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ISER
2004
Springer
173views Robotics» more  ISER 2004»
10 years 9 months ago
Synergies in Feature Localization by Air-Ground Robot Teams
Abstract. This paper describes the implementation of a decentralized architecture for autonomous teams of aerial and ground vehicles engaged in active perception. We provide a theo...
Ben Grocholsky, Selcuk Bayraktar, Vijay Kumar, Cam...
ISER
2004
Springer
148views Robotics» more  ISER 2004»
10 years 9 months ago
The Berkeley Lower Extremity Exoskeleton Project
In October 2003, the first functional load-bearing and energetically autonomous exoskeleton, called the Berkeley Lower Extremity Exoskeleton (BLEEX) was demonstrated, walking at th...
H. Kazerooni
ISER
2004
Springer
134views Robotics» more  ISER 2004»
10 years 9 months ago
Autonomous Landing of an Unmanned Helicopter based on Vision and Inertial Sensing
In this paper, we propose an autonomous precision landing method for an unmanned helicopter based on an on-board visual navigation system consisting of a single pan-tilting camera,...
Torsten Merz, Simone Duranti, Gianpaolo Conte
ISER
2004
Springer
300views Robotics» more  ISER 2004»
10 years 9 months ago
Large-Scale Robotic 3-D Mapping of Urban Structures
This article present results for building accurate 3-D maps of urban environments with a mobile Segway RMP. The goal of this project is to use robotic systems to rapidly acquire 3-...
Michael Montemerlo, Sebastian Thrun
ISER
2004
Springer
125views Robotics» more  ISER 2004»
10 years 9 months ago
An Experimental Study of the Limitations of Mobile Haptic Interfaces
This paper presents various procedures that can be used in order to numerically evaluate what the maximum Z−width that can be rendered by a mobile haptic interface will be given ...
Federico Barbagli, Alessandro Formaglio, M. Franzi...
ISER
2004
Springer
128views Robotics» more  ISER 2004»
10 years 9 months ago
Towards High-Fidelity On-Board Attitude Estimation for Legged Locomotion via a Hybrid Range and Inertial Approach
Legged robots display a characteristically periodic motion. Measuring and tracking this motion has traditionally been performed using general inertial measurement techniques. While...
Surya P. N. Singh, Kenneth J. Waldron
ISER
2004
Springer
143views Robotics» more  ISER 2004»
10 years 9 months ago
Imitation Learning Based on Visuo-Somatic Mapping
Abstract. Imitation learning is a powerful approach to humanoid behavior generation, however, the most existing methods assume the availability of the information on the internal s...
Minoru Asada, Masaki Ogino, Shigeo Matsuyama, Jun'...
ISER
2004
Springer
102views Robotics» more  ISER 2004»
10 years 9 months ago
Legged Odometry from Body Pose in a Hexapod Robot
We report on a continuous time odometry scheme for a walking hexapod robot built upon a previously developed leg-strain based body pose estimator. We implement this estimation proc...
Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditsch...
ISER
2004
Springer
182views Robotics» more  ISER 2004»
10 years 9 months ago
Nonholonomic Modeling of Needle Steering
As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic kinematics, contro...
Robert J. Webster III, Noah J. Cowan, Gregory S. C...
ISER
2004
Springer
117views Robotics» more  ISER 2004»
10 years 9 months ago
Synthesis and Analysis of Non-Reactive Controllers for Multi-Robot Sequential Task Domains
In this paper we present a macroscopic model for the analysis of homogeneous task-directed multi-robot systems (MRS). The model is used to compute the probability that a given MRS ...
Chris Jones, Maja J. Mataric
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