Sciweavers

TROB
2010
100views more  TROB 2010»
13 years 1 months ago
Predictive Control for Constrained Image-Based Visual Servoing
This paper deals with the image-based visual servoing (IBVS), subject to constraints. Robot workspace limitations, visibility constraints, and actuators limitations are addressed. ...
Guillaume Allibert, Estelle Courtial, Franç...
TROB
2010
115views more  TROB 2010»
13 years 1 months ago
A Variable Stiffness PZT Actuator Having Tunable Resonant Frequencies
A new approach to a variable stiffness actuator with tunable resonant frequencies is presented in this paper. Variable stiffness actuators have become increasingly important for m...
Thomas W. Secord, H. Harry Asada
TROB
2010
135views more  TROB 2010»
13 years 1 months ago
A Kalman-Filter-Based Method for Pose Estimation in Visual Servoing
Farrokh Janabi-Sharifi, Mohammed Marey
TROB
2010
142views more  TROB 2010»
13 years 1 months ago
Extension of the Form-Closure Property to Underactuated Hands
The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. ...
Sébastien Krut, Vincent Begoc, Etienne Domb...
TROB
2010
174views more  TROB 2010»
13 years 1 months ago
Force Tracking With Feed-Forward Motion Estimation for Beating Heart Surgery
The manipulation of fast moving, delicate tissues in beating heart procedures presents a considerable challenge to the surgeon. A robotic force tracking system can assist the surge...
Shelten G. Yuen, Douglas P. Perrin, Nikolay V. Vas...
TROB
2010
176views more  TROB 2010»
13 years 1 months ago
Modeling Deformations of General Parametric Shells Grasped by a Robot Hand
The robot hand applying force on a deformable object will result in a changing wrench space due to the varying shape and normal of the contact area. Design and analysis of a manipu...
Jiang Tian, Yan-Bin Jia
TROB
2010
103views more  TROB 2010»
13 years 1 months ago
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots
Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can provide dexterity at diameters equivalent to standard surgical needles. Recent mechanicsba...
D. Caleb Rucker, Bryan A. Jones, Robert J. Webster...
TROB
2010
159views more  TROB 2010»
13 years 1 months ago
Task-Specific Generalization of Discrete and Periodic Dynamic Movement Primitives
Abstract--Acquisition of new sensorimotor knowledge by imitation is a promising paradigm for robot learning. To be effective, action learning should not be limited to direct replic...
Ales Ude, Andrej Gams, Tamim Asfour, Jun Morimoto
TROB
2010
120views more  TROB 2010»
13 years 1 months ago
2-D Ultrasound Probe Complete Guidance by Visual Servoing Using Image Moments
This paper presents a visual-servoing method that is based on 2-D ultrasound (US) images. The main goal is to guide a robot actuating a 2-D US probe in order to reach a desired cro...
Rafik Mebarki, Alexandre Krupa, François Ch...
TROB
2010
103views more  TROB 2010»
13 years 1 months ago
Time Parameterization of Humanoid-Robot Paths
Abstract--This paper proposes a unified optimization framework to solve the time parameterization problem of humanoid robot paths. Even though the time parameterization problem is ...
Wael Suleiman, Fumio Kanehiro, Eiichi Yoshida, Jea...