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ICRA
1998
IEEE
104views Robotics» more  ICRA 1998»
15 years 2 months ago
Optimal Design of a Five-Bar Finger with Redundant Actuation
In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is suggested Optimal sets of actuator locatiom and link lengths for the cases of minimum actuat...
Jai Hoon Lee, Byung-Ju Yi, Sang-Rok Oh, Il Hong Su...
ICRA
1998
IEEE
97views Robotics» more  ICRA 1998»
15 years 2 months ago
Haptic Manipulation of Virtual Mechanisms from Mechanical CAD Designs
A haptic display system is presented for manipulating virtual mechanisms derived from a mechanical CAD design. Links are designed and assembled into mechanisms using Utah's A...
Ali Nahvi, Donald D. Nelson, John M. Hollerbach, D...
ICRA
1998
IEEE
98views Robotics» more  ICRA 1998»
15 years 2 months ago
Generation of Energy Optimal Complete Gait Cycles for Biped Robots
In this paper we address the problem of energyoptimal gait generation for biped robots. Using a simpli ed robot dynamics that ignores the e ects of centripetal forces, we obtain u...
L. Roussel, Carlos Canudas de Wit, Ambarish Goswam...
ICRA
1998
IEEE
147views Robotics» more  ICRA 1998»
15 years 2 months ago
Biologically Inspired Robot Grasping Using Genetic Programming
This paper describes the innovative use of a genetic algorithm to solve the grasp synthesis problem for multifingered robot hands. The goal of our algorithm is to select a `best&#...
Jaime J. Fernandez, Ian D. Walker
ICRA
1998
IEEE
111views Robotics» more  ICRA 1998»
15 years 2 months ago
Weighting Observations: The Use of Kinematic Models in Object Tracking
We describe a model-based object tracking system that updates the configuration parameters of an object model based upon information gathered from a sequence of monocular images. ...
Kevin Nickels, Seth Hutchinson