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ICRA
2003
IEEE
144views Robotics» more  ICRA 2003»
14 years 4 months ago
A vision-based haptic exploration
Real-world objects exhibit rich physical interaction behaviours on contact. Such behaviours depend on how heavy and hard it is when held, how its surface feels when touched, how i...
Hiromi T. Tanaka, Kiyotaka Kushihama, Naoki Ueda, ...
ICRA
2003
IEEE
128views Robotics» more  ICRA 2003»
14 years 4 months ago
A system for volumetric robotic mapping of abandoned mines
— This paper describes two robotic systems developed for acquiring accurate volumetric maps of underground mines. One system is based on a cart instrumented by laser range finde...
Sebastian Thrun, Dirk Hähnel, David I. Fergus...
ICRA
2003
IEEE
139views Robotics» more  ICRA 2003»
14 years 4 months ago
Mobile robot localization with an incomplete map in non-stationary environments
— One of the fundamental problems of the mobile robots is self-localization, i.e. to estimate the self-position by comparing sensor data and a map. In non-stationary environments...
Kanji Tanaka, Tsutomu Hasegawa, Hongbin Zha, Eiji ...
ICRA
2003
IEEE
144views Robotics» more  ICRA 2003»
14 years 4 months ago
Error-tolerant execution of complex robot tasks based on skill primitives
— This paper presents a general approach to specify and execute complex robot tasks considering uncertain environments. Robot tasks are defined by a precise definition of socal...
Ulrike Thomas, Bernd Finkemeyer, Torsten Krög...
ICRA
2003
IEEE
94views Robotics» more  ICRA 2003»
14 years 4 months ago
A scalable approach to human-robot interaction
Much of the current research in human-robot interaction is concerned with single systems and single or few users. These systems and their interfaces are generally tightly-coupled ...
Ashley Tews, Maja J. Mataric, Gaurav S. Sukhatme
ICRA
2003
IEEE
272views Robotics» more  ICRA 2003»
14 years 4 months ago
Calculating possible local displacement of curve objects using improved screw theory
— Various methods to recognize assembly tasks using possible local displacement of objects have been proposed. To calculate this displacement, the screw theory is employed. It is...
Jun Takamatsu, Koichi Ogawara, Hiroshi Kimura, Kat...
ICRA
2003
IEEE
130views Robotics» more  ICRA 2003»
14 years 4 months ago
Application of moment invariants to visual servoing
Abstract— In this paper, we present how moment invariants can be used to design a decoupled 2D visual servoing scheme and to minimize the nonlinearity of the interaction matrix r...
Omar Tahri, François Chaumette
ICRA
2003
IEEE
133views Robotics» more  ICRA 2003»
14 years 4 months ago
Design and simulation of robust composite controllers for flexible joint robots
In this paper the control of exible joint manipulators is studied in detail. A composite control algorithm is proposed for the exible joint robots, which consists of two main part...
H. D. Taghirad, M. A. Khosravi
ICRA
2003
IEEE
154views Robotics» more  ICRA 2003»
14 years 4 months ago
Scalability and schedulability in large, coordinated, distributed robot systems
— Multiple, independent robot platforms promise significant advantage with respect to robustness and flexibility. However, coordination between otherwise independent robots req...
John Sweeney, Huan Li, Roderic A. Grupen, Krithi R...
ICRA
2003
IEEE
108views Robotics» more  ICRA 2003»
14 years 4 months ago
Trail-Laying Robots for Robust Terrain Coverage
— Robotics researchers have studied robots that can follow the trails laid by other robots. We, on the other hand, study robots that leave trails in the terrain to cover closed t...
Jonas Svennebring, Sven Koenig