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ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
Abstract A master-slave type remote ultrasound diagnostic system was developed. This paper presents its controller. The controller has impedance control capability for the master a...
ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
This paper introduces a generalized framework, termed “stochastic cloning,” for processing relative state measurements within a Kalman filter estimator. The main motivation a...
ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
Numerous upcoming NASA misions need to land safely and precisely on planetary bodies. Accurate and robust state estimation during the descent phase is necessary. Towards this end,...
ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
Force information from needle insertions was measured and modeled for use in robot-assisted percutaneous therapies. Data was collected on bovine livers using the Johns Hopkins Uni...
ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
The problem of fault tolerance in cooperative manipulators rigidly connected to a solid object is addressed in this paper. Four faults are considered: free-swinging joint faults, ...