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IROS
2007
IEEE
15 years 4 months ago
2007
IEEE
— The principle of Series Elastic Actuation offers considerable advantages for haptic displays compared to stiff actuators. The interaction force between motor and load is direct...
IROS
2007
IEEE
15 years 4 months ago
2007
IEEE
— In this paper we present a method for determining body orientation and pose information from laser scanner data using particle filtering with an adaptive modeling algorithm. A...
IROS
2007
IEEE
15 years 4 months ago
2007
IEEE
— A generalized kinematic modeling framework, called Mechanism_Model, has been developed for use in the CLARAty robotic reusable software. Mechanism_Model supports a wide range o...
IROS
2007
IEEE
15 years 4 months ago
2007
IEEE
— In this article, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. In this work, optim...
IROS
2007
IEEE
15 years 4 months ago
2007
IEEE
— This paper presents a hybrid localization scheme for a mobile robot using the hierarchical atlas. The hierarchical atlas is a map that consists of a higher level topological gr...