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ICRA
2005
IEEE
15 years 3 months ago
2005
IEEE
— In this paper a novel formalism to characterize contact states between an articulated polyhedral object and a polyhedral environment for the generation of the graph of feasible...
ICRA
2005
IEEE
15 years 3 months ago
2005
IEEE
— This paper presents an operational space control approach for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation...
ICRA
2005
IEEE
15 years 3 months ago
2005
IEEE
Abstract— High-dimensional problems arising from complex robotic systems test the limits of current motion planners and require the development of efficient distributed motion p...
ICRA
2005
IEEE
15 years 3 months ago
2005
IEEE
— In [5], a version of Relative Map Filter (RMF) is proposed to solve the simultaneous localization and map building (SLAM) problem. In the RMF, the map states contain only quant...
ICRA
2005
IEEE
15 years 3 months ago
2005
IEEE
Abstract— We describe circular/spherical robots for crawling and jumping. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg ...