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IEEE Transactions on Robotics

Issue 2 • Date April 2005

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Displaying Results 1 - 21 of 21
  • 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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  • Generalized Stewart-Gough platforms and their direct kinematics

    Publication Year: 2005, Page(s):141 - 151
    Cited by:  Papers (35)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (720 KB) | HTML iconHTML

    In this paper, we introduce the generalized Stewart-Gough platform (GSP) consisting of two rigid bodies connected with six distance and/or angular constraints between six pairs of points, lines, and/or planes in the base and the moving platform, respectively. We prove that there exist 3850 possible forms of GSPs. We give the upper bounds for the number of solutions of the direct kinematics for all... View full abstract»

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  • Omnidirectional static walking of a quadruped robot

    Publication Year: 2005, Page(s):152 - 161
    Cited by:  Papers (30)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (688 KB) | HTML iconHTML

    In this paper, we propose a successive gait-transition method for a quadruped robot to realize omnidirectional static walking. The gait transition is successively performed among the crawl gaits and the rotation gaits, while the feet hold in common positions before and after gait transition. The gait-transition time is reduced by carefully designing the foot positions of the crawl gait and the rot... View full abstract»

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  • A framework for the stabilization of general nonholonomic systems with an application to the plate-ball mechanism

    Publication Year: 2005, Page(s):162 - 175
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB) | HTML iconHTML

    We present a framework for the stabilization of nonholonomic systems that do not possess special properties such as flatness or exact nilpotentizability. Our approach makes use of two tools: an iterative control scheme and a nilpotent approximation of the system dynamics. The latter is used to compute an approximate steering control which, repeatedly applied to the system, guarantees asymptotic st... View full abstract»

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  • A branch-and-prune solver for distance constraints

    Publication Year: 2005, Page(s):176 - 187
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1016 KB) | HTML iconHTML

    Given some geometric elements such as points and lines in R3, subject to a set of pairwise distance constraints, the problem tackled in this paper is that of finding all possible configurations of these elements that satisfy the constraints. Many problems in robotics (such as the position analysis of serial and parallel manipulators) and CAD/CAM (such as the interactive placement of obj... View full abstract»

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  • A convergent dynamic window approach to obstacle avoidance

    Publication Year: 2005, Page(s):188 - 195
    Cited by:  Papers (91)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB) | HTML iconHTML

    The dynamic window approach (DWA) is a well-known navigation scheme developed by Fox et al. and extended by Brock and Khatib. It is safe by construction, and has been shown to perform very efficiently in experimental setups. However, one can construct examples where the proposed scheme fails to attain the goal configuration. What has been lacking is a theoretical treatment of the algorithm's conve... View full abstract»

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  • A multilevel relaxation algorithm for simultaneous localization and mapping

    Publication Year: 2005, Page(s):196 - 207
    Cited by:  Papers (132)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1240 KB) | HTML iconHTML

    This paper addresses the problem of simultaneous localization and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from multigrid methods used for solving partial differential equations. The approach improves on the performance of previous relaxation methods for robot mapping, because it optimizes the map at multiple levels of resolution. The resulting ... View full abstract»

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  • Robust vision-based localization by combining an image-retrieval system with Monte Carlo localization

    Publication Year: 2005, Page(s):208 - 216
    Cited by:  Papers (97)  |  Patents (79)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1648 KB) | HTML iconHTML

    In this paper, we present a vision-based approach to mobile robot localization that integrates an image-retrieval system with Monte Carlo localization. The image-retrieval process is based on features that are invariant with respect to image translations and limited scale. Since it furthermore uses local features, the system is robust against distortion and occlusions, which is especially importan... View full abstract»

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  • Vision-based localization algorithm based on landmark matching, triangulation, reconstruction, and comparison

    Publication Year: 2005, Page(s):217 - 226
    Cited by:  Papers (44)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (792 KB) | HTML iconHTML

    Many generic position-estimation algorithms are vulnerable to ambiguity introduced by nonunique landmarks. Also, the available high-dimensional image data is not fully used when these techniques are extended to vision-based localization. This paper presents the landmark matching, triangulation, reconstruction, and comparison (LTRQ global localization algorithm, which is reasonably immune to ambigu... View full abstract»

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  • Image-based visual servo control of aerial robotic systems using linear image features

    Publication Year: 2005, Page(s):227 - 239
    Cited by:  Papers (53)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (760 KB) | HTML iconHTML

    An image-based "eye-in-hand" visual servo-control design is proposed for underactuated rigid-body dynamics. The dynamic model considered is motivated by recent work on vertical takeoff and landing aerial robotic vehicles. The task considered is that of tracking parallel linear visual features. The proposed design exploits the geometry of the task considered and passivity-like properties of rigid-b... View full abstract»

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  • Sensor-based exploration for convex bodies: a new roadmap for a convex-shaped robot

    Publication Year: 2005, Page(s):240 - 247
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1040 KB) | HTML iconHTML

    We present a new roadmap that can be used to guide a convex body to explore an unknown planar workspace, i.e., to map an unknown configuration space diffeomorphic to SE(2). This new roadmap is called the convex hierarchical generalized Voronoi graph (convex-HGVG). Since this roadmap is defined in terms of workspace distance information that is within line of sight of the convex body, we can use it... View full abstract»

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  • Robot steering with spectral image information

    Publication Year: 2005, Page(s):247 - 251
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (896 KB) | HTML iconHTML

    We introduce a method for rapidly classifying visual scenes globally along a small number of navigationally relevant dimensions: depth of scene, presence of obstacles, path versus nonpath, and orientation of path. We show that the algorithm reliably classifies scenes in terms of these high-level features, based on global or coarsely localized spectral analysis analogous to early-stage biological v... View full abstract»

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  • Path-following control of mobile robots in presence of uncertainties

    Publication Year: 2005, Page(s):252 - 261
    Cited by:  Papers (50)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB) | HTML iconHTML

    This paper presents, in detail, the implementation of a new control strategy, Kalman-based active observer controller (AOB), for the path following of wheeled mobile robots (WMRs) subject to nonholonomic constraints. This control strategy presents some particularities as being used in discrete mode, and being robust against uncertainties and disturbances such as the ones due to the use of the inpu... View full abstract»

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  • Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties

    Publication Year: 2005, Page(s):261 - 266
    Cited by:  Papers (53)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB) | HTML iconHTML

    This paper considers the tracking-control problem of a nonholonomic wheeled mobile robot with both parameter and nonparameter uncertainties. A robust adaptive controller is proposed with the aid of the adaptive backstepping technique and the learning ability of neural networks. The proposed controller guarantees that the tracking error converges to a small hall containing the origin. The hall's ra... View full abstract»

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  • A new formulation of visual servoing based on cylindrical coordinate system

    Publication Year: 2005, Page(s):266 - 273
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB) | HTML iconHTML

    Image-based visual servoing is a flexible and robust technique to control a robot and guide it to a desired position only by using two-dimensional visual data. However, it is well known that the classical visual servoing based on the Cartesian coordinate system has one crucial problem, that the camera moves backward at infinity, in case that the camera motion from the initial to desired poses is a... View full abstract»

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  • 2006 IEEE International Conference on Robotics and Automation

    Publication Year: 2005, Page(s): 274
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  • The 4th IEEE Conference on Sensors

    Publication Year: 2005, Page(s): 275
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  • IEEE order form for reprints

    Publication Year: 2005, Page(s): 276
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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