ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
Abstract— Insertion velocity, tip asymmetry, and shaft diameter may influence steerable needle insertion paths in soft tissue. In this paper we examine the effects of these vari...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
— Partially Observable Markov Decision Processes (POMDPs) offer a powerful mathematical framework for making optimal action choices in noisy and/or uncertain environments, in par...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
—Cochlear electrode insertion is a challenging manual procedure. One technique requires the physician to coordinate the motions of an electrode array approximately 1mm in diamete...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
— One long-standing challenge in robotics is the realization of mobile autonomous robots able to operate safely in existing human workplaces in a way that their presence is accep...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
— This paper addresses robust estimation of the uncalibrated visual-motor Jacobian for an image-based visual servoing (IBVS) system. The proposed method does not require knowledg...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
— Passive stereo vision is widely used as a range sensing technology in robots, but suffers from dropouts: areas of low texture where stereo matching fails. By supplementing a st...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
— Up to now, mostly blunt human-robot impacts were investigated in the robotics literature. In this context, the influence of robot mass and velocity during rigid impacts with a...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
— We propose two contrasting approaches to the scalable distributed control of a swarm of self-assembling miniaturized robots, specifically the formation of chains of a desired ...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
— We present an active learning algorithm for the problem of body schema learning, i.e. estimating a kinematic model of a serial robot. The learning process is done online using ...