ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
— The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-dimension “task space” has proven to be an invaluable tool for designing feedback...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
— Prior research in biology and mechanics has shown the importance of hierarchy to the performance of dry adhesive systems on rough surfaces. The gecko utilizes several levels of...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
— In a wide range of applications the orientation of a rigid body does not need to be restricted to one given orientation, but can be given as a continuous set of frames. We addr...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
Abstract— Skid-steered mobile robots are widely used because of the simplicity of mechanism and high reliability. However, understanding of the kinematics and dynamics of such a ...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
— This paper addresses two key limitations of the unscented Kalman filter (UKF) when applied to the simultaneous localization and mapping (SLAM) problem: the cubic, in the numbe...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
— This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly conv...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
— We present an algorithm for learning 3D object models from partial object observations. The input to our algorithm is a sequence of 3D laser range scans. Models learned from th...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
Abstract—Flexible and reliable connection is critical for selfreconfiguration, self-assembly, or self-healing. However, most existing connection mechanisms suffer from a deficien...
ICRA
2009
IEEE
14 years 6 months ago
2009
IEEE
— Recently, the problem of autonomous navigation of automobiles has gained substantial interest in the robotics community. Especially during the two recent DARPA grand challenges...