Sciweavers

IROS
2007
IEEE
120views Robotics» more  IROS 2007»
14 years 3 months ago
Differentiable and piecewise differentiable gaits for snake robots
—This paper describes a series of gaits which we developed for a free crawling snake robot. Snake robots, a class of hyper-redundant mechanisms, can use their many degrees of fre...
Kevin Lipkin, Isaac Brown, Aaron Peck, Howie Chose...
IROS
2007
IEEE
128views Robotics» more  IROS 2007»
14 years 3 months ago
Dynamometer power output measurements of piezoelectric actuators
— Piezoelectric bending actuators are an attractive option for driving microrobots due to their light weight, scalability, ease of integration and high bandwidth. However, the on...
Erik Steltz, Ronald S. Fearing
IROS
2007
IEEE
135views Robotics» more  IROS 2007»
14 years 3 months ago
Power-SLAM: A linear-complexity, consistent algorithm for SLAM
— In this paper, we present an Extended Kalman Filter (EKF)-based estimator for simultaneous localization and mapping (SLAM) with processing requirements that are linear in the n...
Esha D. Nerurkar, Stergios I. Roumeliotis
IROS
2007
IEEE
134views Robotics» more  IROS 2007»
14 years 3 months ago
Feature selection for grasp recognition from optical markers
Abstract— Although the human hand is a complex biomechanical system, only a small set of features may be necessary for observation learning of functional grasp classes. We explor...
Lillian Y. Chang, Nancy S. Pollard, Tom M. Mitchel...
IROS
2007
IEEE
125views Robotics» more  IROS 2007»
14 years 3 months ago
Hybrid localization using the hierarchical atlas
— This paper presents a hybrid localization scheme for a mobile robot using the hierarchical atlas. The hierarchical atlas is a map that consists of a higher level topological gr...
Stephen Tully, Hyungpil Moon, Deryck Morales, Geor...
IROS
2007
IEEE
152views Robotics» more  IROS 2007»
14 years 3 months ago
Characterizing optimally fault-tolerant manipulators based on relative manipulability indices
— In this article, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. In this work, optim...
Rodney G. Roberts, Hyun Geun Yu, Anthony A. Maciej...
IROS
2007
IEEE
149views Robotics» more  IROS 2007»
14 years 3 months ago
A decentralized planner that guarantees the safety of communicating vehicles with complex dynamics that replan online
— This paper considers the problem of coordinating multiple vehicles with kinodynamic constraints that operate in the same partially-known environment. The vehicles are able to c...
Kostas E. Bekris, Konstantinos I. Tsianos, Lydia E...
IROS
2007
IEEE
119views Robotics» more  IROS 2007»
14 years 3 months ago
Self-localization of a heterogeneous multi-robot team in constrained 3D space
Abstract— This paper presents a new approach to the intralocalization among a team of robots working in constrained 3D space of urban environments. As the base formation, a team ...
Yi Feng 0002, Zhigang Zhu, Jizhong Xiao
IROS
2007
IEEE
119views Robotics» more  IROS 2007»
14 years 3 months ago
Scale invariant feature matching with wide angle images
Peter Hansen, Peter Corke, Wageeh Boles, Kostas Da...
IROS
2007
IEEE
108views Robotics» more  IROS 2007»
14 years 3 months ago
Hiding the acoustic signature of a mobile robot
—A mobile robot can be a rather significant source of noise: noisy fans cool onboard computers, motors are spinning, rubber wheels are squeaking against the floor, and mechanical...
Eric Martinson