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ICRA 2002 International Conference on Robotics and Automation

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ICRA
2002
IEEE

223views Robotics» more ICRA 2002»

Dynamic Motion Planning Whole Arm Grasp Systems Based on Switching Contact Modes

14 years 4 months ago

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We present motion planning for dexterous manipulation by whole arm grasp system based on switching contact modes. Motion planning for such a system should consider changing dynami...

Masahito Yashima, Hideya Yamaguchi

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Id	Views	Title	Status

1	223	Dynamic Motion Planning Whole Arm Grasp Systems Based on Switching Contact Modes	claim
2	209	Probabilistic Shape and Appearance Model for Scene Segmentation	claim
3	194	Design and Experiment of a 3DOF Parallel Micro-Mechanism Utilizing Flexure Hinges	claim
4	188	Hybrid Mobile Robot Localization using Switching State-Space Models	claim
5	188	Control Architecture and Experiment of a Situated Robot System for Interactive Assembly	claim
6	187	Trajectory Planning using Reachable-State Density Functions	claim
7	185	Development and Evaluation of an Interactive Humanoid Robot "Robovie"	claim
8	185	Reliable Stair Climbing in the Simple Hexapod 'RHex'	claim
9	183	Mobile Robot Localization Based on Random Closed Set Model Maps	claim
10	181	The BlueDRAGON - A System for Measuring the Kinematics and the Dynamics of Minimally Invasive Surgical Tools In-Vivo	claim
11	179	Is 3D Useful in Stereo Visual Control?	claim
12	177	Fatigue Life and Frequency Response of Braided Pneumatic Actuators	claim
13	177	Design and Development of an Underactuated Prosthetic Hand	claim
14	177	Robust Vision-Based Localization for Mobile Robots using an Image Retrieval System Based on Invariant Features	claim
15	176	Coverage Control for Mobile Sensing Networks	claim
16	175	Flying Robots: Modeling, Control and Decision Making	claim
17	171	Robust Tracking and Structure from Motion with Sample Based Uncertainty Representation	claim
18	168	A Dynamical Systems Approach to Behavior-Based Formation Control	claim
19	167	Vision-Based Autonomous Landing of an Unmanned Aerial Vehicle	claim
20	167	Coordinated Teams of Reactive Mobile Platforms	claim
21	166	Real Time Visualization of Robot State with Mobile Virtual Reality	claim
22	166	A Decoupled Image Space Approach to Visual Servo Control of a Robotic Manipulator	claim
23	164	Conditional Particle Filters for Simultaneous Mobile Robot Localization and People-Tracking	claim
24	161	A Method for Co-Evolving Morphology and Walking Pattern of Biped Humanoid Robot	claim
25	161	Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles	claim
26	160	Coordinated Target Assignment and Intercept for Unmanned Air Vehicles	claim
27	160	Real Time Simulation of Multizone Elastokinematic Models	claim
28	158	Towards In-Situ Calibration of Gyro and Doppler Navigation Sensors for Precision Underwater Vehicle Navigation	claim
29	154	The Accuracy on the Parameter Estimation of an Odometry System of a Mobile Robot	claim
30	152	Needle Insertion Modelling and Simulation	claim
31	152	Mobile Robot Self-Localization in Large-Scale Environments	claim
32	151	Protocols for Collaboration, Coordination and Dynamic Role Assignment in a Robot Team	claim
33	150	Color Landmark Based Self-Localization for Indoor Mobile Robots	claim
34	150	Detecting Surface Features During Locomotion using Optic Flow	claim
35	148	Real-Time ZMP Compensation Method using Null Motion for Mobile Manipulators	claim
36	148	A Neural Approach to Adaptive Behavior and Multi-Sensor Action Selection in a Mobile Device	claim
37	148	Perception Errors in Vision Guided Walking: Analysis, Modeling, and Filtering	claim
38	148	Experiments with Nonholonomic Manipulation	claim
39	147	Exploiting Physical Dynamics for Concurrent Control of a Mobile Robot	claim
40	147	Auxiliary Particle Filter Robot Localization from High-Dimensional Sensor Observations	claim
41	147	Design of Asymptotically Stable Walking for a 5-Link Planar Biped Walker via Optimization	claim
42	146	Topological Mobile Robot Localization using Fast Vision Techniques	claim
43	146	Real-Time Combinatorial Tracking of a Target Moving Unpredictably among Obstacles	claim
44	146	Algorithms and Sensors for Small Robot Path Following	claim
45	146	Intercepting a Falling Object: Digital Video Robot	claim
46	144	Sensing Nanonewton Level Forces by Visually Tracking Structural Deformations	claim
47	144	Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects	claim
48	142	Hybrid Simultaneous Localization and Map Building: Closing the Loop with Multi-Hypotheses Tracking	claim
49	141	Pseudoinverse Trajectory Control of Redundant Manipulators: A Fractional Calculus Perspective	claim
50	141	Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots	claim
51	141	Using a PRM Planner to Compare Centralized and Decoupled Planning for Multi-Robot Systems	claim
52	141	Realtime Humanoid Motion Generation through ZMP Manipulation Based on Inverted Pendulum Control	claim
53	141	A Complete, Local and Parallel Reconfiguration Algorithm for Cube Style Modular Robots	claim
54	140	Using Multiple Disparity Hypotheses for Improved Indoor Stereo	claim
55	140	Improving the Dynamic Accuracy of Industrial Robots by Trajectory Pre-Compensation	claim
56	138	A Mobile Manipulator for Installation and Removal of Aircraft Warning Spheres on Aerial Power Transmission Lines	claim
57	137	An Analysis of Cooperative Repair Capabilities in a Team of Robots	claim
58	136	Augmenting Inertial Navigation with Image-Based Motion Estimation	claim
59	136	Motion Dynamics of a Rover with Slip-Based Traction Model	claim
60	135	Towards Multi-Vehicle Simultaneous Localisation and Mapping	claim
61	133	Stereo-Based Obstacle Avoidance in Indoor Environments with Active Sensor Re-Calibration	claim
62	133	The Necessity of Average Rewards in Cooperative Multirobot Learning	claim
63	132	The Role of Expressiveness and Attention in Human-Robot Interaction	claim
64	132	Fuzzy Logic Based Autonomous Skid Steering Vehicle Navigation	claim
65	132	Visually Built Task Models for Robot Teams in Unstructured Environments	claim
66	131	Acquisition and Embodiment of Motion Elements in Closed Mimesis Loop	claim
67	130	Combining Laser Range, Color, and Texture Cues for Autonomous Road Following	claim
68	129	Adapting Human Motion for the Control of a Humanoid Robot	claim
69	128	Generation of a Task Model by Integrating Multiple Observations of Human Demonstrations	claim
70	128	Spatial Interception for Mobile Robots	claim
71	128	Reactive Motion Control for Human-Robot Tactile Interaction	claim
72	127	Performance Tests of Partitioned Approaches to Visual Servo Control	claim
73	127	Design and Control of a Three-Link Serial Manipulator for Lessons in Particle Dynamics	claim
74	127	Multiple View Motion Estimation and Control for Landing an Unmanned Aerial Vehicle	claim
75	127	Discontinuous Backstepping for Stabilization of Nonholonomic Mobile Robots	claim
76	127	Human Error Recovery for a Human/Robot Parts Conveyance System	claim
77	126	Achieving High Precision Laparoscopic Manipulation through Adaptive Force Control	claim
78	126	Uniform Monte Carlo Localization - Fast and Robust Self-Localization Method for Mobile Robots	claim
79	125	Development of a Peristaltic Endoscope	claim
80	125	Natural Landmark Based Localisation System using Panoramic Images	claim
81	124	Open Architecture Humanoid Robotics Platform	claim
82	124	A Delay Prediction Approach for Teleoperation over the Internet	claim
83	123	Computing Wrench Cones for Planar Contact Tasks	claim
84	123	Sensor Fusion of Structure-from-Motion, Bathymetric 3D, and Beacon-Based Navigation Modalities	claim
85	121	A Tale of Two Filters - On-Line Novelty Detection	claim
86	121	Design of Advanced Leg Module for Humanoid Robotics Project of METI	claim
87	121	Building Multi-Level Models: From Landscapes to Landmarks	claim
88	121	Modular Modeling and Analysis of a Distributed Production System with Distant Specialised Maintenance	claim
89	121	Psychophysiological Control Architecture for Human-Robot Coordination - Concepts and Initial Experiments	claim
90	121	An Efficient Approach to the Simultaneous Localisation and Mapping Problem	claim
91	120	Workspace Optimization of 3-UPU Parallel Platforms with Joint Constraints	claim
92	120	A Hierarchical Motion Planning Strategy for a Uniform Self-Reconfigurable Modular Robotic System	claim
93	120	Dynamic Dexterity for the Performance of "Wall-Bouncing" Tasks	claim
94	120	Position Based Visual Servoing: Keeping the Object in the Field of Vision	claim
95	119	Localization of Miniature Mobile Robots using Constant Curvature Dynamic Contours	claim
96	118	An Automated Tether Management System for Microgravity Extravehicular Activities	claim
97	118	Multi-Robot Task Allocation in the Light of Uncertainty	claim
98	118	Fault Tolerance in Cooperative Manipulators	claim
99	117	Dynamic Role Assignment for Cooperative Robots	claim
100	117	Implementing Virtual Stairs on Treadmills using Torso Force Feedback	claim
101	117	Design of a 5-DOF Haptic Simulator for Urological Operations	claim
102	117	Multi-Robot Exploration Controlled by a Market Economy	claim
103	116	Linear 2D Localization and Mapping for Single and Multiple Robot Scenarios	claim
104	116	Staying Alive: A Docking Station for Autonomous Robot Recharging	claim
105	116	Dynamic Behavior of Pneumatic Systems for Lower Extremity Extenders	claim
106	115	Parametric Primitives for Motor Representation and Control	claim
107	115	A Versatile Depalletizer of Boxes Based on Range Imagery	claim
108	115	DEEP: Dual-Space Expansion for Estimating Penetration Depth Between Convex Polytopes	claim
109	115	An Experiment in Internet-Based, Human-Assisted Robotics	claim
110	115	Coordination of Multiple Mobile Robots in an Object Carrying Task using Implicit Communication	claim
111	114	Learning Motion Patterns of Persons for Mobile Service Robots	claim
112	114	On Mechanical Control Systems with Nonholonomic Constraints and Symmetries	claim
113	113	Specifying Behavior in C++	claim
114	113	Huey, Dewey, Louie, and GUI - Commanding Robot Formations	claim
115	113	A Real-Time Visual Processing System using a General-Purpose Vision Chip	claim
116	113	Inverse Kinematics of Gel Robots made of Electro-Active Polymer Gel	claim
117	113	Velocity-Dependent Dynamic Manipulability	claim
118	113	Modeling of Needle Insertion Forces for Robot-Assisted Percutaneous Therapy	claim
119	112	Control of a Quadrotor Helicopter using Visual Feedback	claim
120	112	Closed-Form Kinematic and Dynamic Models of an Industrial-Like RRR Robot	claim
121	112	Systems Integration for Real-World Manipulation Tasks	claim
122	111	Feature-Based Multi-Hypothesis Localization and Tracking for Mobile Robots using Geometric Constraints	claim
123	111	Running Pattern Generation for a Humanoid Robot	claim
124	111	Mission Planning for the Sun-Synchronous Navigation Field Experiment	claim
125	110	Mobile Robot Localization using an Incremental Eigenspace Model	claim
126	110	Dynamic Shape Reconstruction using Tactile Sensors	claim
127	110	Using Spatial Language in a Human-Robot Dialog	claim
128	110	Efficient Parallel Dynamics Computation of Human Figures	claim
129	109	Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human "Tele-Actor"	claim
130	109	Digital Tactile Sensing Elements Communicating through Conductive Skin Layers	claim
131	109	On-Line Terrain Parameter Estimation for Planetary Rovers	claim
132	109	A Realtime Pattern Generator for Biped Walking	claim
133	109	Explore and Return: Experimental Validation of Real-Time Concurrent Mapping and Localization	claim
134	109	A Feedback Strategy for Dextrous Manipulation	claim
135	108	Real-Time Obstacle Avoidance for Polygonal Robots with a Reduced Dynamic Window	claim
136	108	Controlling Hopping Height of a Pneumatic Monopod	claim
137	108	Vision-Based Motion Control of Pneumatic Group Actuators	claim
138	108	An Execution Control System for Autonomous Robots	claim
139	108	Automatic Synthesis of Controllers for Distributed Assembly and Formation Forming	claim
140	108	Towards Sensor Based Coverage with Robot Teams	claim
141	107	Dynamic Scaling of Trajectories for Robots with Elastic Joints	claim
142	107	Deformation Control of Rheological Food Dough using a Forming Process Model	claim
143	106	Visual Servoing of an Omni-Directional Mobile Robot for Alignment with Parking Lot Lines	claim
144	106	Generic Decentralized Control for a Class of Self-Reconfigurable Robots	claim
145	106	Augmented State Kalman Filtering for AUV Navigation	claim
146	106	Trajectory Reconstruction for Self-Localization and Map Building	claim
147	106	Stochastic Mapping Frameworks	claim
148	106	An Improved Random Neighborhood Graph Approach	claim
149	105	Robot Perception of Environment Impedance	claim
150	105	Learning Behavioral Parameterization using Spatio-Temporal Case-Based Reasoning	claim
151	105	Integrated Planning and Control of Mobile Robot with Self-Organizing Neural Network	claim
152	105	Two-Time Scale Shape Control of Flexible Payloads Grasped by Actuated Grippers	claim
153	105	A Robotic Library System for an Off-Site Shelving Facility	claim
154	104	Improbability Filtering for Rejecting False Positives	claim
155	104	A Visual Landmark Framework for Indoor Mobile Robot Navigation	claim
156	104	Robotic Acquisition of Deformable Models	claim
157	104	Characterization of a 2-D Laser Scanner for Mobile Robot Obstacle Negotiation	claim
158	103	Motion Planning for Heterogeneous Modular Mobile Systems	claim
159	103	Monopropellant Powered Actuators for use in Autonomous Human-Scaled Robotics	claim
160	103	Spreading and Isolating Multiple Stacked Cards using Absorptive Hole Array	claim
161	103	Improved Fast Replanning for Robot Navigation in Unknown Terrain	claim
162	103	Impedance Controller for a Remote Ultrasound Diagnostic System	claim
163	103	A Quantitative Stability Measure for Graspless Manipulation	claim
164	103	Toe Joints that Enhance Bipedal and Fullbody Motion of Humanoid Robots	claim
165	102	Maximally Informative Statistics for Localization and Mapping	claim
166	102	Images Interpolation for Image-Based Control under Large Displacement	claim
167	101	Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots	claim
168	101	Modeling of Complex Automation Systems using Colored State Charts	claim
169	101	Improving Computational and Memory Requirements of Simultaneous Localization and Map Building Algorithms	claim
170	101	Rover Autonomy for Long Range Navigation and Science Data Acquisition on Planetary Surfaces	claim
171	101	Continuous Path Controller of Slave Manipulator in Remote Ultrasound Diagnostic System	claim
172	101	Distributed Heterogeneous Outdoor Multi-Robot Localization	claim
173	100	A Study on the Sources of Perceptual Instability during Haptic Texture Rendering	claim
174	100	Multi-Channel Vibrotactile Display for Teleoperated Assembly	claim
175	100	Achieving Sharp Deliveries in Supply Chains through Variance Pool Allocation	claim
176	100	Preliminary Results in Range-Only Localization and Mapping	claim
177	100	Experiments in Visual Feedback Control of a Wheeled Mobile Robot	claim
178	100	Back Flips with a Hexapedal Robot	claim
179	100	Telecubes: Mechanical Design of a Module for Self-Reconfigurable Robotics	claim
180	99	A Skew-Axis Design for a 4-Joint Revolute Wrist	claim
181	99	A Tele-Operated Humanoid Robot Drives a Lift Truck	claim
182	99	Dynamic Decentralized Area Partitioning for Cooperating Cleaning Robots	claim
183	99	The Electronic Ball Boy: A Reactive Visually Guided Mobile Robot for the Tennis Court	claim
184	99	Method for Controlling Master-Slave Robots using Switching and Elastic Elements	claim
185	98	Extremal Trajectories for Bounded Velocity Mobile Robots	claim
186	98	An Efficient Coordination Architecture for Autonomous Robot Teams	claim
187	98	Sensor-Based Exploration for Convex Bodies: A New Roadmap for a Convex-Shaped Robot	claim
188	98	Computational Issues in the Planning and Kinematics of Binary Robots	claim
189	98	Inertia Equivalence Principle and Adaptive Control of Redundant Parallel Manipulators	claim
190	98	Global Exponential Stabilizability for Distributed Manipulation Systems	claim
191	97	Obstacle Detection in Smooth High Curvature Terrain	claim
192	97	Gripping Parts at Concave Vertices	claim
193	97	Enhancing a Human-Robot Interface using Sensory Egosphere	claim
194	97	Orienting Micro-Scale Parts with Squeeze and Roll Primitives	claim
195	97	Toward Practical Cooperative Stereo for Robotic Colonies	claim
196	97	Stochastic Cloning: A Generalized Framework for Processing Relative State Measurements	claim
197	96	A New Stress Sensor for Force/Torque Measurements	claim
198	96	Mobility Enhancements to the Scout Robot Platform	claim
199	96	A Suite of Tools for Debugging Distributed Autonomous Systems	claim
200	96	Halteres for the Micromechanical Flying Insect	claim
201	95	Extremal Distance Maintenance for Parametric Curves and Surfaces	claim
202	95	Tendon Arrangement and Muscle Force Requirements for Humanlike Force Capabilities in a Robotic Finger	claim
203	95	Design of a Piezoelectric Meso-Scale Mobile Robot: A Compliant Amplification Approach	claim
204	94	Weighted Range Sensor Matching Algorithms for Mobile Robot Displacement Estimation	claim
205	94	Sensor Planning and Control in a Dynamic Environment	claim
206	93	Admittance Enhancement in Force Feedback of Dynamic Systems	claim
207	93	Combining Haptic and Visual Servoing for Cardiothoracic Surgery	claim
208	93	Passive Coordination Control of Nonlinear Bilateral Teleoperated Manipulators	claim
209	93	Using Omnidirectional Vision within the Spatial Semantic Hierarchy	claim
210	92	Resolution Complete Rapidly-Exploring Random Trees	claim
211	92	Satisficing Anytime Action Search for Behavior-Based Voting	claim
212	91	Tactile Tracking of Arteries in Robotic Surgery	claim
213	91	Incremental Multiagent Robotic Mapping of Outdoor Terrains	claim
214	91	Static and Dynamic Friction Compensation in Trajectory Tracking Control of Robots	claim
215	90	Distributed Goal Recognition Algorithms for Modular Robots	claim
216	90	An Analytical Grasp Planning on Given Object with Multifingered Hand	claim
217	90	On Viewpoint Control	claim
218	89	Dynamically Tuned Design of the MFI Thorax	claim
219	89	Natural Landmark-Based Autonomous Navigation using Curvature Scale Space	claim
220	89	On the General Reconfiguration Problem for Expanding Cube Style Modular Robots	claim
221	88	A Distributed and Optimal Motion Planning Approach for Multiple Mobile Robots	claim
222	88	Curvature-Based Computation of Antipodal Grasps	claim
223	87	Exploiting Critical Points to Reduce Positioning Error for Sensor-Based Navigation	claim
224	87	Optimal Design of Shape Memory Alloy Wire Bundle Actuators	claim
225	87	Visual Guided Grasping of Aggregates using Self-Valuing Learning	claim
226	87	A Pragmatic 3D Visual Servoing System	claim
227	87	Robust Arm Configuration of Manipulator Mounted on Flexible Base	claim
228	86	Optimized Binary Modular Reconfigurable Robotic Devices	claim
229	86	Robust Active Stereo Calibration	claim
230	86	Strategy for Navigation Inside Pipelines with Differential-Drive Inpipe Robot	claim
231	86	Analysis and Design of an Omnidirectional Platform for Operation on Non-Ideal Floors	claim
232	86	On the Discrete Symmetric Localization Problem	claim
233	85	Locomotion and Navigation of a Planar Walker Based on Binary Actuation	claim
234	85	Self-Generation by a Mobile Robot of Topological Maps of Corridors	claim
235	85	Reactive Navigation for Non-Holonomic Robots using the Ego-Kinematic Space	claim
236	84	Queueing Network Modeling and Lead Time Compression of Electronic Procurement	claim
237	83	Development of a Biologically Inspired Hopping Robot - "Kenken"	claim
238	83	Dynamic Friction Closure	claim
239	83	Passive Tool Dynamics Rendering for Nonlinear Bilateral Teleoperated Manipulators	claim
240	83	Impulse Measure Based Performance Analysis of Sawing Task by Dual Arm	claim
241	83	Kinematic Constraints for Assisted Single-Arm Manipulation	claim
242	82	Trajectory Design for Formations of Robots by Kinetic Energy Shaping	claim
243	82	Twice: A Tilting Angle Amplification System for Parallel Robots	claim
244	80	A 2-D PVDF Force Sensing System for Micro-Manipulation and Micro-Assembly	claim
245	80	Resolution Improving Method for a 3D Environment Modeling using Omnidirectional Image Sensor	claim
246	80	Skill of Compliance with Controlled Charging/Discharging of Kinetic Energy	claim
247	80	Reconfigurable Micro-Assembly System for Photonics Applications	claim
248	80	Stable Teleoperation with Time Domain Passivity Control	claim
249	80	Parallel Processing of One-Sided Radon Transform for the Realtime Detection of Position and Orientation of Planar Motion Objects	claim
250	79	Realization of the Table Tennis Task Based on Virtual Targets	claim
251	78	A Sensorless Insertion Strategy for Rigid Planar Parts	claim
252	78	Pose Estimation for Generalized Imaging Device via Solving Non-Perspective N Point Problem	claim
253	78	Positioning Performance of L-Shaped Seal Mechanism with 3 Degrees of Freedom	claim
254	78	Mobility Analysis of Planar Mobile Robots	claim
255	78	The Effect of Feedback and Feedforward on Formation ISS	claim
256	76	Task-Consistent Obstacle Avoidance and Motion Behavior for Mobile Manipulation	claim
257	76	Weak Models and Cue Integration for Real-Time Tracking	claim
258	76	A Very High Level Interface to Teleoperate a Robot via Web Including Augmented Reality	claim
259	76	A Diffusion-Based Algorithm for Workspace Generation of Highly Articulated Manipulators	claim
260	75	First Experiment in Sun-Synchronous Exploration	claim
261	73	Internet Control of Personal Robot between KAIST and UC Davis	claim
262	73	Experiments using a Sensor Network Based Workcell for Industrial Robots	claim
263	73	Enhancing Parallel Robots Accuracy with Redundant Sensors	claim
264	72	Distributed and Dynamic Task Reallocation in Robot Organizations	claim
265	71	Safety-Optimizing Method of Human-Care Robot Design and Control	claim
266	71	Stability of Statically Balanced Stances for Legged Robots with Compliance	claim
267	70	The Operational Space Formulation Implementation to Aircraft Canopy Polishing using a Mobile Manipulator	claim
268	69	Pusher-Watcher: An Approach to Fault-Tolerant Tightly-Coupled Robot Coordination	claim
269	69	An Incremental Learning Approach to Motion Planning with Roadmap Management	claim
270	68	Self-Collision Detection and Prevention for Humanoid Robots	claim
271	67	Uncalibrated Eye-in-Hand Visual Servoing	claim
272	66	Contact Point Identification in Multi-Fingered Grasps Exploiting Kinematic Constraints	claim
273	66	Trajectory Stabilization for a Planar Carangiform Robot Fish	claim
274	65	Global Hough Localization for Mobile Robots in Polygonal Environments	claim
275	65	Object Recognition and Incremental Learning Algorithms for a Web-Based Telerobotic System	claim
276	62	Manipulation of Micro-Objects using Adhesion Forces and Dynamical Effects	claim

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