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IEEE Transactions on Robotics

Issue 4 • Date Aug. 2004

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Displaying Results 1 - 25 of 25
  • Table of contents

    Publication Year: 2004, Page(s): c1
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  • IEEE Transactions on Robotics publication information

    Publication Year: 2004, Page(s): c2
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  • Editorial

    Publication Year: 2004, Page(s): 629
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  • Statics and singularity loci of the 3-UPU wrist

    Publication Year: 2004, Page(s):630 - 635
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (184 KB) | HTML iconHTML

    The static analysis of a parallel wrist, known as the 3-universal-prismatic-universal (UPU) wrist, is presented, and the 3-UPU wrist singularity conditions are interpreted from a statics point of view. An equation (singularity equation) that enables finding all the 3-UPU wrist singular configurations is written in explicit form. Moreover, the use of the Rodrigues parameters to parameterize the 3-U... View full abstract»

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  • A geometric method for determining intersection relations between a movable convex object and a set of planar polygons

    Publication Year: 2004, Page(s):636 - 650
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (888 KB) | HTML iconHTML

    In this paper, we investigate how to topologically and geometrically characterize the intersection relations between a movable convex polygon A and a set Ξ of possibly overlapping polygons fixed in the plane. More specifically, a subset Φ⊆Ξ is called an intersection relation if there exists a placement of A that intersects, and only intersects, Φ. The objective of this paper is ... View full abstract»

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  • Computation and analysis of natural compliance in fixturing and grasping arrangements

    Publication Year: 2004, Page(s):651 - 667
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB) | HTML iconHTML

    This paper computes and analyzes the natural compliance of fixturing and grasping arrangements. Traditionally, linear-spring contact models have been used to determine the natural compliance of multiple contact arrangements. However, these models are not supported by experiments or elasticity theory. We derive a closed-form formula for the stiffness matrix of multiple contact arrangements that adm... View full abstract»

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  • A near-optimal probing strategy for workpiece localization

    Publication Year: 2004, Page(s):668 - 676
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB) | HTML iconHTML

    This paper addresses an optimal planning problem for workpiece localization with coordinate measurements. The fundamental issue is to find the best probing locations and a suitable sampling size, such that the uncertainty of the localization error is within a predefined limited bound. First, we introduce two sequential optimization algorithms to incrementally increase the localization accuracy, de... View full abstract»

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  • Improving efficiency in mobile robot task planning through world abstraction

    Publication Year: 2004, Page(s):677 - 690
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (976 KB) | HTML iconHTML

    Task planning in mobile robotics should be performed efficiently, due to real-time requirements of robot-environment interaction. Its computational efficiency depends both on the number of operators (actions the robot can perform without planning) and the size of the world states (descriptions of the world before and after the application of operators). Thus, in real robotic applications, where bo... View full abstract»

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  • Theoretical and experimental analysis of heuristics for the "freeze-tag" robot awakening problem

    Publication Year: 2004, Page(s):691 - 701
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB) | HTML iconHTML

    In the "freeze-tag" problem, we are given a swarm of n sleeping (frozen or inactive) robots and a single awake (active) robot. The goal is to awaken all robots in the shortest possible time. A robot is awakened when an active robot "touches" it. The goal is to compute an optimal awakening schedule such that all robots are awake by time t*, for the smallest possible value of t... View full abstract»

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  • Model identification of a micro air vehicle in loitering flight based on attitude performance evaluation

    Publication Year: 2004, Page(s):702 - 712
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB) | HTML iconHTML

    This paper presents a model identification of a micro air vehicle in loitering flight, based on the input-output data collected from flight experiments on a homemade 1-m-sized aircraft. A miniature flight-control system, which consists of the onboard and the ground sections, is equipped with a multichannel data logger associated with the data acquisition software. Modeling and performance analysis... View full abstract»

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  • Image moments: a general and useful set of features for visual servoing

    Publication Year: 2004, Page(s):713 - 723
    Cited by:  Papers (157)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB) | HTML iconHTML

    In this paper, we determine the analytical form of the interaction matrix related to any moment that can be computed from segmented images. The derivation method we present is based on Green's theorem. We apply this general result to classical geometrical primitives. We then consider using moments in image-based visual servoing. For that, we select six combinations of moments to control the six de... View full abstract»

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  • Visual servoing for large camera displacements

    Publication Year: 2004, Page(s):724 - 735
    Cited by:  Papers (44)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (856 KB) | HTML iconHTML

    The first aim of any visual-servoing strategy is to avoid features being lost from the field of view and that the desired location may not be reached. However, avoiding both these system failures turns out to be very difficult, especially when the initial and desired locations are distant. Moreover, the methods that succeed in presence of large camera displacements often produce a long translation... View full abstract»

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  • Robotic yoyo playing with visual feedback

    Publication Year: 2004, Page(s):736 - 744
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB) | HTML iconHTML

    Robotic yoyo playing is a challenging, open-loop unstable game, which requires dynamic dexterity to stabilize. The switching control strategy proposed here stabilizes the yoyo by determining when to start its activation. A straightforward implementation is presented and demonstrated, using continuous state estimation provided by visual feedback and the previously developed dynamic model. The discr... View full abstract»

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  • Uniqueness domains and regions of feasible paths for cuspidal manipulators

    Publication Year: 2004, Page(s):745 - 750
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB) | HTML iconHTML

    This paper addresses the kinematics of cuspidal manipulators, i.e., nonredundant manipulators which can change posture without meeting a singularity. It focuses on the uniqueness domains and on the regions of feasible paths in the workspace. For cuspidal manipulators, the uniqueness domains are not the singularity-free regions of the joint space. It is shown that additional surfaces, called charac... View full abstract»

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  • Kinematics of the 3-RSR wrist

    Publication Year: 2004, Page(s):750 - 753
    Cited by:  Papers (8)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (168 KB) | HTML iconHTML

    Among the new architectures for parallel wrists, recently presented in the literature, one of the simplest is the architecture of the 3-revolute-spherical-revolute (RSR) wrist. The kinematics of the 3-RSR wrist has not been presented yet, in the literature. This paper presents the kinematic analysis of the 3-RSR wrist. In particular, the demonstration that the 3-RSR wrist makes the end-effector pe... View full abstract»

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  • Inverse and direct dynamic modeling of Gough-Stewart robots

    Publication Year: 2004, Page(s):754 - 761
    Cited by:  Papers (63)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB) | HTML iconHTML

    This paper presents closed-form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The final form has an interesting and intuitive physical interpretation. The base inertial parameters of the robot, which constitute the minimum... View full abstract»

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  • Parameter estimation for excavator arm using generalized Newton method

    Publication Year: 2004, Page(s):762 - 767
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB) | HTML iconHTML

    A robust, fast, and simple technique for the experimental identification of the link parameters (mass, inertia, and length) and friction coefficients of a full-scale excavator arm is presented. This new technique, based on the generalized Newton method (GNM), estimates unknown individual parameters of the excavator arm dynamic equations. The technique can be used when the number of equations is di... View full abstract»

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  • On the role of dissipation in haptic systems

    Publication Year: 2004, Page(s):768 - 771
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (160 KB) | HTML iconHTML

    Passivity theory has been used for the past decade to derive stability conditions for human/machine interface applications. Demonstrating passivity of the haptic display implies stable and safe interaction for the human user. At the heart of the stability analysis is the physical dissipation provided by the haptic device, as it plays a key role in the design process for all components. This paper ... View full abstract»

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  • Sampled- and continuous-time passivity and stability of virtual environments

    Publication Year: 2004, Page(s):772 - 776
    Cited by:  Papers (33)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (216 KB) | HTML iconHTML

    We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accu... View full abstract»

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  • Control of a flexible manipulator with noncollocated feedback: time-domain passivity approach

    Publication Year: 2004, Page(s):776 - 780
    Cited by:  Papers (29)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (240 KB) | HTML iconHTML

    A new method to control a flexible manipulator with noncollocated feedback is proposed. We introduce a method to implement the time-domain passivity-control approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time-domain passivity-control framework due to a possible active transfer function from the input to the noncollocated output. The pro... View full abstract»

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  • Robust arm configuration of manipulator mounted on flexible base

    Publication Year: 2004, Page(s):781 - 789
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (760 KB) | HTML iconHTML

    In this paper, the robustness of a manipulator mounted on a flexible base with a task-space feedback control to a fixed desired point is considered. We define the robust arm configuration (RAC), which is a special configuration where the linearized system is positive real. Lyapunov indirect method and the passivity theory guarantee a local asymptotic stability of the original nonlinear system. A f... View full abstract»

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  • Robot controller design for achieving global asymptotic stability and local prescribed performance

    Publication Year: 2004, Page(s):790 - 795
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (296 KB) | HTML iconHTML

    This paper presents some useful results which follow from the particular structural properties of a rigid robot model while the system is subject to the action of an output feedback. Given a rigid robot model, the controller ensures, in addition to the global asymptotic stability property, an eigenvalues assignment of the resulting linearized model within the stable region of the complex plane. In... View full abstract»

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  • State observer-based robust control scheme for electrically driven robot manipulators

    Publication Year: 2004, Page(s):796 - 804
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB) | HTML iconHTML

    By using a state observer, a new robust trajectory tracking control scheme is developed in this paper for electrically driven robot manipulators. The role of the observer is to estimate joint angular velocities. The proposed controller does not employ adaptation, but assures robust stability of tracking error between joint angles and desired trajectories. At sacrificing asymptotical stability of t... View full abstract»

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  • IEEE Robotics and Automation Society Information

    Publication Year: 2004, Page(s): c3
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  • IEEE Transactions on Robotics Information for authors

    Publication Year: 2004, Page(s): c4
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Aims & Scope

IEEE Transactions on Robotics covers both theory and applications on topics including: kinematics, dynamics, control, and simulation of robots and intelligent machines and systems.

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Meet Our Editors

Editor-in-Chief
Frank Park
Seoul National University