By Topic

Robotics and Automation, IEEE Transactions on

Issue 1 • Date Feb. 2004

Filter Results

Displaying Results 1 - 25 of 28
  • Table of contents

    Publication Year: 2004, Page(s): c1
    Request permission for commercial reuse | PDF file iconPDF (34 KB)
    Freely Available from IEEE
  • IEEE Transactions on Robotics and Automation publication information

    Publication Year: 2004, Page(s): c2
    Request permission for commercial reuse | PDF file iconPDF (36 KB)
    Freely Available from IEEE
  • Self-calibration of a rotating camera with a translational offset

    Publication Year: 2004, Page(s):1 - 14
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB) | HTML iconHTML

    Camera self calibration, based on a purely rotational movement of the camera, receives the most attention among different camera self-calibration methods due to its algorithmic simplicity. The existing purely rotational methods, however, assume camera rotates around its optical center, therefore yielding no translation offset. This assumption is not realistic, since in practice, the precise locati... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Uncalibrated Euclidean 3-D reconstruction using an active vision system

    Publication Year: 2004, Page(s):15 - 25
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1312 KB) | HTML iconHTML

    Uncalibrated reconstruction of a scene is desired in many practical applications of computer vision. However, using a single camera with unconstrained motion and unknown parameters, a true Euclidean three-dimensional (3-D) model of the scene cannot be reconstructed. In this paper, we present a method for true Euclidean 3-D reconstruction using an active vision system consisting of a pattern projec... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Measurement of finger posture and three-axis fingertip touch force using fingernail sensors

    Publication Year: 2004, Page(s):26 - 35
    Cited by:  Papers (34)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (880 KB) | HTML iconHTML

    When the human fingertip is pressed against a surface or bent, the hemodynamic state of the fingertip is altered due to mechanical interactions between the fingernail and bone. Normal force, shear force, and finger extension/flexion all result in different patterns of blood volume beneath the fingernail. This phenomenon has been exploited in order to detect finger forces and finger posture by crea... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Localization of a mobile robot using relative bearing measurements

    Publication Year: 2004, Page(s):36 - 44
    Cited by:  Papers (35)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB) | HTML iconHTML

    In this paper, the problem of recursive robot localization based on relative bearing measurements is considered, where unknown but bounded measurement uncertainties are assumed. A common approach is to approximate the resulting set of feasible states by simple-shaped bounding sets such as, e.g., axis-aligned boxes, and calculate the optimal parameters of this approximation based on the measurement... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios

    Publication Year: 2004, Page(s):45 - 59
    Cited by:  Papers (143)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1960 KB) | HTML iconHTML

    This paper addresses the reactive collision avoidance for vehicles that move in very dense, cluttered, and complex scenarios. First, we describe the design of a reactive navigation method that uses a "divide and conquer" strategy based on situations to simplify the difficulty of the navigation. Many techniques could be used to implement this design (since it is described at symbolic level), leadin... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A motion-planning approach to folding: from paper craft to protein folding

    Publication Year: 2004, Page(s):60 - 71
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB) | HTML iconHTML

    In this paper, we present a framework for studying folding problems from a motion-planning perspective. The version of the motion-planning problem we consider is that of determining a sequence of motions to transform some configuration of a foldable object (the start) into another configuration (the goal). Modeling foldable objects as tree-like multilink objects allows us to apply motion-planning ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Visual servoing invariant to changes in camera-intrinsic parameters

    Publication Year: 2004, Page(s):72 - 81
    Cited by:  Papers (62)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (640 KB) | HTML iconHTML

    This paper presents a new visual servoing scheme which is invariant to changes in camera-intrinsic parameters. Current visual servoing techniques are based on the learning of a reference image with the same camera used during the servoing. With the new method, it is possible to position a camera (with eventually varying intrinsic parameters), with respect to a nonplanar object, given a "reference ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Modeling and control of contact between constrained rigid bodies

    Publication Year: 2004, Page(s):82 - 92
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (264 KB) | HTML iconHTML

    This paper examines the phenomenon of frictionless contact between rigid bodies that are already subject to kinematic constraints from some other source. Such contacts occur frequently when robots interact with their environments, in which case, the additional constraints come from the robot mechanisms. A proper analysis of these contacts must consider both sets of constraints. This paper presents... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Attitude control for a micromechanical flying insect via sensor output feedback

    Publication Year: 2004, Page(s):93 - 106
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1864 KB) | HTML iconHTML

    In this paper, we study attitude stabilization strategies via output sensor feedback for micro aerial vehicles (MAVs), inch-size robots capable of autonomous flight. In order to compensate for the size and power limitations of MAVs, we introduce the ocelli and halteres, the body orientation and rotation sensing mechanisms used by flying insects. The analysis and simulations of these sensors show t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Data-mining approach to production control in the computer-integrated testing cell

    Publication Year: 2004, Page(s):107 - 116
    Cited by:  Papers (16)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB) | HTML iconHTML

    This paper presents a data-mining-based production control approach for the testing and rework cell in a dynamic computer-integrated manufacturing system. The proposed competitive decision selector (CDS) observes the status of the system and jobs at every decision point, and makes its decision on job preemption and dispatching rules in real time. The CDS equipped with two algorithms combines two d... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Structure synthesis of a class of 3-DOF rotational parallel manipulators

    Publication Year: 2004, Page(s):117 - 121
    Cited by:  Papers (41)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB) | HTML iconHTML

    The theory of reciprocal screws is used for the enumeration of the feasible limb structures of a class of 3-degree-of-freedom (DOF) rotational parallel manipulators. Geometric conditions for the moving platform to possess finite spherical motion are described. A table of feasible limbs that can be used for the construction of 3-DOF rotational parallel manipulators is developed. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A simple and analytical procedure for calibrating extrinsic camera parameters

    Publication Year: 2004, Page(s):121 - 124
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (144 KB) | HTML iconHTML

    This paper presents a simple and analytical procedure for calibrating extrinsic camera parameters. First, a calibration equation that separates rotational and translational parameters is given. The calibrating equation involves only rotational parameters and requires no absolute position information. A four-point calibration procedure is proposed that involves three points on a line and one point ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Profile sensing with an actuated whisker

    Publication Year: 2004, Page(s):124 - 127
    Cited by:  Papers (16)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB) | HTML iconHTML

    Obstacle avoidance and object identification are important tasks for robots in unstructured environments. This paper develops an actuated whisker that determines contacted object profiles using a hub load cell. The shape calculation algorithm numerically integrates the elastica equations from the measured hub angle, displacement, forces, and torque until the bending moment vanishes, indicating the... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Stratified motion planning on nonsmooth domains with robotic applications

    Publication Year: 2004, Page(s):128 - 132
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (248 KB) | HTML iconHTML

    This paper presents an extension of stratified motion planning results to the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of this work include motion planning for legged robots over known, nonsmooth terrain and manipulation of nonsmooth objects with multiple robotic manipulators. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Stiffness and contact mechanics for soft fingers in grasping and manipulation

    Publication Year: 2004, Page(s):132 - 135
    Cited by:  Papers (34)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (224 KB) | HTML iconHTML

    In this paper, nonlinear stiffness of contact for soft fingers, commonly used in robotic grasping and manipulation, under a normal load is studied. Building upon previous research results of soft-finger contact expressed in the power-law equation, the equation for the nonlinear stiffness of soft contact was derived. This new theory relates the approach displacement (or the vertical depression) of ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Consistency verification in modeling of real-time systems

    Publication Year: 2004, Page(s):136 - 142
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB) | HTML iconHTML

    To real-time system designers, end-to-end time delay between external inputs and outputs is among the most important constraints. To ensure these system-wide constraints are satisfied, each of the constituent components is subject to a set of derived intermediate constraints. Since the system-wide constraints allow many possibilities for the intermediate constraints based on design tradeoffs, an i... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Uncalibrated dynamic visual servoing

    Publication Year: 2004, Page(s):143 - 147
    Cited by:  Papers (75)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (240 KB) | HTML iconHTML

    A dynamic quasi-Newton method for uncalibrated, vision-guided robotic tracking control with fixed imaging is developed and demonstrated. This method does not require calibrated kinematic and camera models. Robotic control is achieved at each step through minimizing a nonlinear objective function, by taking quasi-Newton steps and estimating the composite Jacobian at each step. The Jacobian is estim... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Stability and four-posture control for nonholonomic mobile robots

    Publication Year: 2004, Page(s):148 - 154
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB) | HTML iconHTML

    In this paper, a four-posture control for nonholonomic mobile robots is proposed. Based upon posture velocity error dynamics, the empirical kinematic motion requirements of a mobile robot are proposed, and the four-posture control is designed in order to generate the robustly required moving trajectory with posture error reduction. The controller is designed with four possible moving directions of... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths: a Lyapunov-based approach

    Publication Year: 2004, Page(s):154 - 160
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB) | HTML iconHTML

    The problem of asymptotic stabilization for straight and circular forward/backward motions of a tractor-trailer system is addressed using Lyapunov techniques. Smooth, bounded, nonlinear control laws achieving asymptotic stability along the desired path are designed, and explicit bounds on the region of attraction are provided. The problem of asymptotic controllability with bounded control is also ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Task-space tracking control of robot manipulators via quaternion feedback

    Publication Year: 2004, Page(s):160 - 167
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB) | HTML iconHTML

    In this paper, we consider the problem of task-space tracking control of robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we first develop model-based and adaptive full-state feedback controllers. We then prese... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Eighth International Conference on Control Automation Robotics and Vision

    Publication Year: 2004, Page(s): 168
    Request permission for commercial reuse | PDF file iconPDF (703 KB)
    Freely Available from IEEE
  • IEEE Member Digital Library [advertisement]

    Publication Year: 2004, Page(s): 169
    Request permission for commercial reuse | PDF file iconPDF (178 KB)
    Freely Available from IEEE
  • Proceedings of the IEEE celebrating 92 years of in-depth coverage on emerging technologies

    Publication Year: 2004, Page(s): 170
    Request permission for commercial reuse | PDF file iconPDF (319 KB)
    Freely Available from IEEE

Aims & Scope

This Transactions ceased production in 2004. The current retitled publications areIEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

Full Aims & Scope