— Passively adaptive and underactuated robotic hands have shown the potential to achieve reliable grasping in unstructured environments without expensive mechanisms or sensors. I...
— We study target reaching tasks of redundant anthropomorphic manipulators under the premise of minimal energy consumption and compliance during motion. We formulate this motor c...
Djordje Mitrovic, Sho Nagashima, Stefan Klanke, Ta...
— This paper formulates and investigates a novel problem called Mutual Localization with Anonymous Position Measures. This is an extension of Mutual Localization with Position Me...
Abstract— This paper describes a new algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representation...
Been Kim, Michael Kaess, Luke Fletcher, John J. Le...
— We present a new retraction algorithm for high DOF articulated models and use our algorithm to improve the performance of RRT planners in narrow passages. The retraction step i...
— A lot of plumbings such as gas pipes and water pipes exist in public utilities, factories, power plants and so on. It is difficult for humans to inspect them directly because t...
Abstract— Continuum robots made from telescoping precurved elastic tubes enable base-mounted actuators to specify the curved shapes of robots as thin as standard surgical needles...
D. Caleb Rucker, Bryan A. Jones, Robert J. Webster...
— Insects rely on sensory cues—tactile, hygrometric, thermal, olfactory—gathered with a pair of head-mounted antennae to perform a wide variety of sensory guided tasks. Many ...
—Autonomous man-portable robots have the potential to provide a wide range of new capabilities for both military and civilian applications. Previous research in autonomy for smal...