IEEE Transactions on Robotics

Issue 3 • June 2006

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  • Table of contents

    Publication Year: 2006, Page(s): c1
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  • IEEE Transactions on Robotics publication information

    Publication Year: 2006, Page(s): c2
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  • Static analysis of cable-driven manipulators with non-negligible cable mass

    Publication Year: 2006, Page(s):425 - 433
    Cited by:  Papers (51)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB) | HTML iconHTML

    This paper addresses the static analysis of cable-driven robotic manipulators with non-negligible cable mass. An approach to computing the static displacement of a homogeneous elastic cable is presented. The resulting cable-displacement expression is used to solve the inverse kinematics of general cable-driven robotic manipulators. In addition, the sag-induced stiffness of the cables is derived. F... View full abstract»

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  • Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms

    Publication Year: 2006, Page(s):434 - 445
    Cited by:  Papers (81)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB) | HTML iconHTML

    The mobile platform of a parallel cable-driven mechanism is connected in parallel to a base by lightweight links, such as cables. Since the cables can only work in tension, the set of poses of the mobile platform for which the cables can balance any external wrench, i.e., for which the platform of the mechanism is fully constrained, is often limited or even nonexistent. Thus, the study and determi... View full abstract»

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  • Online polygon search by a seven-state boundary 1-searcher

    Publication Year: 2006, Page(s):446 - 460
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1096 KB) | HTML iconHTML

    Polygon search is the problem of finding mobile intruders who move unpredictably in a polygonal region. In this paper, we consider a special case of this problem, called boundary search, where the searcher is allowed to move only along the boundary of the polygon. We concentrate on a single searcher with one flashlight (called a 1-searcher), but it is known that a single boundary 1-searcher has th... View full abstract»

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  • A method for grasp evaluation based on disturbance force rejection

    Publication Year: 2006, Page(s):461 - 469
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (816 KB) | HTML iconHTML

    This paper presents a method for grasp evaluation. It is based on the ability of the grasp to reject disturbance forces. The procedure takes the geometry of object into account, and it is also possible to incorporate task-oriented information. The evaluation criterion is formulated as a min-max optimization problem, for which an efficient algorithm is proposed and analyzed. The result of this algo... View full abstract»

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  • On the enhanced passivity of pneumatically actuated impedance-type haptic interfaces

    Publication Year: 2006, Page(s):470 - 480
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (984 KB) | HTML iconHTML

    The stable simulation of high-stiffness surfaces remains a challenge in impedance-type haptic simulations of mechanical environments. In this paper, the authors propose an approach to achieving a stable, high-stiffness surface in a haptic interface by leveraging the open-loop properties of pneumatic actuators. By using the open-loop component of the actuator stiffness as a primary component of sti... View full abstract»

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  • Master–Slave Electric Cart Control System for Maintaining/Improving Physical Strength

    Publication Year: 2006, Page(s):481 - 490
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1513 KB) | HTML iconHTML

    This paper explains the development of a new-concept three-wheeled electric cart that not only is a means of transportation, but also provides the driver with a way of getting some physical exercise. Based on an investigation of the physiological decline accompanying aging, pedaling was chosen to implement the function of maintaining or improving physical strength; and an ergonomically designed pe... View full abstract»

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  • Simplified motion control of a two-axle compliant framed wheeled mobile robot

    Publication Year: 2006, Page(s):491 - 506
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4344 KB) | HTML iconHTML

    Kinematic models and motion control algorithms for a two-axle compliant frame mobile robot are examined. General kinematics describing the compliantly coupled nonholonomic kinematics are derived using velocity constraints that minimize traction forces and consider foreshortening of the frame. Given the complexity of these equations, the steering ratio a is defined to describe the relative heading ... View full abstract»

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  • Deployment of mobile robots with energy and timing constraints

    Publication Year: 2006, Page(s):507 - 522
    Cited by:  Papers (87)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (728 KB) | HTML iconHTML

    Mobile robots can be used in many applications, such as carpet cleaning, search and rescue, and exploration. Many studies have been devoted to the control, sensing, and communication of robots. However, the deployment of robots has not been fully addressed. The deployment problem is to determine the number of groups unloaded by a carrier, the number of robots in each group, and the initial locatio... View full abstract»

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  • Omnidirectional vision scan matching for robot localization in dynamic environments

    Publication Year: 2006, Page(s):523 - 535
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1704 KB) | HTML iconHTML

    The localization problem for an autonomous robot moving in a known environment is a well-studied problem which has seen many elegant solutions. Robot localization in a dynamic environment populated by several moving obstacles, however, is still a challenge for research. In this paper, we use an omnidirectional camera mounted on a mobile robot to perform a sort of scan matching. The omnidirectional... View full abstract»

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  • Approaches for a tether-guided landing of an autonomous helicopter

    Publication Year: 2006, Page(s):536 - 544
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1240 KB) | HTML iconHTML

    In this paper, we address the design of an autopilot for autonomous landing of a helicopter on a rocking ship, due to rough sea. A tether is used for landing and securing a helicopter to the deck of the ship in rough weather. A detailed nonlinear dynamic model for the helicopter is used. This model is underactuated, where the rotational motion couples into the translation. This property is used to... View full abstract»

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  • Kinematic design of a 6-DOF parallel manipulator with decoupled translation and rotation

    Publication Year: 2006, Page(s):545 - 551
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB) | HTML iconHTML

    A new three-limb, six-degree-of-freedom (DOF) parallel manipulator (PM), termed a selectively actuated PM (SA-PM), is proposed. The end-effector of the manipulator can produce 3-DOF spherical motion, 3-DOF translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion, depending on the types of the actuation (rotary or linear) chosen for the actuators. The manipulator architecture completely d... View full abstract»

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  • Generation of feasible set points and control of a cable robot

    Publication Year: 2006, Page(s):551 - 558
    Cited by:  Papers (26)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (848 KB) | HTML iconHTML

    Cable-suspended robots are structurally similar to parallel-actuated robots, but with the fundamental difference that cables can only pull the end-effector, but not push it. These input constraints make feedback control of cable-suspended robots a lot more challenging than their counterpart parallel-actuated robots. In this paper, we present a computationally efficient control design procedure for... View full abstract»

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  • Time-optimal trajectory planning in cable-based manipulators

    Publication Year: 2006, Page(s):559 - 563
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB) | HTML iconHTML

    In this paper, the trajectory planning of high-speed cable-based parallel manipulators is studied for a given geometrical path. The time-optimal trajectory-planning technique is adapted for these manipulators in which cable forces must be maintained tensile. This condition is represented as a constraint on the acceleration of the end-effector along the path. The results of this technique are evalu... View full abstract»

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  • Adaptive repetitive learning control of robotic manipulators without the requirement for initial repositioning

    Publication Year: 2006, Page(s):563 - 568
    Cited by:  Papers (72)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (256 KB) | HTML iconHTML

    This paper presents adaptive repetitive learning control for trajectory tracking of uncertain robotic manipulators. Through the introduction of a novel Lyapunov-like function, the proposed method only requires the system to start from where it stopped at the last cycle, and avoids the strict requirement for initial repositioning for all the cycles. In addition, it is more applicable, as it only re... View full abstract»

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  • Dynamics and balance of a humanoid robot during manipulation tasks

    Publication Year: 2006, Page(s):568 - 575
    Cited by:  Papers (56)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (880 KB) | HTML iconHTML

    In this paper, we analyze the balance of a humanoid robot during manipulation tasks. By defining the generalized zero-moment point (GZMP), we obtain the region of it for keeping the balance of the robot during manipulation. During manipulation, the convex hull of the supporting points forms the 3-D convex polyhedron. The region of the GZMP is obtained by considering the infinitesimal displacement ... View full abstract»

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  • Special issue on human-robot interaction

    Publication Year: 2006, Page(s): 576
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  • IEEE Robotics and Automation Society Information

    Publication Year: 2006, Page(s): c3
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  • IEEE Transactions on Robotics Information for authors

    Publication Year: 2006, 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