# IEEE Transactions on Robotics

## Filter Results

Displaying Results 1 - 22 of 22

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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• ### Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots

Publication Year: 2011, Page(s):1 - 13
Cited by:  Papers (71)
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This paper deals with the wrench-feasible workspace (WFW) of n-degree-of-freedom parallel robots driven by n or more than n cables. The WFW is the set of mobile platform poses for which the cables can balance any wrench of a given set of wrenches, such that the tension in each cable remains within a prescribed range. Requirements of nonnegative cable tensions, as well as maxim... View full abstract»

• ### Context Identification for Efficient Multiple-Model State Estimation of Systems With Cyclical Intermittent Dynamics

Publication Year: 2011, Page(s):14 - 28
Cited by:  Papers (4)
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This paper presents an approach to accurate and scalable multiple-model (MM) state estimation for hybrid systems with intermittent, cyclical, multimodal dynamics. The approach consists of using discrete-state estimation to identify a system's dynamical and behavioral contexts and determine which motion models appropriately represent current dynamics and which individual and MM filters are appropri... View full abstract»

• ### Efficient Unbiased Tracking of Multiple Dynamic Obstacles Under Large Viewpoint Changes

Publication Year: 2011, Page(s):29 - 46
Cited by:  Papers (23)
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A novel-tracking algorithm is presented as a computationally feasible, real-time solution to the joint estimation problem of data assignment and dynamic obstacle tracking from a potentially moving robotic platform. The algorithm implements a Rao-Blackwellized particle filter (RBPF) to factorize the joint estimation problem into 1) a data assignment problem solved via particle filter and 2) a multi... View full abstract»

• ### Active 3D Object Localization Using a Humanoid Robot

Publication Year: 2011, Page(s):47 - 64
Cited by:  Papers (20)
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We study the problem of actively searching for an object in a three-dimensional (3-D) environment under the constraint of a maximum search time using a visually guided humanoid robot with 26 degrees of freedom. The inherent intractability of the problem is discussed, and a greedy strategy for selecting the best next viewpoint is employed. We describe a target probability updating scheme approximat... View full abstract»

• ### Triaxial MRI-Compatible Fiber-optic Force Sensor

Publication Year: 2011, Page(s):65 - 74
Cited by:  Papers (27)  |  Patents (1)
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Magnetic resonance imaging (MRI) has gained popularity over standard imaging modalities like ultrasound and computed tomography because of its ability to provide excellent soft-tissue contrast. However, due to the working principle of MRI, a number of conventional force sensors are not compatible. One popular solution is to develop a fiber-optic force sensor. However, the measurements along the pr... View full abstract»

• ### A Fundamental Linear Systems Conflict Between Performance and Passivity in Haptic Rendering

Publication Year: 2011, Page(s):75 - 88
Cited by:  Papers (8)
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This paper analyzes inherent conflicts between model-matching goals of haptic rendering and passivity requirements for coupled stability. We apply results from complex analysis to prove that certain linear passive virtual environments cannot be rendered passively with a desired level of accuracy and over a given finite bandwidth. One practical consequence is that, under appropriate hypotheses, pas... View full abstract»

• ### Feasible and Optimal Path Planning in Strong Current Fields

Publication Year: 2011, Page(s):89 - 98
Cited by:  Papers (41)
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This paper addresses the problem of path planning in strong current fields. In such situations, existing approaches are subject to incorrectness and incompleteness issues. That is, they may return physically infeasible paths or no path at all, even if a feasible path exists. That is why we propose here a new approach called the sliding wavefront expansion. This algorithm, which combine an appropri... View full abstract»

• ### Human-Centered Robot Navigation—Towards a Harmoniously Human–Robot Coexisting Environment

Publication Year: 2011, Page(s):99 - 112
Cited by:  Papers (46)
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This paper proposes a navigation algorithm that considers the states of humans and robots in order to achieve harmonious coexistence between them. A robot navigation in the presence of humans and other robots is rarely considered in the field of robotics. When navigating through a space filled with humans and robots with different functions, a robot should not only pay attention to obstacle avoida... View full abstract»

• ### Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot

Publication Year: 2011, Page(s):113 - 128
Cited by:  Papers (23)
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This paper defines and analyzes a simple robot with local sensors that moves in an unknown polygonal environment. The robot can execute wall-following motions and can traverse the interior of the environment only when following parallel to an edge. The robot has no global sensors that would allow precise mapping or localization. Special information spaces are introduced for this particular model. ... View full abstract»

• ### Adaptive Position Tracking of VTOL UAVs

Publication Year: 2011, Page(s):129 - 142
Cited by:  Papers (69)
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An adaptive position-tracking control scheme is proposed for vertical take-off and landing (VTOL) unmanned airborne vehicles (UAVs) for a set of bounded external disturbances. The control design is achieved in three main steps. The first step is devoted to the design of an a priori bounded linear acceleration driving the translational dynamics toward the desired trajectory. In the second step, we ... View full abstract»

• ### The Forward Kinematics of 3-R$underline{P}$R Planar Robots: A Review and a Distance-Based Formulation

Publication Year: 2011, Page(s):143 - 150
Cited by:  Papers (5)
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The standard forward-kinematics analysis of 3-RPR planar parallel robots boils down to computation of the roots of a sextic polynomial. There are many different ways to obtain this polynomial, but most of them include exceptions for which the formulation is not valid. Unfortunately, near these exceptions, the corresponding polynomial exhibits numerical instabilities. In this paper, we provide a wa... View full abstract»

• ### A Method to Formulate a Dimensionally Homogeneous Jacobian of Parallel Manipulators

Publication Year: 2011, Page(s):150 - 156
Cited by:  Papers (19)
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This paper presents a general and systematic approach to formulate the dimensionally homogeneous Jacobian, which is an important issue for the dexterity evaluation and dimensional synthesis of f-degrees-of-freedom (DOF) (f ≤ 6) parallel manipulators having mixed rotational and translational movement capabilities. By the utilization of f independent coordinates to descri... View full abstract»

• ### A 2-D Passive-Dynamic-Running Biped With Elastic Elements

Publication Year: 2011, Page(s):156 - 162
Cited by:  Papers (17)
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This is the first study of a real physical kneed bipedal robot that exhibits passive-dynamic running (PDR), i.e., a bipedal gait with a flight phase in a device without an actuator. By carefully designing the properties of the elastic elements implemented into the hip joints and the stance legs in this device, we achieved a stable PDR consisting of 36 steps. The main contribution of this paper is ... View full abstract»

• ### Feedback Control of Planar Biped Robot With Regulable Step Length and Walking Speed

Publication Year: 2011, Page(s):162 - 169
Cited by:  Papers (21)
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For a compass-like biped robot, the problem of achieving stable walking on both ideal inclined surfaces and complex environments is studied. For the case of walking on ideal inclined surfaces, a feedback-control law is obtained via feedback-linearization techniques so that the trajectory of the robot converges to a desired passive walking gait. Simulations show that it leads to a larger basin of a... View full abstract»

• ### Estimation of Absolute Orientation for a Bipedal Robot: Experimental Results

Publication Year: 2011, Page(s):170 - 174
Cited by:  Papers (10)
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This paper deals with a planar biped. The aim of this paper is the estimation, during the imbalance phases of a walking cyclic gait, of its absolute orientation by only using the measurement of the actuated joint variables. The main contribution is the experimental evaluation of an original finite-time convergent-posture observer. View full abstract»

• ### A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views

Publication Year: 2011, Page(s):175 - 183
Cited by:  Papers (36)
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Driving mobile robots to precise locations is of recognized interest, and using vision sensors in this context supplies many advantages. We propose a novel control law based on sliding-mode theory in order to drive mobile robots to a target location, which is specified by a previously acquired reference image. The control scheme exploits the piecewise epipolar geometry of three views on the basis ... View full abstract»

• ### Erratum to “Passive Decomposition and Control of Nonholomic Mechanical Systems”

Publication Year: 2011, Page(s): 184
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In the previous paper, a production error occurred which resulted in the omission of the author's last set of changes to the final published paper. We sincerely regret this unfortunate mishap. View full abstract»

• ### Passive Decomposition and Control of Nonholonomic Mechanical Systems

Publication Year: 2011, Page(s):978 - 992
Cited by:  Papers (1)
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We propose nonholonomic passive decomposition, which enables us to decompose the Lagrange-D'Alembert dynamics of multiple (or a single) nonholonomic mechanical systems with a formation-specifying (holonomic) map h into 1) shape system, describing the dynamics of h(q) (i.e., formation aspect), where q ∈ ℜn is the systems' configuration; 2) locked sys... View full abstract»

• ### 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