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IJRR
2000
14 years 9 months ago
2000
The inverse kinematics problem is formulated as a parameterized autonomous dynamical system problem, and respective analysis is carried out. It is shown that a singular point of w...
IJRR
2002
14 years 9 months ago
2002
We present kinetic data structures for detecting collisions between a set of polygons that are moving continuously. Unlike classical collision detection methods that rely on bound...
IJRR
2002
14 years 9 months ago
2002
We describe simple one-dimensional models of passive (no energy input, no control), generally dissipative, vertical hopping and oneball juggling. The central observation is that i...
IJRR
2002
14 years 9 months ago
2002
The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. The successful execution of any contact task...
IJRR
2002
14 years 9 months ago
2002
This paper investigates safe and efficient map-building strategies for a mobile robot with imperfect control and sensing. In the implementation, a robot equipped with a range sens...