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Robotics, IEEE Transactions on

Issue 3 • Date June 2014

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Displaying Results 1 - 25 of 29
  • Table of contents

    Publication Year: 2014 , Page(s): C1
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  • IEEE Transactions on Robotics publication information

    Publication Year: 2014 , Page(s): C2
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    Freely Available from IEEE
  • BeAMS: A Beacon-Based Angle Measurement Sensor for Mobile Robot Positioning

    Publication Year: 2014 , Page(s): 533 - 549
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2234 KB) |  | HTML iconHTML  

    Positioning is a fundamental issue in mobile robot applications, and it can be achieved in multiple ways. Among these methods, triangulation based on angle measurements is widely used, robust, accurate, and flexible. This paper presents BeAMS, which is a new active beacon-based angle measurement system used for mobile robot positioning. BeAMS introduces several major innovations. One innovation is the use of a unique unsynchronized channel with on-off keying modulated infrared signals to measure angles and to identify the beacons. We also introduce a new mechanism to measure angles: Our system detects a beacon when it enters and leaves an angular window. We show that the estimator resulting from the center of this angular window provides an unbiased estimate of the beacon angle. A theoretical framework for a thorough performance analysis of BeAMS is provided. We establish the upper bound of the variance and validate this bound through experiments and simulations; the overall error measure of BeAMS is lower than 0.24° for an acquisition rate of 10 Hz. In conclusion, BeAMS is a low-power, flexible, and robust solution for angle measurement and a reliable component for robot positioning. View full abstract»

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  • Control of a Group of Mobile Robots Based on Formation Abstraction and Decentralized Locational Optimization

    Publication Year: 2014 , Page(s): 550 - 565
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    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1301 KB) |  | HTML iconHTML  

    In this paper, we propose a new method of controlling a group of mobile robots based on formation abstraction. The shape of a formation is represented by a deformable polygon, which is constructed by bending a rectangle, to go through narrow spaces without colliding with obstacles. If the trajectory of the front end point, as well as the width and the length of the formation, are given, the formation automatically reshapes itself to fit the area through which the front part of the group has already safely passed. Furthermore, the robots continuously try to optimize their positions to decrease the risk of collisions by integrating a decentralized locational optimization algorithm into the formation control. We show that the objective function, taking into account the distance between robots, does not decrease for fixed and nonconvex polygonal formation shapes if the zero-order hold control is applied for a sufficiently short sampling period. We also analyze the influence of the decentralized locational optimization algorithm on the objective function in the case of variable formations. The effectiveness of the proposed method is demonstrated in both simulations and real robot experiments. View full abstract»

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  • A New Three Object Triangulation Algorithm for Mobile Robot Positioning

    Publication Year: 2014 , Page(s): 566 - 577
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1629 KB) |  | HTML iconHTML  

    Positioning is a fundamental issue in mobile robot applications. It can be achieved in many ways. Among them, triangulation based on angles measured with the help of beacons is a proven technique. Most of the many triangulation algorithms proposed so far have major limitations. For example, some of them need a particular beacon ordering, have blind spots, or only work within the triangle defined by the three beacons. More reliable methods exist; however, they have an increasing complexity, or they require to handle certain spatial arrangements separately. In this paper, we present a simple and new three object triangulation algorithm, known as ToTal, that natively works in the whole plane and for any beacon ordering. We also provide a comprehensive comparison between many algorithms and show that our algorithm is faster and simpler than comparable algorithms. In addition to its inherent efficiency, our algorithm provides a very useful and unique reliability measure that is assessable anywhere in the plane, which can be used to identify pathological cases, or as a validation gate in Kalman filters. View full abstract»

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  • Reduced Locomotion Dynamics With Passive Internal DoFs: Application to Nonholonomic and Soft Robotics

    Publication Year: 2014 , Page(s): 578 - 592
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (609 KB) |  | HTML iconHTML  

    This paper proposes a general modeling approach for locomotion dynamics of mobile multibody systems containing passive internal degrees of freedom concentrated into (ideal or not) joints and/or distributed along deformable bodies of the system. The approach embraces the case of nonholonomic mobile multibody systems with passive wheels, the pendular climbers, and the locomotion systems bioinspired by animals that exploit the advantages of soft appendages such as fish swimming with their caudal fin or moths that use the softness of their flapping wings to improve flight performance. The paper proposes a general structured modeling approach of MMS with tree-like structures along with efficient computational algorithms of the resulting equations. The approach is illustrated through nontrivial examples such as the 3-D bicycle and a compliant version of the snake-board. View full abstract»

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  • Robotic Tracking of Coherent Structures in Flows

    Publication Year: 2014 , Page(s): 593 - 603
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1401 KB) |  | HTML iconHTML  

    Lagrangian coherent structures (LCSs) are separatrices that delineate dynamically distinct regions in general dynamical systems and can be viewed as the extensions of stable and unstable manifolds to general time-dependent systems. Identifying LCS in dynamical systems is useful for many applications, including oceanography and weather prediction. In this paper, we present a collaborative robotic control strategy that is designed to track stable and unstable manifolds in dynamical systems, including ocean flows. The technique does not require global information about the dynamics, and is based on local sensing, prediction, and correction. The collaborative control strategy is implemented with a team of three robots to track coherent structures and manifolds on static flows, a time-dependent model of a wind-driven double-gyre flow often seen in the ocean, experimental data that are generated by a flow tank, and actual ocean data. We present simulation results and discuss theoretical guarantees of the collaborative tracking strategy. View full abstract»

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  • Electric Sensor-Based Control of Underwater Robot Groups

    Publication Year: 2014 , Page(s): 604 - 618
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1754 KB) |  | HTML iconHTML  

    Some fish species use electric sense to navigate efficiently in the turbid waters of confined spaces. This paper presents a first attempt to use this sense to control a group of nonholonomic rigid underwater vehicles navigating in a cooperative way. A leader whose motion is unknown to the others serves as an active agent for its passive neighbor, which perceives the leader's electric field via current measurements and moves in order to follow a trajectory relative to it. Then, this passive agent, becomes in its turn the leader for the next agent and so on. Sufficient conditions of convergence of the control law are derived for electric current servoing. This is achieved without the explicit knowledge of the location of the agents. Some limits on the possible motion of the leader along with the importance of the choice of controlled outputs are demonstrated. Switching between different group configurations by following a virtual agent is also described. Simulation and experimental results illustrate the theoretical study. View full abstract»

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  • Synthesis of Differentially Driven Planar Cable Parallel Manipulators

    Publication Year: 2014 , Page(s): 619 - 630
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1822 KB) |  | HTML iconHTML  

    In this paper, the idea of using cable differentials in the architecture of planar cable-driven parallel robots is introduced. Cable differentials are a type of mechanisms with several outputs driven by a single input. Using them in cable parallel manipulators can decrease their cost and control complexity. However, due to their kinematic constrains, cable differentials cannot be arbitrarily used in the design of these manipulators. Thus, a synthesis method is proposed to tackle this issue. First, the general requirements and characteristics of differentially driven planar cable mechanisms are reviewed. Then, the advantages of using these differentials instead of typically actuated cables are shown through a comparison between differentially actuated planar cable robots and fully actuated ones. The results reveal that with the same number of actuators, using differentials may lead to larger workspaces and improved kinetostatic properties. Subsequently, the systematic synthesis of differentially driven planar cable mechanisms is presented. For this, a method to find the different arrangements of q cables in a differential is proposed. Then, valid arrangements with 2, 3, and 4 cables are investigated. Finally, several differential actuation schemes are considered and all possible differentials with q=2, 3, and 4 cables are found. View full abstract»

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  • Analysis of Coupled Stability in Multilateral Dual-User Teleoperation Systems

    Publication Year: 2014 , Page(s): 631 - 641
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2499 KB) |  | HTML iconHTML  

    In this paper, we set out a framework for the analysis of coupled stability in dual-user linear teleoperation systems. An extension of the Zeheb-Walach (ZW) criteria for absolute stability of an n-port network will be stated and proven. While the original theorem states conditions for asymptotic stability of a network terminated by passive impedances, the extended version allows for poles on the imaginary axis, which makes it applicable to a larger class of systems, such as robotic applications with position feedback. The extended theorem includes conditions on the Laurent expansion of the elements and the principal minors of the network immittance matrix. A novel dual-user shared control paradigm, realizing a three-way gearbox mechanism, is presented. A numerical analysis of absolute stability of the three-port network, representing the shared control architecture, demonstrates the effectiveness of the extended Zeheb-Walach method. View full abstract»

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  • Influence Vectors Control for Robots Using Cellular-Like Binary Actuators

    Publication Year: 2014 , Page(s): 642 - 651
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1084 KB) |  | HTML iconHTML  

    Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio, and cost. This paper presents a robust fault-tolerant control scheme that is designed to meet the control challenges that are encountered by such robots, i.e., discrete actuator inputs, complex system modeling, and cross-coupling between actuators. In the proposed scheme, a desired vectorial system output, such as a position or a force, is commanded by recruiting actuators based on their influence vectors on the output. No analytical model of the system is needed; influence vectors are identified experimentally by sequentially activating each actuator. For position control tasks, the controller uses a probabilistic approach and a genetic algorithm to determine an optimal combination of actuators to recruit. For motion control tasks, the controller uses a sliding mode approach and independent recruiting decision for each actuator. Experimental results on a four degrees of freedom binary manipulator with 20 actuators confirm the method's effectiveness and its ability to tolerate massive perturbations and numerous actuator failures. View full abstract»

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  • Modeling and Control of Legged Locomotion via Switching Max-Plus Models

    Publication Year: 2014 , Page(s): 652 - 665
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (5572 KB) |  | HTML iconHTML  

    We present a gait generation framework for multi-legged robots based on max-plus algebra that is endowed with intrinsically safe gait transitions. The time schedule of each foot liftoff and touchdown is modeled by sets of max-plus linear equations. The resulting discrete-event system is translated to continuous time via piecewise constant leg phase velocities; thus, it is compatible with traditional central pattern generator approaches. Different gaits and gait parameters are interleaved by utilizing different max-plus system matrices. We present various gait transition schemes and show that optimal transitions, in the sense of minimizing the stance time variation, allow for constant acceleration and deceleration on legged platforms. The framework presented in this paper relies on a compact representation of the gait space, provides guarantees regarding the transient and steady-state behavior, and results in simple implementations on legged robotic platforms. View full abstract»

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  • A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients

    Publication Year: 2014 , Page(s): 666 - 678
    Multimedia
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1142 KB) |  | HTML iconHTML  

    We propose a new bounding volume that achieves a tunable strict convexity of a given convex hull. This geometric operator is named sphere-tori-patches bounding volume (STP-BV), which is the acronym for the bounding volume made of patches of spheres and tori. The strict convexity of STP-BV guarantees a unique pair of witness points and at least C1 continuity of the distance function resulting from a proximity query with another convex shape. Subsequently, the gradient of the distance function is continuous. This is useful for integrating distance as a constraint in robotic motion planners or controllers using smooth optimization techniques. For the sake of completeness, we compare performance in smooth and nonsmooth optimization with examples of growing complexity when involving distance queries between pairs of convex shapes. View full abstract»

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  • Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems

    Publication Year: 2014 , Page(s): 679 - 693
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (4205 KB) |  | HTML iconHTML  

    In this paper, we provide specific and practical approaches to associate uncertainty with 4 ×4 transformation matrices, which is a common representation for pose variables in 3-D space. We show constraint-sensitive means of perturbing transformation matrices using their associated exponential-map generators and demonstrate these tools on three simple-yet-important estimation problems: 1) propagating uncertainty through a compound pose change, 2) fusing multiple measurements of a pose (e.g., for use in pose-graph relaxation), and 3) propagating uncertainty on poses (and landmarks) through a nonlinear camera model. The contribution of the paper is the presentation of the theoretical tools, which can be applied in the analysis of many problems involving 3-D pose and point variables. View full abstract»

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  • Dynamic Modeling and Control of Parallel Robots With Elastic Cables: Singular Perturbation Approach

    Publication Year: 2014 , Page(s): 694 - 704
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (978 KB) |  | HTML iconHTML  

    In this paper, control of fully-constrained parallel cable robots with elastic cables is studied in detail. In the modeling process, longitudinal vibration of cables is considered as their dominant dynamics, and the governing equations of motion are rewritten to the standard form of singular perturbation. The proposed composite controller consists of two main components. A rigid controller is designed based on the slow or rigid model of the system and a corrective term is added to guarantee asymptotic stability of the fast dynamics. Then, by using Tikhonov theorem, slow and fast variables are separated and incorporated into the stability analysis of the overall closed-loop system, and a set of sufficient conditions for the stability of the total system is derived. Finally, the effectiveness of the proposed control law is verified through simulations. View full abstract»

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  • Design and Open-Loop Control of the ParkourBot, a Dynamic Climbing Robot

    Publication Year: 2014 , Page(s): 705 - 718
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1301 KB) |  | HTML iconHTML  

    The ParkourBot climbs in a planar reduced-gravity vertical chute by leaping back and forth between the chute's two parallel walls. The ParkourBot is comprised of a body with two springy legs and its controls consist of leg angles at touchdown and the energy stored in them. During flight, the robot stores elastic potential energy in its springy legs and then converts this potential energy in to kinetic energy at touchdown, when it “kicks off” a wall. This paper describes the ParkourBot's mechanical design, modeling, and open-loop climbing experiments. The mechanical design makes use of the BowLeg, previously used for hopping on a flat ground. We introduce two models of the BowLeg ParkourBot: one is based on a nonzero stance duration using the spring-loaded inverted pendulum model, and the other is a simplified model (the simplest parkour model, or SPM) obtained as the leg stiffness approaches infinity and the stance time approaches zero. The SPM approximation provides the advantage of closed-form calculations. Finally, predictions of the models are validated by experiments in open-loop climbing in a reduced-gravity planar environment provided by an air table. View full abstract»

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  • Magnetic Resonance Navigation of a Bead Inside a Three-Bifurcation PMMA Phantom Using an Imaging Gradient Coil Insert

    Publication Year: 2014 , Page(s): 719 - 727
    Cited by:  Papers (1)
    Multimedia
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (819 KB) |  | HTML iconHTML  

    This paper reports the successful navigation of a 1-mm Chrome-Steel bead along three consecutive polymethyl methacrylate channels inside the bore of a 1.5-T magnetic resonance imaging (MRI) scanner. The bead traveled at a mean velocity of 14 cm·s -1. This was accomplished using an imaging gradient coil (IGC) insert located inside the MRI tube. While targeting one side of a bifurcation has been previously demonstrated using unidirectional gradient coils, this is the first time that magnetic resonance navigation (MRN) of a bead along consecutive channels is reported. Experimental results confirm that a clinical regular MRI can be used to propel a 1-mm device. In addition, when used at maximum power, IGC temperature rise becomes a serious issue that can ultimately damage the insert and limit the overall performance. Consequently, this paper aims to give some insight into coil temperature management for IGC-assisted procedures. A 33-min thermal stress test was carried out using 100% of the IGC power. Steady-state oscillation can be reached by interleaving propulsion periods with cooling periods, thus enabling longer propulsion procedures. Experimental data showed that the cooling time can be used for imaging purposes with no performance loss, thus enabling MRN-assisted procedures with multiplexed particle distribution assessment. View full abstract»

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  • Dynamic Point-to-Point Trajectory Planning of a Two-DOF Cable-Suspended Parallel Robot

    Publication Year: 2014 , Page(s): 728 - 736
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (649 KB) |  | HTML iconHTML  

    This paper presents two trajectory-planning approaches for the point-to-point motion of planar two-degree-of-freedom (dof) cable-suspended parallel mechanisms. The proposed techniques can be used to plan trajectories that extend beyond the static workspace of the mechanism. Trajectories are specified as a list of target points that must be reached in sequence, with a zero velocity at each of the target points. In the first technnique, polynomial trajectories are designed to connect the target points, while the second approach uses trigonometric functions. Both techniques ensure continuity of the accelerations. Based on the dynamic model of the robot, algebraic inequalities are obtained that represent the constraints on cable tensions. These inequalities are used to determine the feasibility of the planned trajectories. Polynomial trajectories must be discretized in order to verify feasibility, while trajectories that are based on trigonometric functions can be verified globally, based on a set of simple algebraic equations. Example trajectories are given in order to illustrate the approach. An experimental validation is also presented using a two-dof prototype, and two video extensions are provided to demonstrate the results. View full abstract»

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  • A New Nonlinear Model of Contact Normal Force

    Publication Year: 2014 , Page(s): 736 - 739
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (597 KB) |  | HTML iconHTML  

    This paper presents a new nonlinear model of the normal force that arises during compliant contact between two spheres, or between a sphere and a flat plate. It differs from a well-known existing model by only a single term. The advantage of the new model is that it accurately predicts the measured values of the coefficient of restitution between spheres and plates of various materials, whereas other models do not. View full abstract»

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  • Leader–Follower Coordinated Tracking of Multiple Heterogeneous Lagrange Systems Using Continuous Control

    Publication Year: 2014 , Page(s): 739 - 745
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (598 KB) |  | HTML iconHTML  

    In this paper, we study the coordinated tracking problem of multiple heterogeneous Lagrange systems with a dynamic leader. Only nominal parameters of Lagrange dynamics are assumed to be available. Under the local interaction constraints, i.e., the followers only have access to their neighbors' information and the leader being a neighbor of only a subset of the followers, continuous coordinated tracking algorithms with adaptive coupling gains are proposed. Except for the benefit of the chattering-free control achieved, the proposed algorithm also has the attribute that it does not require the neighbors' generalized coordinate derivatives. Global asymptotic coordinated tracking is guaranteed, and the tracking errors between the followers and the leader are shown to converge to zero. Examples are given to validate the effectiveness of the proposed algorithms. View full abstract»

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  • Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-Based Control of Robotic Systems

    Publication Year: 2014 , Page(s): 745 - 753
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (690 KB) |  | HTML iconHTML  

    The stability of discrete time kinematic sensor-based control of robots is investigated in this paper. A hierarchical inner-loop/outer-loop control architecture common for a generic robotic system is considered. The inner loop is composed of a servo-level joint controller and higher level kinematic feedback is performed in the outer loop. Stability results derived in this paper are of interest in several applications including visual servoing problems, redundancy control, and coordination/synchronization problems. The stability of the overall system is investigated taking into account input/output delays and the inner loop dynamics. A necessary and sufficient condition that the gain of the outer feedback loop has to satisfy to ensure local stability is derived. Experiments on a Kuka K-R16 manipulator have been performed in order to validate the theoretical findings on a real robotic system and show their practical relevance. View full abstract»

    Open Access
  • Torso Inclination Enables Faster Walking in a Planar Biped Robot With Passive Ankles

    Publication Year: 2014 , Page(s): 753 - 758
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (730 KB) |  | HTML iconHTML  

    There is a category of biped robots that are equipped with unactuated or passive ankles. We call them passive ankle walkers (PAWs). Because the unactuated ankle cannot provide the push-off at the end of stance phase as human ankles do, fast walking in PAWs is more challenging. In this paper, in order to realize fast walking in PAWs, we propose a simple strategy-torso inclination. To test this strategy, we studied a PAW model with simulation and prototype experiments. The simulation has shown how the torso inclination affects the walking speed and the energy efficiency of the PAW. Considering the “reality gap” problem of simulation, we have also experimentally tested this strategy with a real robot. By analyzing both the simulated model and the experimental results of the real robot, we identified the mechanism that accounts for fast walking in torso-inclined PAW. View full abstract»

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  • Robotic Probing of Nanostructures inside Scanning Electron Microscopy

    Publication Year: 2014 , Page(s): 758 - 765
    Cited by:  Papers (1)
    Multimedia
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1511 KB) |  | HTML iconHTML  

    Probing nanometer-sized structures to evaluate the performance of integrated circuits (IC) for design verification and manufacturing quality monitoring demands precision nanomanipulation technologies. To minimize electron-induced damage and improve measurement accuracy, scanning electron microscopy (SEM) imaging parameters must be cautiously chosen to ensure low electron energy and dosage. This results in significant image noise and drift. This paper presents automated nanoprobing with a nanomanipulation system inside a standard SEM. We achieved SEM image denoising and drift compensation in real time. This capability is necessary for achieving robust visual tracking and servo control of nanomanipulators for probing nanostructures in automated operation. This capability also proves highly useful to conventional manual operation by rendering real-time SEM images that have little noise and drift. The automated system probed nanostructures on an SEM metrology chip as surrogates of electronic features on IC chips. Success rates in visual tracking and Z-contact detection under various imaging conditions were quantitatively discussed. The experimental results demonstrate the system's capability for automated probing of nanostructures under IC-chip-probing relevant electron microscope imaging conditions. View full abstract»

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  • Natural Gaits for Multilink Mechanical Systems

    Publication Year: 2014 , Page(s): 765 - 771
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (996 KB) |  | HTML iconHTML  

    Typical animal locomotion is achieved by the rhythmical undulation of its body segments while interacting with its environment. It inspires the mechanical design of multilink locomotors. With different postures, a multilink system may present different locomotion gaits. Recently, a so-called natural oscillation gait was studied for multilink systems, and a class of biologically inspired controllers was designed for the achievement of the gait. In this paper, the theoretical design is experimentally applied on a mechanical multilink testbed of two posture configurations in rayfish-like flapping-wing motion and snake-like serpentine motion. The effectiveness of the design is cross examined by theoretical analysis, numerical simulation, and experiments. View full abstract»

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  • Toward a Dancing Robot With Listening Capability: Keypose-Based Integration of Lower-, Middle-, and Upper-Body Motions for Varying Music Tempos

    Publication Year: 2014 , Page(s): 771 - 778
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (2325 KB) |  | HTML iconHTML  

    This paper presents the development toward a dancing robot that can listen to and dance along with musical performances. One of the key components of this robot is the ability to modify its dance motions with varying tempos, without exceeding motor limitations, in the same way that human dancers modify their motions. In this paper, we first observe human performances with varying musical tempos of the same musical piece, and then analyze human modification strategies. The analysis is conducted in terms of three body components: lower, middle, and upper bodies. We assume that these body components have different purposes and different modification strategies, respectively, for the performance of a dance. For all of the motions of these three components, we have found that certain fixed postures, which we call keyposes, tend to be preserved. Thus, this paper presents a method to create motions for robots at a certain music tempo, from human motion at an original music tempo, by using these keyposes. We have implemented these algorithms as an automatic process and validated their effectiveness by using a physical humanoid robot HRP-2. This robot succeeded in performing the Aizu-bandaisan dance, one of the Japanese traditional folk dances, 1.2 and 1.5 times faster than the tempo originally learned, while maintaining its physical constraints. Although we are not achieving a dancing robot which autonomously interacts with varying music tempos, we think that our method has a vital role in the dancing-to-music capability. View full abstract»

    Open Access

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