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IROS
2007
IEEE
114views Robotics» more  IROS 2007»
10 years 4 months ago
Synergistic 3D limit cycle walking of an anthropomorphic biped robot
— Human walking emerges from synergy of whole body dynamics: not only legs, but also a torso, arms, and a head are compliantly connected with each other by antagonistic muscles. ...
Koh Hosoda, Kenichi Narioka
IROS
2007
IEEE
212views Robotics» more  IROS 2007»
10 years 4 months ago
GPU-accelerated real-time 3D tracking for humanoid locomotion and stair climbing
— For humanoid robots to fully realize their biped potential in a three-dimensional world and step over, around or onto obstacles such as stairs, appropriate and efficient appro...
Philipp Michel, Joel E. Chestnutt, Satoshi Kagami,...
IROS
2007
IEEE
98views Robotics» more  IROS 2007»
10 years 4 months ago
Discrete trajectory control algorithms for NIMS3D, an autonomous underconstrained three-dimensional cabled robot
— In this paper we present algorithms that enable precise trajectory control of NIMS3D, an underconstrained, three-dimensional cabled robot intended for use in actuated sensing. ...
Per Henrik Borgstrom, Nils Peter Borgstrom, Michae...
IROS
2007
IEEE
152views Robotics» more  IROS 2007»
10 years 4 months ago
Integral control of humanoid balance
— This paper presents a balance controller that allows a humanoid to recover from large disturbances and still maintain an upright posture. Balance is achieved by integral contro...
Benjamin Stephens
IROS
2007
IEEE
411views Robotics» more  IROS 2007»
10 years 4 months ago
Experimental kinematics for wheeled skid-steer mobile robots
— This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the compl...
Anthony Mandow, Jorge L. Martínez, Jes&uacu...
IROS
2007
IEEE
136views Robotics» more  IROS 2007»
10 years 4 months ago
Task-induced symmetry and reduction in kinematic systems with application to needle steering
— Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mecha...
Vinutha Kallem, Dong Eui Chang, Noah J. Cowan
IROS
2007
IEEE
132views Robotics» more  IROS 2007»
10 years 4 months ago
In-vivo pan/tilt endoscope with integrated light source
— Endoscopic imaging is still dominated by the paradigm of pushing long sticks into small openings. This approach has a number of limitations for minimal access surgery, such as ...
Tie Hu, Peter K. Allen, Dennis L. Fowler
IROS
2007
IEEE
158views Robotics» more  IROS 2007»
10 years 4 months ago
Feature selection in conditional random fields for activity recognition
Abstract— Temporal classification, such as activity recognition, is a key component for creating intelligent robot systems. In the case of robots, classification algorithms mus...
Douglas L. Vail, John D. Lafferty, Manuela M. Velo...
IROS
2007
IEEE
309views Robotics» more  IROS 2007»
10 years 4 months ago
3D relative pose estimation from distance-only measurements
Abstract— In this paper, we develop an algorithm for determining the relative position and attitude of two robots moving in 3D, using only dead-reckoning and inter-robot distance...
Nikolas Trawny, Xun S. Zhou, Ke X. Zhou, Stergios ...
IROS
2007
IEEE
168views Robotics» more  IROS 2007»
10 years 4 months ago
Collision detection in legged locomotion using supervised learning
Abstract— We propose a fast approach for detecting collisionfree swing-foot trajectories for legged locomotion over extreme terrains. Instead of simulating the swing trajectories...
Finale Doshi, Emma Brunskill, Alexander C. Shkolni...
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