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IEEE Transactions on Robotics

Issue 5 • Date Oct. 2011

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Displaying Results 1 - 24 of 24
  • Table of contents

    Publication Year: 2011, Page(s): C1
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  • IEEE Transactions on Robotics publication information

    Publication Year: 2011, Page(s): C2
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  • Singularity-Invariant Families of Line-Plane 5-S \underline {\rm P} U Platforms

    Publication Year: 2011, Page(s):837 - 848
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (990 KB) | HTML iconHTML Multimedia Media

    A 5-SPU robot with collinear universal joints is well suited to handle an axisymmetric tool, since it has five controllable degrees of freedom, and the remaining one is a free rotation around the tool. The kinematics of such a robot also having coplanar spherical joints has previously been studied as a rigid subassembly of a Stewart-Gough platform, which has been denoted a line-plane component. He... View full abstract»

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  • Translational and Rotational Damping of Flapping Flight and Its Dynamics and Stability at Hovering

    Publication Year: 2011, Page(s):849 - 864
    Cited by:  Papers (45)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (882 KB) | HTML iconHTML

    Body movements of flying insects change their effective wing kinematics and, therefore, influence aerodynamic force and torque production. It was found that substantial aerodynamic damping is produced by flapping wings through a passive mechanism termed “flapping countertorque” during fast yaw turns. We expand this study to include the aerodynamic damping that is produced by flapping... View full abstract»

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  • Energy-Efficient Variable Stiffness Actuators

    Publication Year: 2011, Page(s):865 - 875
    Cited by:  Papers (37)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (549 KB) | HTML iconHTML

    Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated degrees of freedom, which determine how the elastic elements are perceived at the actuator output. C... View full abstract»

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  • A Vacuum-Based Bonding Mechanism for Modular Robotics

    Publication Year: 2011, Page(s):876 - 890
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1735 KB) | HTML iconHTML Multimedia Media

    We explore vacuum as bonding force for modular robotics. Vacuubes are a set of modules that propagate vacuum across their interfaces in order to generate adhesive forces to form and hold structures. We use analog circuits to simulate vacuum transients and understand critical design parameters and then validate these insights in experiments. A 49-module structure that employs vacuum bonding is demo... View full abstract»

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  • Analysis of Bounded Cable Tensions in Cable-Actuated Parallel Manipulators

    Publication Year: 2011, Page(s):891 - 900
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (883 KB) | HTML iconHTML

    Cable-actuated parallel manipulators (CPMs) rely on cables instead of rigid links to manipulate the moving platform in the taskspace. Upper and lower bounds imposed on the cable tensions limit the force capability in CPMs and render certain forces infeasible at the end effector. This paper presents a geometrical analysis of the problems to 1) determine whether a CPM is capable of balancing a given... View full abstract»

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  • A Kinematic Control Framework for Single-Slave Asymmetric Teleoperation Systems

    Publication Year: 2011, Page(s):901 - 917
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1606 KB) | HTML iconHTML Multimedia Media

    This paper is concerned with asymmetrical teleoperation, where the master/slave subsystems have different degrees of mobility. In particular, dual-master trilateral control of a possibly kinematically redundant slave robot (KRSR) and single-master control of a kinematically deficient slave robot (KDSR) are considered. In the case of a KDSR, the motion of the master robot is restricted to the natur... View full abstract»

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  • Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions

    Publication Year: 2011, Page(s):918 - 930
    Cited by:  Papers (69)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1328 KB) | HTML iconHTML

    This paper presents a novel human-like learning controller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and impedance. In contrast with conventional learning controllers, the new controller can deal with unst... View full abstract»

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  • Flocking for Multiple Elliptical Agents With Limited Communication Ranges

    Publication Year: 2011, Page(s):931 - 942
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (721 KB) | HTML iconHTML

    In existing flocking and coordination control systems of multiple agents, an agent is considered as a single point or a circular disk. For agents with a long and narrow shape, fitting them to circular disks results in a problem with the large conservative area. This paper presents a design of distributed controllers for flocking of N mobile agents with an elliptical shape and with limited c... View full abstract»

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  • Learning Stable Nonlinear Dynamical Systems With Gaussian Mixture Models

    Publication Year: 2011, Page(s):943 - 957
    Cited by:  Papers (65)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2410 KB) | HTML iconHTML

    This paper presents a method to learn discrete robot motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e., time-invariant) dynamical system (DS) and define sufficient conditions to ensure global asymptotic stability at the target. We propose a learning method, which is called Stable Estimator of Dynamical Systems (SEDS), to learn the parameters of the DS to ensur... View full abstract»

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  • Mutual Information-Based Visual Servoing

    Publication Year: 2011, Page(s):958 - 969
    Cited by:  Papers (36)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1405 KB) | HTML iconHTML Multimedia Media

    In this paper, we propose a new information theoretic approach to achieve visual servoing directly utilizing the information (as defined by Shannon) contained in the images. A metric derived from information theory, i.e., mutual information, is considered. Mutual information is widely used in multimodal image registration since it is insensitive to changes in the lighting condition and to a wide c... View full abstract»

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  • Closed-Loop Planar Motion Control of a Steerable Probe With a “Programmable Bevel” Inspired by Nature

    Publication Year: 2011, Page(s):970 - 983
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1187 KB) | HTML iconHTML

    Percutaneous intervention has attracted significant interest in recent years, but many of today's needles and catheters can only provide limited control of the trajectory between an entry site and soft tissue target. In order to address this fundamental shortcoming in minimally invasive surgery, we describe the first prototype of a bioinspired multipart probe that can steer along planar trajectori... View full abstract»

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  • Solvability-Unconcerned Inverse Kinematics by the Levenberg–Marquardt Method

    Publication Year: 2011, Page(s):984 - 991
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1500 KB) | HTML iconHTML

    A robust numerical solution to the inverse kinematics is proposed based on the Levenberg-Marquardt (LM) method, where the squared norm of residual of the original equation with a small bias is used for the damping factor. A rather simple idea remarkably improves the numerical stability and the convergence performance, even in unsolvable cases. Discussion is done through an investigation of the con... View full abstract»

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  • An Experimental Study on the Dynamics of a 3-RRR Flexible Parallel Robot

    Publication Year: 2011, Page(s):992 - 997
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (812 KB) | HTML iconHTML

    This paper presents an experimental study on the dynamics of flexible parallel robots. First, a theoretical study on the dynamic modeling and numerical solution of parallel robots with flexible links is introduced briefly. Second, the experiment setup that includes the test-bed mechanism of a 3-RRR flexible parallel robot and the hardware and software structures of a control system are then develo... View full abstract»

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  • Distributed Roadmaps for Robot Navigation in Sensor Networks

    Publication Year: 2011, Page(s):997 - 1004
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (859 KB) | HTML iconHTML

    This paper studies a distributed path-planning problem: How can a sensor network help navigate a nontrial robot to its desired goal in a distributed manner? We consider the case where each sensor node is equipped with sophisticated sensors capable of giving a map for its sensing region. We propose a distributed sampling-based planning algorithm, where every sensor node creates a local roadmap in i... View full abstract»

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  • Range-Only SLAM With Occupancy Maps: A Set-Membership Approach

    Publication Year: 2011, Page(s):1004 - 1010
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1008 KB) | HTML iconHTML

    This paper proposes a new set-membership approach to solve range-only simultaneous localization and mapping (SLAM) problems in the case where the map is described by an arbitrary occupancy set (i.e., we do not assume that the map is composed of segments, punctual marks, etc.). The principle is to transform the SLAM problem into a hybrid constraint satisfaction problem (CSP), where the variables ca... View full abstract»

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  • Online Trajectory Generation: Straight-Line Trajectories

    Publication Year: 2011, Page(s):1010 - 1016
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1059 KB) | HTML iconHTML

    A concept of online trajectory generation for robot motion control systems that enables instantaneous reactions to unforeseen sensor events was introduced in a former publication. This concept is now extended with the important feature of homothety. Homothetic trajectories are 1-D straight lines in a multidimensional space and are relevant for all straight-line motion operations in robotics. This ... View full abstract»

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  • Path Following for Unicycle Robots With an Arbitrary Path Curvature

    Publication Year: 2011, Page(s):1016 - 1023
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1183 KB) | HTML iconHTML

    A new feedback control model is provided that allows a wheeled vehicle to follow a prescribed path. Differently from all other methods in the literature, the method that is proposed neither requires the computation of a projection of the robot position on the path, nor does it need to consider a moving virtual target to be tracked. Nevertheless, it guarantees asymptotic convergence to a generic 2-... View full abstract»

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  • Modeling and Control of a Continuum Style Microrobot for Endovascular Surgery

    Publication Year: 2011, Page(s):1024 - 1030
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (739 KB) | HTML iconHTML

    This paper presents a microrobot of continuum type that satisfies constraints in terms of degrees of freedom, size, and safety for endovascular surgery. The proposed instrument, which integrates multiple microrobots and a catheter, is called the Multi Active LInk CAtheter (MALICA). Its structure is redundant, compliant, and compact, which makes it a well-suited solution to control the catheter sha... View full abstract»

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    Publication Year: 2011, Page(s): 1031
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    Publication Year: 2011, Page(s): 1032
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  • IEEE Robotics and Automation Society Information

    Publication Year: 2011, Page(s): C3
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  • IEEE Transactions on Robotics Information for authors

    Publication Year: 2011, 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