ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
Abstract— The Deformatron robot is a homogeneous, modular robot. The Deformatron modules can play one of three roles in the physical structure of the robot: bone, tendon, and mus...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— In this paper, we propose a power assist system that amplifies sinusoidal human’s torque and attains minimization of control input requirement using an impedance control and...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— As an extension of our previous work on estimating fingertip forces by imaging the fingernail [13], the dynamic features of the coloration response of different parts of the ...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
Abstract—Gravity balancing of industrial robots is an important issue because these robots may have massive links in order to manipulate large payloads. In this paper, we present...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— We propose a method of maintaining balance for a human-like character against large perturbations. The method enables a human-like model to maintain its balance with active who...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— Robotics applications based on computer vision algorithms are highly constrained to indoor environments where conditions may be controlled. The development of robust visual alg...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— The successful acquisition and organization of a large number of skills for humanoid robots can be facilitated with a collection of performable tasks organized in a task matrix...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— In this paper we generate gaits for dynamics systems that are subject to non-holonomic velocity constraints. These systems are referred to as mixed non-holonomic systems. The m...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— This paper presents a new Path Planning method which operates in two steps. In the first step the safest areas in the environment are extracted by means of a Voronoi diagram. ...