RSS
2007
13 years 6 months ago
2007
— We propose a novel switching control law for the posture stabilization of a wheeled mobile robot, that utilizes the (energetic) passivity of the system’s open-loop dynamics w...
RSS
2007
13 years 6 months ago
2007
Abstract— This paper describes a novel approach for multirobot caging and manipulation, which relies on the team of robots forming patterns that trap the object to be manipulated...
RSS
2007
13 years 6 months ago
2007
— We present an efficient algorithm to compute the generalized penetration depth (PDg) between rigid models. Given two overlapping objects, our algorithm attempts to compute the...
RSS
2007
13 years 6 months ago
2007
— We present a new motion planning framework that explicitly considers uncertainty in robot motion to maximize the probability of avoiding collisions and successfully reaching a ...
RSS
2007
13 years 6 months ago
2007
— Many robot motion planning problems can be described as a combination of motion through relatively sparsely filled regions of configuration space and motion through tighter p...
RSS
2007
13 years 6 months ago
2007
Abstract— We address the problem of surveillance in an environment with obstacles. We show that the problem of tracking an evader with one pursuer around one corner is completely...
RSS
2007
13 years 6 months ago
2007
— The light-weight robots developed at the German Aerospace Center (DLR) are characterized by their low inertial properties, torque sensing in each joint and a load to weight rat...
RSS
2007
13 years 6 months ago
2007
RSS
2007
13 years 6 months ago
2007
— In this paper we present an implicit time-stepping scheme for multibody systems with intermittent contact by incorporating the contact constraints as a set of complementarity a...
RSS
2007
13 years 6 months ago
2007
— Recent progress in the algorithm as well as the processor power have made the dynamics simulation of complex kinematic chains more realistic in various fields such as human mo...