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Robotics & Automation Magazine, IEEE

Issue 2 • Date June 2012

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Displaying Results 1 - 25 of 30
  • [Front cover]

    Publication Year: 2012 , Page(s): C1
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  • Table of contents

    Publication Year: 2012 , Page(s): 1
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  • Editorial Board

    Publication Year: 2012 , Page(s): 2
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  • Mobile Manipulation [From the Editor's Desk]

    Publication Year: 2012 , Page(s): 4
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  • Nurture the Automation Side of the Society [President's Message]

    Publication Year: 2012 , Page(s): 6 - 8
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  • New Robots: Sidekicks to Superheroes [News and Views]

    Publication Year: 2012 , Page(s): 7 - 8
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  • Formulation of a U.S. National Strategy for Robotics [Industrial Activities]

    Publication Year: 2012 , Page(s): 10 - 14
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    In the United States, there has been a diverse set of robotics programs funded by different agencies 2007. Formulation of a road map for robotics in the United States to establish the basis for a coordinated strategy has been discussed. Four different workshops have been arranged: (1) manufacturing and logistics, (2) health-care and medical robotics, (3) service robotics, and (4) emerging technologies. View full abstract»

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  • AdCom Election Reminder

    Publication Year: 2012 , Page(s): 12
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  • Is ROS Good for Robotics? [ROS Topics]

    Publication Year: 2012 , Page(s): 13 - 14
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  • Contribution Toward Future Biorobots [TC Spotlight]

    Publication Year: 2012 , Page(s): 16 - 17
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  • Mobile Manipulation [From the Guest Editors]

    Publication Year: 2012 , Page(s): 18 - 19
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  • IEEE Robotics and Automation Society

    Publication Year: 2012 , Page(s): 19
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  • Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom

    Publication Year: 2012 , Page(s): 20 - 33
    Cited by:  Papers (9)
    Multimedia
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3639 KB) |  | HTML iconHTML  

    As a result of intensive research over the last few decades, several robotic systems are approaching a level of maturity that allows robust task execution and safe interaction with humans and the environment. Particularly when considering the aging of the population, service and household robotics is expected to play an important role in future domestic environments. To provide the ability to accomplish a huge range of tasks with different requirements, it appears to be inevitable to equip the robot with a large number of degrees of freedom (DoF). Just imagine an ostensibly simple service task like filling a glass with water and placing it on a table. A variety of constraints has to be dealt with simultaneously: No liquid should be slopped, collisions with the environment must be avoided, and possible interactions with humans residing in the workspace of the robot have to be handled properly. View full abstract»

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  • RoboCup@Home: Demonstrating Everyday Manipulation Skills in RoboCup@Home

    Publication Year: 2012 , Page(s): 34 - 42
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2595 KB) |  | HTML iconHTML  

    As benchmarking robotics research is inherently difficult, robot competitions are increasingly popular. They bring together researchers, students, and enthusiasts who are in the pursuit of a technological challenge. Prominent examples for such competitions include the Defense Advanced Research Projects Agency's (DARPA's) Grand and Urban Challenges [1], the International Aerial Robotics Competition (IARC) [2], the European Land-Robot Trial (ELROB) [3], and, last but not least, RoboCup [4], [5]. View full abstract»

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  • Simultaneous Grasp and Motion Planning: Humanoid Robot ARMAR-III

    Publication Year: 2012 , Page(s): 43 - 57
    Cited by:  Papers (5)
    Multimedia
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3534 KB) |  | HTML iconHTML  

    In this work, we present an integrated approach for planning collision-free grasping motions. Therefore, rapidly exploring random tree (RRT)-based algorithms are used to build a tree of reachable and collision-free configurations. During tree generation, both grasp hypotheses and approach movements toward them are computed. The quality of reachable grasping poses is evaluated using grasp wrench space (GWS) analysis. We present an extension to a dual-arm planner that generates bimanual grasps together with collision-free dual-arm grasping motions. The algorithms are evaluated with different setups in simulation and on the humanoid robot ARMAR-III (Figure 1). View full abstract»

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  • Mobile Manipulation in Unstructured Environments: Perception, Planning, and Execution

    Publication Year: 2012 , Page(s): 58 - 71
    Cited by:  Papers (10)
    Multimedia
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3714 KB) |  | HTML iconHTML  

    Unstructured human environments present a substantial challenge to effective robotic operation. Mobile manipulation in human environments requires dealing with novel unknown objects, cluttered workspaces, and noisy sensor data. We present an approach to mobile pick and place in such environments using a combination of two-dimensional (2-D) and three-dimensional (3-D) visual processing, tactile and proprioceptive sensor data, fast motion planning, reactive control and monitoring, and reactive grasping. We demonstrate our approach by using a two-arm mobile manipulation system to pick and place objects. Reactive components allow our system to account for uncertainty arising from noisy sensors, inaccurate perception (e.g., object detection or registration), or dynamic changes in the environment. We also present a set of tools that allows our system to be easily configured within a short time for a new robotic system. View full abstract»

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  • Creation Myths: The Beginnings of Robotics Research

    Publication Year: 2012 , Page(s): 72 - 77
    Cited by:  Papers (1)
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    Some readers will wonder why I date the origin of robotics research to the 1940s and 1950s when there are so many important precursors. By most accounts, robotics history starts with ancient machines followed by centuries of progress in machine design, philosophy, and literature. But I am focusing more narrowly on robotics research: the substantial sustained communal scientific enterprise that has now been in progress for approximately 50 years (Figure 1). View full abstract»

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  • Visual Odometry : Part II: Matching, Robustness, Optimization, and Applications

    Publication Year: 2012 , Page(s): 78 - 90
    Cited by:  Papers (30)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1710 KB) |  | HTML iconHTML  

    Part II of the tutorial has summarized the remaining building blocks of the VO pipeline: specifically, how to detect and match salient and repeatable features across frames and robust estimation in the presence of outliers and bundle adjustment. In addition, error propagation, applications, and links to publicly available code are included. VO is a well understood and established part of robotics. VO has reached a maturity that has allowed us to successfully use it for certain classes of applications: space, ground, aerial, and underwater. In the presence of loop closures, VO can be used as a building block for a complete SLAM algorithm to reduce motion drift. Challenges that still remain are to develop and demonstrate large-scale and long-term implementations, such as driving autonomous cars for hundreds of miles. Such systems have recently been demonstrated using Lidar and Radar sensors [86]. However, for VO to be used in such systems, technical issues regarding robustness and, especially, long-term stability have to be resolved. Eventually, VO has the potential to replace Lidar-based systems for egomotion estimation, which are currently leading the state of the art in accuracy, robustness, and reliability. VO offers a cheaper and mechanically easier-to-manufacture solution for egomotion estimation, while, additionally, being fully passive. Furthermore, the ongoing miniaturization of digital cameras offers the possibility to develop smaller and smaller robotic systems capable of ego-motion estimation. View full abstract»

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  • Humanoids2012

    Publication Year: 2012 , Page(s): 91
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  • Widening Horizons: The Present and Future of the RAS Student Activities Committee [Student's Corner]

    Publication Year: 2012 , Page(s): 92 - 96
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  • Cybernetics: Or Control and Communications in the Animal and the Machine (Wiener, N.) [On the Shelf]

    Publication Year: 2012 , Page(s): 94 - 95
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  • System Identification: Theory for the User, 2nd Edition (Ljung, L.; 1999) [On the Shelf]

    Publication Year: 2012 , Page(s): 95 - 96
    Cited by:  Papers (1)
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  • The Uncanny Valley [From the Field]

    Publication Year: 2012 , Page(s): 98 - 100
    Cited by:  Papers (19)
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  • TASE Special issue on Discrete Event Systems for Automation

    Publication Year: 2012 , Page(s): 101
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  • IEEE RAS Society Awards [Society News]

    Publication Year: 2012 , Page(s): 102 - 105
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Aims & Scope

IEEE Robotics and Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Eugenio Guglielmelli
Laboratory of Biomedical Robotics
      and Biomicrosystems
Universita' Campus Bio-Medico
      di Roma