complex world of humans in ways that necessitate a high degree of interaction and cooperation between human and robot. Complex ...
Ian Yen-Hung Chen, Bruce A. MacDonald, Burkhard W&...
ICRA
2009
IEEE
136views Robotics» more  ICRA 2009»
10 years 11 days ago
PDAC-based underactuated 3D bipedal walking - Stabilization of PDAC constants and walking direction control -
This paper proposes a three-dimensional biped dynamic walking algorithm based on Passive Dynamic Autonomous Control (PDAC) which is previously proposed. The robot dynamics is model...
Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasega...
ICRA
2009
IEEE
150views Robotics» more  ICRA 2009»
10 years 11 days ago
Piezoelectric ultrasonic resonant micromotor with a volume of less than 1 mm3 for use in medical microbots
To improve on current methods of minimally invasive surgery, research is being carried out on systems that will permit procedures to be conducted on the micro-scale using remotely ...
Brett Watson, James Friend, Leslie Yeo, Metin Sitt...
ICRA
2009
IEEE
148views Robotics» more  ICRA 2009»
10 years 11 days ago
Dynamic path planning with multi-agent data fusion - The Parallel Hierarchical Replanner
The design of a hierarchical planning system in which each level operates in parallel and communicates asynchronously is presented. It is shown that this Parallel Hierarchical Repl...
Thomas Allen, Andrew Hill, James Patrick Underwood...
ICRA
2009
IEEE
131views Robotics» more  ICRA 2009»
10 years 11 days ago
Efficient C-space and cost function updates in 3D for unmanned aerial vehicles
When operating in partially-known environments, autonomous vehicles must constantly update their maps and plans based on new sensor information. Much focus has been placed on devel...
Sebastian Scherer, Dave Ferguson, Sanjiv Singh
ICRA
2009
IEEE
131views Robotics» more  ICRA 2009»
10 years 11 days ago
Fast needle insertion to minimize tissue deformation and damage
Abstract-- During needle-based procedures, transitions between tissue layers often involve puncture events that produce substantial deformation and tend to drive the needle off cou...
Mohsen Mahvash, Pierre E. Dupont
ICRA
2009
IEEE
208views Robotics» more  ICRA 2009»
10 years 11 days ago
Affordance based word-to-meaning association
Abstract-- This paper presents a method to associate meanings to words in manipulation tasks. We base our model on an affordance network, i.e., a mapping between robot actions, rob...
Verica Krunic, Giampiero Salvi, Alexandre Bernardi...
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