IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
Abstract— A novel heart surface motion estimation framework for a robotic surgery on a stabilized beating heart is proposed. It includes an approach for the reconstruction and pr...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
— Sampling-based motion planners are often used to solve very high-dimensional planning problems. Many recent algorithms use projections of the state space to estimate properties...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
— We study a simple algorithm inspired by the Brazil nut effect for achieving segregation in a swarm of mobile robots. The algorithm lets each robot mimic a particle of a certain...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
Abstract— Particle Filters have been widely used as a powerful optimization tool for nonlinear, non-Gaussian dynamic models such as Simultaneous Localization and Mapping (SLAM) a...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
— Programming a humanoid robot to perform an action that takes the robot’s complex dynamics into account is a challenging problem. Traditional approaches typically require high...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
— In this paper, we investigate the problem of 3D object categorization of objects typically present in kitchen environments, from data acquired using a composite sensor. Our fra...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
Abstract— In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at th...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
— Highly underactuated and passively adaptive robotic hands have shown great promise for robust performance in unstructured settings. In order to fully realize this potential, ef...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
— In this paper we present a general framework for predicting the positioning uncertainty of underwater vehicles. We apply this framework to common examples from marine robotics:...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
— Despite the large body of work in both motion planning and multi-agent simulation, little work has focused on the problem of planning motion for groups of robots using external...