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IEEE Transactions on Robotics

Issue 1 • Date Feb. 2005

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  • Table of contents

    Publication Year: 2005, Page(s): c1
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  • IEEE Transactions on Robotics publication information

    Publication Year: 2005, Page(s): c2
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  • Differential-drive in-pipe robot for moving inside urban gas pipelines

    Publication Year: 2005, Page(s):1 - 17
    Cited by:  Papers (91)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (6456 KB) | HTML iconHTML

    Pipelines for the urban gas-supply system require a robot possessing outstanding mobility and advanced control algorithms, since they are configured with various pipeline elements, such as straight pipelines, elbows, and branches. We present a comprehensive work for moving inside underground urban gas pipelines with a miniature differential-drive in-pipe robot, called the Multifunctional Robot for... View full abstract»

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  • A hybrid strategy to solve the forward kinematics problem in parallel manipulators

    Publication Year: 2005, Page(s):18 - 25
    Cited by:  Papers (17)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB) | HTML iconHTML

    A parallel manipulator is a closed kinematic structure with the necessary rigidity to provide a high payload to self-weight ratio suitable for many applications in manufacturing, flight simulation systems, and medical robotics. Because of its closed structure, the kinematic control of such a mechanism is difficult. The inverse kinematics problem for such manipulators has a mathematical solution; h... View full abstract»

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  • A modular approach to the dynamics of complex multirobot systems

    Publication Year: 2005, Page(s):26 - 37
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB) | HTML iconHTML

    This work presents a modular approach for the dynamic modeling and efficient simulation of complex robot systems composed of multiple robots constrained by multiple concurrent contacts. The modular nature of the algorithm enables existing open-chain models for individual robots and other mechanisms to be incorporated without significant reprogramming, while a general contact model allows both holo... View full abstract»

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  • High-fidelity passive force-reflecting virtual environments

    Publication Year: 2005, Page(s):38 - 46
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB) | HTML iconHTML

    Passivity theory is applied to the creation of synthetic, complex multidimensional haptic environments. It can be shown that under appropriate conditions, sufficiently high rendering rates can guarantee the passivity of a simulation produced by a haptic device coupled to a discrete-time realization of a nominally passive environment. The creation of a passive, globally defined, virtual environment... View full abstract»

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  • A sensor fusion approach for recognizing continuous human grasping sequences using hidden Markov models

    Publication Year: 2005, Page(s):47 - 57
    Cited by:  Papers (53)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3504 KB) | HTML iconHTML

    The Programming by Demonstration (PbD) technique aims at teaching a robot to accomplish a task by learning from a human demonstration. In a manipulation context, recognizing the demonstrator's hand gestures, specifically when and how objects are grasped, plays a significant role. Here, a system is presented that uses both hand shape and contact-point information obtained from a data glove and tact... View full abstract»

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  • Somatosensory computation for man-machine interface from motion-capture data and musculoskeletal human model

    Publication Year: 2005, Page(s):58 - 66
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1480 KB) | HTML iconHTML

    We discuss the computation of somatosensory information from motion-capture data. The efficient computational algorithms previously developed by the authors for multibody systems, such as humanoid robots, are applied to a musculoskeletal model of the human body. The somatosensory information includes tension, length, and velocity of the muscles, tension of the tendons and ligaments, pressure of th... View full abstract»

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  • Active filtering of physiological motion in robotized surgery using predictive control

    Publication Year: 2005, Page(s):67 - 79
    Cited by:  Papers (92)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1736 KB) | HTML iconHTML

    This work presents a predictive-control approach to active mechanical filtering of complex, periodic motions of organs induced by respiration or heart beating in robotized surgery. Two different predictive-control schemes are proposed for the compensation of respiratory motions or cardiac motions. For respiratory motions, the periodic property of the disturbance has been included into the input-ou... View full abstract»

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  • Parametric models for motion planning and control in biomimetic robotics

    Publication Year: 2005, Page(s):80 - 92
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1184 KB) | HTML iconHTML

    We describe the design, testing and tools to build parametric models of a six-legged cockroach-like robot for velocity control without precise knowledge on the robot's geometry or its inertia. Robot legs were made by Shape Deposition Manufacturing and were compliant at the "knee". These kinds of robots usually have a limited number of actuators and a small number of low-cost sensors. Consequently,... View full abstract»

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  • Revisiting trilateration for robot localization

    Publication Year: 2005, Page(s):93 - 101
    Cited by:  Papers (75)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1064 KB) | HTML iconHTML

    Locating a robot from its distances, or range measurements, to three other known points or stations is a common operation, known as trilateration. This problem has been traditionally solved either by algebraic or numerical methods. An approach that avoids the direct algebrization of the problem is proposed here. Using constructive geometric arguments, a coordinate-free formula containing a small n... View full abstract»

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  • On finding energy-minimizing paths on terrains

    Publication Year: 2005, Page(s):102 - 114
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB) | HTML iconHTML

    We discuss the problem of computing optimal paths on terrains for a mobile robot, where the cost of a path is defined to be the energy expended due to both friction and gravity. The physical model used by this problem allows for ranges of impermissible traversal directions caused by overturn danger or power limitations. The model is interesting and challenging, as it incorporates constraints found... View full abstract»

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  • The dynamic capability equations: a new tool for analyzing robotic manipulator performance

    Publication Year: 2005, Page(s):115 - 123
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB) | HTML iconHTML

    Dynamic capability equations (DCE) provide a new description of robot acceleration and force capabilities. These refer to a manipulator's ability to accelerate its end-effector and to apply forces to the environment at the end-effector. The key features in the development of these equations are that they combine the analysis of end-effector accelerations, velocities, and forces, while addressing t... View full abstract»

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  • Polyhedral contact formation identification for autonomous compliant motion: exact nonlinear bayesian filtering

    Publication Year: 2005, Page(s):124 - 129
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (296 KB) | HTML iconHTML

    This work presents new experimental results for the estimation of large position and orientation inaccuracies of contacting objects during force-controlled compliant motion. The estimation is based on position, velocity, and force measurements. The authors have described the contact modeling and presented some Kalman filter identification results for small inaccuracies. However, when dealing with ... View full abstract»

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  • Motion planning using adaptive random walks

    Publication Year: 2005, Page(s):129 - 136
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB) | HTML iconHTML

    We propose a novel single-shot motion-planning algorithm based on adaptive random walks. The proposed algorithm turns out to be simple to implement, and the solution it produces can be easily and efficiently optimized. Furthermore, the algorithm can incorporate adaptive components, so the developer is not required to specify all the parameters of the random distributions involved, and the algorith... View full abstract»

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  • Leading the field since 1884 [advertisement]

    Publication Year: 2005, Page(s): 137
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  • Explore IEL IEEE's most comprehensive resource

    Publication Year: 2005, Page(s): 138
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  • IEEE copyright form

    Publication Year: 2005, Page(s):139 - 140
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  • IEEE Robotics and Automation Society Information

    Publication Year: 2005, Page(s): c3
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  • IEEE Transactions on Robotics Information for authors

    Publication Year: 2005, 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