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2007
121views Robotics» more  RSS 2007»
9 years 5 months ago
Passivity-Based Switching Control for Stabilization of Wheeled Mobile Robots
— 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...
Dongjun Lee
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2007
147views Robotics» more  RSS 2007»
9 years 5 months ago
Composition of Vector Fields for Multi-Robot Manipulation via Caging
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...
Jonathan Fink, Nathan Michael, Vijay Kumar
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2007
134views Robotics» more  RSS 2007»
9 years 5 months ago
A Fast and Practical Algorithm for Generalized Penetration Depth Computation
— 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...
Liangjun Zhang, Young J. Kim, Dinesh Manocha
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2007
136views Robotics» more  RSS 2007»
9 years 5 months ago
The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty
— 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 ...
Ron Alterovitz, Thierry Siméon, Kenneth Y. ...
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2007
151views Robotics» more  RSS 2007»
9 years 5 months ago
Predicting Partial Paths from Planning Problem Parameters
— 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...
Sarah Finney, Leslie Pack Kaelbling, Tomás ...
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2007
105views Robotics» more  RSS 2007»
9 years 5 months ago
Motion Strategies for Surveillance
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...
Sourabh Bhattacharya, Salvatore Candido, Seth Hutc...
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2007
107views Robotics» more  RSS 2007»
9 years 5 months ago
Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing
— 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...
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzi...
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2007
151views Robotics» more  RSS 2007»
9 years 5 months ago
An Implicit Time-Stepping Method for Multibody Systems with Intermittent Contact
— 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...
Nilanjan Chakraborty, Stephen Berard, Srinivas Ake...
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2007
126views Robotics» more  RSS 2007»
9 years 5 months ago
Automatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains
— 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...
Katsu Yamane, Yoshihiko Nakamura
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