TROB
2010
13 years 6 months ago
2010
This paper deals with the image-based visual servoing (IBVS), subject to constraints. Robot workspace limitations, visibility constraints, and actuators limitations are addressed. ...
TROB
2010
13 years 6 months ago
2010
A new approach to a variable stiffness actuator with tunable resonant frequencies is presented in this paper. Variable stiffness actuators have become increasingly important for m...
TROB
2010
13 years 6 months ago
2010
TROB
2010
13 years 6 months ago
2010
The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. ...
TROB
2010
13 years 6 months ago
2010
The manipulation of fast moving, delicate tissues in beating heart procedures presents a considerable challenge to the surgeon. A robotic force tracking system can assist the surge...
TROB
2010
13 years 6 months ago
2010
The robot hand applying force on a deformable object will result in a changing wrench space due to the varying shape and normal of the contact area. Design and analysis of a manipu...
TROB
2010
13 years 6 months ago
2010
Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can provide dexterity at diameters equivalent to standard surgical needles. Recent mechanicsba...
TROB
2010
13 years 6 months ago
2010
Abstract--Acquisition of new sensorimotor knowledge by imitation is a promising paradigm for robot learning. To be effective, action learning should not be limited to direct replic...
TROB
2010
13 years 6 months ago
2010
This paper presents a visual-servoing method that is based on 2-D ultrasound (US) images. The main goal is to guide a robot actuating a 2-D US probe in order to reach a desired cro...
TROB
2010
13 years 6 months ago
2010
Abstract--This paper proposes a unified optimization framework to solve the time parameterization problem of humanoid robot paths. Even though the time parameterization problem is ...