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ICRA
1998
IEEE
97views Robotics» more  ICRA 1998»
14 years 3 months ago
Design of a Partitioned Visual Feedback Controller
Image-based servozng systems are often used to track moving targets and their underlying control architecture is a regulation of the image. This regulation is a function of rigid ...
Paul Y. Oh, Peter K. Allen
ICRA
1998
IEEE
77views Robotics» more  ICRA 1998»
14 years 3 months ago
The Roles of Shape and Motion in Dynamic Manipulation: the Butterfly Example
We are studying a juggler's skill called the "butterfly." Startingwith a ball resting on the palm of his/her open hand, a skilled juggler can accelerate and shape h...
Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazu...
ICRA
1998
IEEE
157views Robotics» more  ICRA 1998»
14 years 3 months ago
Motion Planning for a 3-DOF Robot with a Passive Joint
This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane witha passive revolute third joint. Such a robot is small-...
Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazu...
ICRA
1998
IEEE
110views Robotics» more  ICRA 1998»
14 years 3 months ago
Generating Robust Trajectories in the Presence of Ordinary and Linear-Self-Motion Singularities
An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities. The resulting trajectories are close to mi...
John E. Lloyd, Vincent Hayward
ICRA
1998
IEEE
142views Robotics» more  ICRA 1998»
14 years 3 months ago
Lagrangian Relaxation Neural Networks for Job Shop Scheduling
Abstract--Manufacturing scheduling is an important but difficult task. In order to effectively solve such combinatorial optimization problems, this paper presents a novel Lagrangia...
Peter B. Luh, Xing Zhao, Yajun Wang
ICRA
1998
IEEE
81views Robotics» more  ICRA 1998»
14 years 3 months ago
Removing the Singularities of Serial Manipulators by Transforming the Workspace
A new method of handling the kinematic singularities of serial robotic manipulators is proposed. The idea is to transform the manipulator's workspace W into a desingularized ...
John E. Lloyd
ICRA
1998
IEEE
79views Robotics» more  ICRA 1998»
14 years 3 months ago
Stable Inversion Control for Flexible Link Manipulators
Alessandro De Luca, Stefano Panzieri, Giovanni Uli...
ICRA
1998
IEEE
79views Robotics» more  ICRA 1998»
14 years 3 months ago
Stabilization of the Acrobot via iterative State Steering
Alessandro De Luca, Giuseppe Oriolo
ICRA
1998
IEEE
142views Robotics» more  ICRA 1998»
14 years 3 months ago
DLR's Multisensory Articulated Hand - Part II: The Parallel Torque/Position Control System
This paper gives a brief description of feedback control systems engaged in DLR's recently developed multisensory 4finger robot hand. The work is concentrated on constructing...
Hong Liu, Peter Meusel, Jörg Butterfaß,...