# IEEE Transactions on Robotics

### Early Access Articles

Early Access articles are made available in advance of the final electronic or print versions. Early Access articles are peer reviewed but may not be fully edited. They are fully citable from the moment they appear in IEEE Xplore.

## Filter Results

Displaying Results 1 - 12 of 12
• ### Hierarchical Force and Positioning Task Specification for Indirect Force Controlled Robots

Publication Year: 2017, Page(s):1 - 7
| | PDF (1147 KB) |  Media

Indirect force control (IFC) architectures are a common approach for dealing with unknown environments. What all IFC schemes have in common is that the relation between the set point and the actual configuration of the robot is determined by a mechanical relationship (e.g., a mass–spring–damper system). In this paper, we propose a set-point generation method for IFC schemes, enabling... View full abstract»

• ### A Three-Dimensional Magnetic Tweezer System for Intraembryonic Navigation and Measurement

Publication Year: 2017, Page(s):1 - 8
| | PDF (1049 KB) |  Media

Magnetic micromanipulation has the advantage of untethered control, high precision, and biocompatibility and has recently undergone great advances. The magnetic micromanipulation task to tackle in this paper is to three dimensionally navigate a 5-$mu$m magnetic bead inside a mouse embryo and accurately apply forces to intraembryonic structures to perform mechanical me... View full abstract»

• ### Trajectory Deformations From Physical Human–Robot Interaction

Publication Year: 2017, Page(s):1 - 13
| | PDF (985 KB)

Robots are finding new applications where physical interaction with a human is necessary, such as manufacturing, healthcare, and social tasks. Accordingly, the field of physical human–robot interaction (pHRI) has leveraged impedance control approaches, which support compliant interactions between human and robot. However, a limitation of traditional impedance control is that—despite ... View full abstract»

• ### Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration

Publication Year: 2017, Page(s):1 - 19
| | PDF (1443 KB)

Although a number of solutions exist for the problems of coverage, search, and target localization—commonly addressed separately—whether there exists a unified strategy that addresses these objectives in a coherent manner without being application specific remains a largely open research question. In this paper, we develop a receding-horizon ergodic control approach, based on hybrid ... View full abstract»

• ### Enhance In-Hand Dexterous Micromanipulation by Exploiting Adhesion Forces

Publication Year: 2017, Page(s):1 - 13
| | PDF (1381 KB) |  Media

Micromanipulation plays a key role in the development of complex and assembled microsystems. However, current micromanipulation solutions are often limited to small rotation amplitudes and to simple shaped objects (such as cubes). Our approach consists of developing in-hand micromanipulation techniques using dexterous microhands to manipulate arbitrary shaped objects and to perform large rotations... View full abstract»

• ### A Controller for Guiding Leg Movement During Overground Walking With a Lower Limb Exoskeleton

Publication Year: 2017, Page(s):1 - 11
| | PDF (1195 KB) |  Media

This paper describes a lower limb exoskeleton control approach that facilitates a desired movement coordination between the hip and knee joints during the swing phase of gait. An important feature of the proposed controller is that it provides movement guidance while allowing a user to control step time and step length. Specifically, control of step time is enabled by the use of time-invariant mov... View full abstract»

• ### Dynamically Consistent Online Adaptation of Fast Motions for Robotic Manipulators

Publication Year: 2017, Page(s):1 - 17
| | PDF (1333 KB) |  Media

The planning and execution of real-world robotic tasks largely depends on the ability to generate feasible motions online in response to changing environment conditions or goals. A spline deformation method is able to modify a given trajectory so that it matches the new boundary conditions, e.g., on positions, velocities, accelerations, etc. At the same time, the deformed motion preserves velocity... View full abstract»

• ### Fourier-Based Shape Servoing: A New Feedback Method to Actively Deform Soft Objects into Desired 2-D Image Contours

Publication Year: 2017, Page(s):1 - 8
| | PDF (1004 KB) |  Media

This paper addresses the design of a vision-based method to automatically deform soft objects into desired two-dimensional shapes with robot manipulators. The method presents an innovative feedback representation of the object’s shape (based on a truncated Fourier series) and effectively exploits it to guide the soft object manipulation task. A new model calibration scheme that iteratively ... View full abstract»

• ### Asymmetric Bimanual Control of Dual-Arm Exoskeletons for Human-Cooperative Manipulations

Publication Year: 2017, Page(s):1 - 8
| | PDF (1458 KB)

In this paper, two upper limbs of an exoskeleton robot are operated within a constrained region of the operational space with unidentified intention of the human operator’s motion as well as uncertain dynamics including physical limits. The new human-cooperative strategies are developed to detect the human subject’s movement efforts in order to make the robot behavior flexible and ad... View full abstract»

• ### General Lagrange-Type Jacobian Inverse for Nonholonomic Robotic Systems

Publication Year: 2017, Page(s):1 - 8
| | PDF (835 KB)

This paper discusses the nonholonomic robotic systems whose motion constraints assume the Pfaffian form, and the equations of motion are represented by driftless control systems with outputs. By reference to the end point map of such a control system, we define the system's Jacobian and study Jacobian motion-planning algorithms. A new Lagrange-type Jacobian inverse, referred to as the Gener... View full abstract»

• ### Adaptive Compensation of Multiple Actuator Faults for Two Physically Linked 2WD Robots

Publication Year: 2017, Page(s):1 - 8
| | PDF (707 KB)

This short paper develops an adaptive compensation control scheme for two physically linked two-wheel-drive mobile robots with multiple actuator faults. Kinematic and dynamic models are first proposed. Then, an adaptive control scheme is designed, which ensures system stability and asymptotic tracking properties. Simulation results verify its effectiveness. View full abstract»

• ### Active Stiffness Tuning of a Spring-Based Continuum Robot for MRI-Guided Neurosurgery

Publication Year: 2017, Page(s):1 - 11
| | PDF (2837 KB)

Deep intracranial tumor removal can be achieved if the neurosurgical robot has sufficient flexibility and stability. Toward achieving this goal, we have developed a spring-based continuum robot, namely a minimally invasive neurosurgical intracranial robot (MINIR-II) with novel tendon routing and tunable stiffness for use in a magnetic resonance imaging (MRI) environment. The robot consists of a pa... View full abstract»

## 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.

Full Aims & Scope

## Meet Our Editors

Editor-in-Chief
Frank Park
Seoul National University