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IEEE Transactions on Robotics

Issue 6 • Date Dec. 2004

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Displaying Results 1 - 17 of 17
  • 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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  • A practical procedure to analyze singular configurations in closed kinematic chains

    Publication Year: 2004, Page(s):929 - 940
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1512 KB) | HTML iconHTML

    The authors present a general method for the automated singularity analysis of any mechanism at a given configuration. The procedure uses a base of the motion space. This is obtained from a velocity equation characterized by a geometric matrix. This special form of Jacobian matrix has some advantages for automatic implementation. This approach provides the degree of freedom associated with the sin... View full abstract»

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  • Data fusion for robotic assembly tasks based on human skills

    Publication Year: 2004, Page(s):941 - 952
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1152 KB) | HTML iconHTML

    This work describes a data fusion architecture for robotic assembly tasks based on human sensory-motor skills. These skills are transferred to the robot through geometric and dynamic perception signals. Artificial neural networks are used in the learning process. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. Kalman techniques linked... View full abstract»

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  • Vision-assisted control for manipulation using virtual fixtures

    Publication Year: 2004, Page(s):953 - 966
    Cited by:  Papers (98)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1384 KB) | HTML iconHTML

    We present the design and implementation of a vision-based system for cooperative manipulation at millimeter to micrometer scales. The system is based on an admittance control algorithm that implements a broad class of guidance modes called virtual fixtures. A virtual fixture, like a real fixture, limits the motion of a tool to a prescribed class or range of motions. We describe how both hard (uny... View full abstract»

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  • Reactive path deformation for nonholonomic mobile robots

    Publication Year: 2004, Page(s):967 - 977
    Cited by:  Papers (78)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1440 KB) | HTML iconHTML

    This paper presents a novel and generic approach of path optimization for nonholonomic systems. The approach is applied to the problem of reactive navigation for nonholonomic mobile robots in highly cluttered environments. This is a collision-free initial path being given for a robot, and obstacles detected while following this path can make it in collision. The current path is iteratively deforme... View full abstract»

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  • A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles

    Publication Year: 2004, Page(s):978 - 993
    Cited by:  Papers (72)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (712 KB) | HTML iconHTML

    The problem of determining a collision-free path for a mobile robot moving in a dynamically changing environment is addressed in this paper. By explicitly considering a kinematic model of the robot, the family of feasible trajectories and their corresponding steering controls are derived in a closed form and are expressed in terms of one adjustable parameter for the purpose of collision avoidance.... View full abstract»

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  • Minimum control-switch motions for the snakeboard: a case study in kinematically controllable underactuated systems

    Publication Year: 2004, Page(s):994 - 1006
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (912 KB) | HTML iconHTML

    We study the problem of computing an exact motion plan for the snakeboard, an underactuated system subject to nonholonomic constraints, by exploiting its kinematic controllability properties and its decoupling vector fields. Decoupling vector fields allow us to plan motions for the underactuated dynamic system as if it were kinematic, and rest-to-rest paths are the concatenation of integral curves... View full abstract»

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  • Local compliance estimation via positive semidefinite constrained least squares

    Publication Year: 2004, Page(s):1007 - 1011
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB) | HTML iconHTML

    We present a method to estimate a positive semidefinite matrix by linear least squares, and we apply this method to the estimation of local compliance matrices during deformable object modeling. Estimation of physical quantities from measurements has to consider noise due to measurement and modeling inaccuracy. Enforcing constraints during estimation can guarantee physically plausible results even... View full abstract»

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  • Feedback-based event-driven parts moving

    Publication Year: 2004, Page(s):1012 - 1018
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (640 KB) | HTML iconHTML

    A collection of unactuated disk-shaped "parts" must be brought by an actuated manipulator robot into a specified configuration from arbitrary initial conditions. The task is cast as a noncooperative game played among the parts-which in turn yields a feedback-based event-driven approach to plan generation and execution. The correctness of this approach, an open question, has been demonstrated in si... View full abstract»

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  • Path following by the end-effector of a redundant manipulator operating in a dynamic environment

    Publication Year: 2004, Page(s):1018 - 1025
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB) | HTML iconHTML

    This paper addresses the problem of generating at the control-loop level a collision-free trajectory for a redundant manipulator operating in dynamic environments which include moving obstacles. The task of the robot is to follow, by the end-effector, a prescribed geometric path given in the work space. The control constraints resulting from the physical abilities of robot actuators are also taken... View full abstract»

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  • From Reeds and Shepp's to continuous-curvature paths

    Publication Year: 2004, Page(s):1025 - 1035
    Cited by:  Papers (128)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB) | HTML iconHTML

    This paper presents Continuous Curvature (CC) Steer, a steering method for car-like vehicles, i.e., an algorithm planning paths in the absence of obstacles. CC Steer is the first to compute paths with: 1) continuous curvature; 2) upper-bounded curvature; and 3) upper-bounded curvature derivative. CC Steer also verifies a topological property that ensures that when it is used within a general motio... View full abstract»

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  • List of Reviewers

    Publication Year: 2004, Page(s):1036 - 1039
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  • Have you visited lately? www.ieee.org [advertisement]

    Publication Year: 2004, Page(s): 1040
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  • 2004 Index

    Publication Year: 2004, Page(s):1041 - 1052
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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