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IEEE Transactions on Robotics

Issue 6 • Date Dec. 2011

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  • 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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  • Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading

    Publication Year: 2011, Page(s):1033 - 1044
    Cited by:  Papers (40)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1036 KB) | HTML iconHTML

    Tendons are a widely used actuation strategy for continuum robots that enable forces and moments to be transmitted along the robot from base-mounted actuators. Most prior robots have used tendons routed in straight paths along the robot. However, routing tendons through general curved paths within the robot offers potential advantages in reshaping the workspace and enabling a single section of the... View full abstract»

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  • Position Control of Motion Compensation Cardiac Catheters

    Publication Year: 2011, Page(s):1045 - 1055
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB) | HTML iconHTML

    Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated catheter system that compensates for the fast motion of cardiac tissue using 3-D ultrasound image guidance. We describe the design and operation of the mechanical drive system and catheter module and analyze the catheter p... View full abstract»

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  • Stable Precision Grasps by Underactuated Grippers

    Publication Year: 2011, Page(s):1056 - 1066
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (822 KB) | HTML iconHTML

    The ability of underactuated hands to grasp small objects is very limited, because the precision grasp is normally unstable. The goal of this paper is to achieve stable precision grasps by means of simple design modifications of the distal phalanges of the fingers. These modifications comprise the curving of the contact area of the distal phalanx, the application of a mechanical limit to prevent h... View full abstract»

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  • Human-Inspired Robotic Grasp Control With Tactile Sensing

    Publication Year: 2011, Page(s):1067 - 1079
    Cited by:  Papers (58)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (920 KB) | HTML iconHTML

    We present a novel robotic grasp controller that allows a sensorized parallel jaw gripper to gently pick up and set down unknown objects once a grasp location has been selected. Our approach is inspired by the control scheme that humans employ for such actions, which is known to centrally depend on tactile sensation rather than vision or proprioception. Our controller processes measurements from t... View full abstract»

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  • Chance-Constrained Optimal Path Planning With Obstacles

    Publication Year: 2011, Page(s):1080 - 1094
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1053 KB) | HTML iconHTML

    Autonomous vehicles need to plan trajectories to a specified goal that avoid obstacles. For robust execution, we must take into account uncertainty, which arises due to uncertain localization, modeling errors, and disturbances. Prior work handled the case of set-bounded uncertainty. We present here a chance-constrained approach, which uses instead a probabilistic representation of uncertainty. The... View full abstract»

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  • Planning and Fast Replanning Safe Motions for Humanoid Robots

    Publication Year: 2011, Page(s):1095 - 1106
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (795 KB) | HTML iconHTML Multimedia Media

    This paper introduces effective numerical methods for the planning and fast replanning of safe motions to ensure the safety, balance, and integrity of humanoid robots over the whole motion duration. Our safe methods do not depend on, nor are connected to, any type of modeling or constraints. To plan safe motions, certain constraints have to be satisfied over a continuous interval of time. Classica... View full abstract»

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  • Climbing Strategy for a Flexible Tree Climbing Robot—Treebot

    Publication Year: 2011, Page(s):1107 - 1117
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (924 KB) | HTML iconHTML

    In this paper, we propose an autonomous tree climbing strategy for a novel tree climbing robot that is named Treebot. The proposed algorithm aims to guide Treebot in climbing along an optimal path by the use of minimal sensing resources. Inspired by inchworms, the algorithm reconstructs the shape of a tree simply by the use of tactile sensors. It reveals how the realization of an environment can b... View full abstract»

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  • Mobile Sensor Network Navigation Using Gaussian Processes With Truncated Observations

    Publication Year: 2011, Page(s):1118 - 1131
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (971 KB) | HTML iconHTML

    In this paper, we consider mobile sensor networks that use spatiotemporal Gaussian processes to predict a wide range of spatiotemporal physical phenomena. Nonparametric Gaussian process regression that is based on truncated observations is proposed for mobile sensor networks with limited memory and computational power. We first provide a theoretical foundation of Gaussian process regression with t... View full abstract»

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  • Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot

    Publication Year: 2011, Page(s):1132 - 1137
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (362 KB) | HTML iconHTML

    ASIBOT is an assistive climbing robot that is capable of aiding in daily tasks from fixed docking stations in the environment. A task-oriented design process was applied to improve the robot kinematic structure, which was based on the grid method. Twelve different robot designs were optimized for typical kitchen scenarios, followed by a quantitative comparison. View full abstract»

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  • An Analytic-Iterative Redundancy Resolution Scheme for Cable-Driven Redundant Parallel Manipulators

    Publication Year: 2011, Page(s):1137 - 1143
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB) | HTML iconHTML

    In this paper, redundancy resolution of a cable-driven parallel manipulator is performed through an analytic-iterative scheme. The redundancy resolution scheme is formulated as a convex optimization problem with inequality constraints that are imposed by manipulator structure and cable dynamics. The Karush-Kuhn-Tucker theorem is used to analyze the optimization problem and to draw an analytic-iter... View full abstract»

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  • Online Trajectory Scaling for Manipulators Subject to High-Order Kinematic and Dynamic Constraints

    Publication Year: 2011, Page(s):1144 - 1152
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (870 KB) | HTML iconHTML

    Robotic manipulators are usually driven by means of minimum-time trajectories. Unfortunately, such trajectories strongly solicit the actuators whose dynamic limits could be easily exceeded. Therefore, kinematic and/or dynamic constraints are commonly considered for offline planning. Nevertheless, during actual operations, dynamic limits could be violated because of model uncertainties and measurem... View full abstract»

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  • Sequential Composition for Navigating a Nonholonomic Cart in the Presence of Obstacles

    Publication Year: 2011, Page(s):1152 - 1159
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (518 KB) | HTML iconHTML

    In this study, we consider the problem of safely steering a planar nonholonomic cart around obstacles to reach a goal state. We achieve this by the decomposition of the free workspace into triangular tori and generation of local smooth feedback laws that drive the robot from one cell to an adjoining cell. These control laws exploit the fact that for nonholonomic systems, one can generate smooth co... View full abstract»

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  • Collision Cones for Quadric Surfaces

    Publication Year: 2011, Page(s):1159 - 1166
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (487 KB) | HTML iconHTML

    The problem of collision prediction in dynamic environments appears in several diverse fields, which include robotics, air vehicles, underwater vehicles, and computer animation. In this paper, collision prediction of objects that move in 3-D environments is considered. Most work on collision prediction assumes objects to be modeled as spheres. However, there are many instances of object shapes whe... View full abstract»

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  • Motion-Estimation-Based Visual Servoing of Nonholonomic Mobile Robots

    Publication Year: 2011, Page(s):1167 - 1175
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (596 KB) | HTML iconHTML

    A 2-1/2-D visual servoing strategy, which is based on a novel motion-estimation technique, is presented for the stabilization of a nonholonomic mobile robot (which is also called the “parking problem”). By taking into account the planar motion constraint of mobile robots, the proposed motion-estimation technique can be applied in both planar and nonplanar scenes. In addition, this ap... View full abstract»

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  • IEEE Foundation [advertisement]

    Publication Year: 2011, Page(s): 1176
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  • 2011 Index IEEE Transactions on Robotics Vol. 27

    Publication Year: 2011, Page(s):1177 - 1190
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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.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Frank Park
Seoul National University