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ICRA
2007
IEEE
178views Robotics» more  ICRA 2007»
15 years 4 months ago
Probabilistic Estimation of Whole Body Contacts for Multi-Contact Robot Control
Abstract— Today most robots interact with the surroundings only with their end-effectors. However there are many benefits to utilizing contact along the entire length of robot b...
Anna Petrovskaya, Jaeheung Park, Oussama Khatib
82
Voted
ICRA
2007
IEEE
132views Robotics» more  ICRA 2007»
15 years 4 months ago
Smooth Feedback for Car-Like Vehicles in Polygonal Environments
— We introduce a method for constructing provably safe smooth feedback laws for car-like robots in obstaclecluttered polygonal environments. The robot is taken to be a point with...
Stephen R. Lindemann, Steven M. LaValle
ICRA
2007
IEEE
174views Robotics» more  ICRA 2007»
15 years 4 months ago
Full Motion Tracking in Ultrasound Using Image Speckle Information and Visual Servoing
— This paper presents a new visual servoing method that is able to stabilize a moving area of soft tissue within an ultrasound B-mode imaging plane. The approach consists of movi...
Alexandre Krupa, Gabor Fichtinger, Gregory D. Hage...
ICRA
2007
IEEE
115views Robotics» more  ICRA 2007»
15 years 4 months ago
Identifying the Failure-Tolerant Workspace Boundaries of a Kinematically Redundant Manipulator
— In addition to possessing a number of other important properties, kinematically redundant manipulators are inherently more tolerant to locked-joint failures than nonredundant m...
Rodney G. Roberts, Rodrigo S. Jamisola, Anthony A....
78
Voted
ICRA
2007
IEEE
125views Robotics» more  ICRA 2007»
15 years 4 months ago
Single-Query Motion Planning with Utility-Guided Random Trees
— Randomly expanding trees are very effective in exploring high-dimensional spaces. Consequently, they are a powerful algorithmic approach to sampling-based single-query motion p...
Brendan Burns, Oliver Brock