# IEEE Transactions on Robotics

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• ### ORB-SLAM: A Versatile and Accurate Monocular SLAM System

Publication Year: 2015, Page(s):1147 - 1163
Cited by:  Papers (221)
| | PDF (1821 KB) | HTML

This paper presents ORB-SLAM, a feature-based monocular simultaneous localization and mapping (SLAM) system that operates in real time, in small and large indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and relocalization, and includes full automatic initialization. Building on excellent algorithms of recent years, we designed from ... View full abstract»

• ### On-Manifold Preintegration for Real-Time Visual--Inertial Odometry

Publication Year: 2017, Page(s):1 - 21
Cited by:  Papers (5)
| | PDF (3217 KB) | HTML

Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly becomes infeasible as the trajectory grows over time; this problem is further emphasized by the fact that inertial measurements come at high rate, hence, leading to the fast growth of the number of variables in the optimizatio... View full abstract»

• ### ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras

Publication Year: 2017, Page(s):1255 - 1262
| | PDF (845 KB) | HTML Media

We present ORB-SLAM2, a complete simultaneous localization and mapping (SLAM) system for monocular, stereo and RGB-D cameras, including map reuse, loop closing, and relocalization capabilities. The system works in real time on standard central processing units in a wide variety of environments from small hand-held indoors sequences, to drones flying in industrial environments and cars driving arou... View full abstract»

• ### 3-D Mapping With an RGB-D Camera

Publication Year: 2014, Page(s):177 - 187
Cited by:  Papers (110)
| | PDF (760 KB) | HTML

In this paper, we present a novel mapping system that robustly generates highly accurate 3-D maps using an RGB-D camera. Our approach requires no further sensors or odometry. With the availability of low-cost and light-weight RGB-D sensors such as the Microsoft Kinect, our approach applies to small domestic robots such as vacuum cleaners, as well as flying robots such as quadrocopters. Furthermore... View full abstract»

• ### Robot Collisions: A Survey on Detection, Isolation, and Identification

Publication Year: 2017, Page(s):1292 - 1312
| | PDF (2074 KB) | HTML

Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limita... View full abstract»

• ### Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age

Publication Year: 2016, Page(s):1309 - 1332
Cited by:  Papers (27)
| | PDF (811 KB) | HTML

Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications and witnessing a steady transition of this technology to industry. We survey the current stat... View full abstract»

• ### A Novel Robotic Platform for Aerial Manipulation Using Quadrotors as Rotating Thrust Generators

Publication Year: 2018, Page(s):353 - 369
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We propose a novel robotic platform for aerial operation and manipulation, a spherically connected multiquadrotor (SmQ) platform, which consists of a rigid frame and multiple quadrotors that are connected to the frame via passive spherical joints and act as distributed rotating thrust generators to collectively propel the frame by adjusting their attitude and thrust force. Depending on the number ... View full abstract»

• ### Cooperative Collision Avoidance for Nonholonomic Robots

Publication Year: 2018, Page(s):404 - 420
| | PDF (1633 KB) | HTML Media

In this paper, we present a method, namely €CCA, for collision avoidance in dynamic environments among interacting agents, such as other robots or humans. Given a preferred motion by a global planner or driver, the method computes a collision-free local motion for a short time horizon, which respects the actuator constraints and allows for smooth and safe control. The method buil... View full abstract»

• ### Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art

Publication Year: 2008, Page(s):144 - 158
Cited by:  Papers (414)  |  Patents (26)
| | PDF (791 KB) | HTML

In the nearly six decades since researchers began to explore methods of creating them, exoskeletons have progressed from the stuff of science fiction to nearly commercialized products. While there are still many challenges associated with exoskeleton development that have yet to be perfected, the advances in the field have been enormous. In this paper, we review the history and discuss the state-o... View full abstract»

• ### $varepsilon ^{star }$: An Online Coverage Path Planning Algorithm

Publication Year: 2018, Page(s):526 - 533
| | PDF (2805 KB) | HTML Media

This paper presents an algorithm called ε*, for online coverage path planning of unknown environment. The algorithm is built upon the concept of an Exploratory Turing Machine (ETM), which acts as a supervisor to the autonomous vehicle to guide it with adaptive navigation commands. The ETM generates a coverage path online using Multiscale Adaptive Potential Surfaces (MAPS), which are hierarc... View full abstract»

• ### Formation Control of Nonholonomic Mobile Robots Without Position and Velocity Measurements

Publication Year: 2018, Page(s):434 - 446
| | PDF (1599 KB) | HTML Media

Most existing formation control approaches are based on the assumption that the global/relative position and/or velocity measurements of mobile robots are directly available. To extend the application domain and to improve the formation control performance, it is extremely necessary to avoid the use of position and velocity measurements in the design of formation controllers. In this paper, we pro... View full abstract»

• ### Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution

Publication Year: 2008, Page(s):1131 - 1142
Cited by:  Papers (78)  |  Patents (4)
| | PDF (238 KB) | HTML

This paper proposes an analytical methodology of inverse kinematic computation for 7 DOF redundant manipulators with joint limits. Specifically, the paper focuses on how to obtain all feasible inverse kinematic solutions in the global configuration space where joint movable ranges are limited. First, a closed-form inverse kinematic solution is derived based on a parameterization method. Second, ho... View full abstract»

• ### Design and Modeling of Generalized Fiber-Reinforced Pneumatic Soft Actuators

Publication Year: 2015, Page(s):536 - 545
Cited by:  Papers (10)
| | PDF (1131 KB) | HTML

Soft actuators comprised of fluidic structures with fiber-reinforced elastomeric enclosures are seen throughout nature, exhibiting strength, power density, resilience, and diverse motions and forces. However, these structures are rarely used by engineers, in part due to the absence of a generalized understanding of their kinematics and forces. A small subset of soft actuators generating only exten... View full abstract»

• ### Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers

Publication Year: 2018, Page(s):303 - 316
| | PDF (2415 KB) | HTML Media

Grasping objects that are too large to envelop is traditionally achieved using friction that is activated by squeezing. We present a family of shear-activated grippers that can grasp such objects without the need to squeeze. When a shear force is applied to the gecko-inspired material in our grippers, adhesion is turned on; this adhesion in turn results in adhesion-controlled friction, a friction ... View full abstract»

• ### Bags of Binary Words for Fast Place Recognition in Image Sequences

Publication Year: 2012, Page(s):1188 - 1197
Cited by:  Papers (137)
| | PDF (1546 KB) | HTML

We propose a novel method for visual place recognition using bag of words obtained from accelerated segment test (FAST)+BRIEF features. For the first time, we build a vocabulary tree that discretizes a binary descriptor space and use the tree to speed up correspondences for geometrical verification. We present competitive results with no false positives in very different datasets, using exactly th... View full abstract»

• ### Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters

Publication Year: 2007, Page(s):34 - 46
Cited by:  Papers (495)  |  Patents (3)
| | PDF (1180 KB) | HTML

Recently, Rao-Blackwellized particle filters (RBPF) have been introduced as an effective means to solve the simultaneous localization and mapping problem. This approach uses a particle filter in which each particle carries an individual map of the environment. Accordingly, a key question is how to reduce the number of particles. In this paper, we present adaptive techniques for reducing this numbe... View full abstract»

• ### Continuum Robots for Medical Applications: A Survey

Publication Year: 2015, Page(s):1261 - 1280
Cited by:  Papers (52)
| | PDF (1103 KB) | HTML

In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. In addition, many designs offer inherent structural complian... View full abstract»

• ### Tactile Sensing—From Humans to Humanoids

Publication Year: 2010, Page(s):1 - 20
Cited by:  Papers (484)  |  Patents (11)
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Starting from human ??sense of touch,?? this paper reviews the state of tactile sensing in robotics. The physiology, coding, and transferring tactile data and perceptual importance of the ??sense of touch?? in humans are discussed. Following this, a number of design hints derived for robotic tactile sensing are presented. Various technologies and transduction methods used to improve the touch sens... View full abstract»

• ### Modeling of Soft Fiber-Reinforced Bending Actuators

Publication Year: 2015, Page(s):778 - 789
Cited by:  Papers (55)
| | PDF (998 KB) | HTML

Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this paper, the principle of operation of t... View full abstract»

• ### SVO: Semidirect Visual Odometry for Monocular and Multicamera Systems

Publication Year: 2017, Page(s):249 - 265
Cited by:  Papers (2)
| | PDF (1813 KB) | HTML Media

Direct methods for visual odometry (VO) have gained popularity for their capability to exploit information from all intensity gradients in the image. However, low computational speed as well as missing guarantees for optimality and consistency are limiting factors of direct methods, in which established feature-based methods succeed instead. Based on these considerations, we propose a semidirect V... View full abstract»

• ### Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots

Publication Year: 2017, Page(s):509 - 522
Cited by:  Papers (2)
| | PDF (1508 KB) | HTML Media

Designing an actuator system for highly dynamic legged robots has been one of the grand challenges in robotics research. Conventional actuators for manufacturing applications have difficulty satisfying design requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. To address this challenge, this paper suggests a prop... View full abstract»

• ### Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions

Publication Year: 2012, Page(s):61 - 76
Cited by:  Papers (55)  |  Patents (5)
| | PDF (1203 KB) | HTML

In this paper, we present a novel method to fuse observations from an inertial measurement unit (IMU) and visual sensors, such that initial conditions of the inertial integration, including gravity estimation, can be recovered quickly and in a linear manner, thus removing any need for special initialization procedures. The algorithm is implemented using a graphical simultaneous localization and ma... View full abstract»

• ### Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic Hand

Publication Year: 2018, Page(s):542 - 549
| | PDF (745 KB) | HTML Media

Force-based manipulation control strategies are evolving as a primary mechanism in robotics for performing the fine manipulation tasks typical within manufacturing assembly. The ability to systematically compare robotic system performance and quantify true advancement in fine manipulation is of utmost importance. Accordingly, the objectives of this paper are threefold: 1) creation of a peg-in-hole... View full abstract»

• ### Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction

Publication Year: 2015, Page(s):850 - 863
Cited by:  Papers (17)
| | PDF (1833 KB) | HTML Media

This paper presents an experimental study on human-robot comanipulation in the presence of kinematic redundancy. The objective of the work is to enhance the performance during human-robot physical interaction by combining Cartesian impedance modulation and redundancy resolution. Cartesian impedance control is employed to achieve a compliant behavior of the robot's end effector in response to force... View full abstract»

• ### Design Methodology for Constructing Multimaterial Origami Robots and Machines

Publication Year: 2018, Page(s):151 - 165
| | PDF (2430 KB) |  Media

Robotic origami allows rapid prototyping of intelligent robots and machines constructed from thin sheets of functional materials. Multimaterial-based design freedom of origami robots creates functional versatility; however, the design parameters pose challenges in their mechanical layout and fabrication. While the conventional robot design follows a coherent and well-established design process, th... View full abstract»

• ### Interactive Perception: Leveraging Action in Perception and Perception in Action

Publication Year: 2017, Page(s):1273 - 1291
Cited by:  Papers (1)
| | PDF (1087 KB) | HTML

Recent approaches in robot perception follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term Interactive Perception (IP). This view of perception provides the following benefits. First, interaction with the environment creates a rich sensory signal that would otherwise not be present. Second, knowledge of the regularity i... View full abstract»

• ### OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation

Publication Year: 2010, Page(s):1006 - 1017
Cited by:  Papers (279)  |  Patents (1)
| | PDF (1114 KB) | HTML

We demonstrate five-degree-of-freedom (5-DOF) wireless magnetic control of a fully untethered microrobot (3-DOF position and 2-DOF pointing orientation). The microrobot can move through a large workspace and is completely unrestrained in the rotation DOF. We accomplish this level of wireless control with an electromagnetic system that we call OctoMag. OctoMag's unique abilities are due to its util... View full abstract»

• ### Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots

Publication Year: 2018, Page(s):317 - 335
| | PDF (4634 KB) | HTML

Physical compliance can be considered one of the key technical properties a robot should exhibit to increase its mechanical robustness. In addition, the accompanying temporal energy-storing capabilities enable explosive and energy efficient cyclic motions. But these advantages come at a price, as compliance introduces unwanted intrinsic oscillatory dynamics, underactuation, and reduces the natural... View full abstract»

• ### Robust Visual Localization Across Seasons

Publication Year: 2018, Page(s):289 - 302
| | PDF (2493 KB) | HTML

Localization is an integral part of reliable robot navigation, and long-term autonomy requires robustness against perceptional changes in the environment during localization. In the context of vision-based localization, such changes can be caused by illumination variations, occlusion, structural development, different weather conditions, and seasons. In this paper, we present a novel approach for ... View full abstract»

• ### A Computationally Efficient Motion Primitive for Quadrocopter Trajectory Generation

Publication Year: 2015, Page(s):1294 - 1310
Cited by:  Papers (10)
| | PDF (1006 KB) | HTML Media

A method is presented for the rapid generation and feasibility verification of motion primitives for quadrocopters and similar multirotor vehicles. The motion primitives are defined by the quadrocopter's initial state, the desired motion duration, and any combination of components of the quadrocopter's position, velocity, and acceleration at the motion's end. Closed-form solutions for the primitiv... View full abstract»

• ### Online Verification of Automated Road Vehicles Using Reachability Analysis

Publication Year: 2014, Page(s):903 - 918
Cited by:  Papers (36)
| | PDF (4729 KB) | HTML

An approach for formally verifying the safety of automated vehicles is proposed. Due to the uniqueness of each traffic situation, we verify safety online, i.e., during the operation of the vehicle. The verification is performed by predicting the set of all possible occupancies of the automated vehicle and other traffic participants on the road. In order to capture all possible future scenarios, we... View full abstract»

• ### Adaptive Human–Robot Interaction Control for Robots Driven by Series Elastic Actuators

Publication Year: 2017, Page(s):169 - 182
Cited by:  Papers (5)
| | PDF (2078 KB) | HTML Media

Series elastic actuators (SEAs) are known to offer a range of advantages over stiff actuators for human-robot interaction, such as high force/torque fidelity, low impedance, and tolerance to shocks. While a variety of SEAs have been developed and implemented in initiatives that involve physical interactions with humans, relatively few control schemes were proposed to deal with the dynamic stabilit... View full abstract»

• ### Catching Objects in Flight

Publication Year: 2014, Page(s):1049 - 1065
Cited by:  Papers (35)
| | PDF (4132 KB) | HTML

We address the difficult problem of catching in-flight objects with uneven shapes. This requires the solution of three complex problems: accurate prediction of the trajectory of fastmoving objects, predicting the feasible catching configuration, and planning the arm motion, and all within milliseconds. We follow a programming-by-demonstration approach in order to learn, from throwing examples, mod... View full abstract»

• ### Dynamic Model of a Multibending Soft Robot Arm Driven by Cables

Publication Year: 2014, Page(s):1109 - 1122
Cited by:  Papers (39)
| | PDF (891 KB) | HTML

The new and promising field of soft robotics has many open areas of research such as the development of an exhaustive theoretical and methodological approach to dynamic modeling. To help contribute to this area of research, this paper develops a dynamic model of a continuum soft robot arm driven by cables and based upon a rigorous geometrically exact approach. The model fully investigates both dyn... View full abstract»

• ### Ultrahigh-Precision Rotational Positioning Under a Microscope: Nanorobotic System, Modeling, Control, and Applications

Publication Year: 2018, Page(s):497 - 507
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High-precision positioning is an essential requirement for sample operation at a small scale. At the current stage, although nanometer-scale accuracy has been achieved for the linear positioning, the rotational positioning (attitude control) is still very challenging and rarely addressed. This paper presents a rotatable nanorobotic system with rotational degrees of freedom first. Then, the system ... View full abstract»

• ### A Fully Autonomous Indoor Quadrotor

Publication Year: 2012, Page(s):90 - 100
Cited by:  Papers (139)  |  Patents (3)
| | PDF (1067 KB) | HTML

Recently, there has been increased interest in the development of autonomous flying vehicles. However, as most of the proposed approaches are suitable for outdoor operation, only a few techniques have been designed for indoor environments, where the systems cannot rely on the Global Positioning System (GPS) and, therefore, have to use their exteroceptive sensors for navigation. In this paper, we p... View full abstract»

• ### The Boundaries of Walking Stability: Viability and Controllability of Simple Models

Publication Year: 2018, Page(s):336 - 352
| | PDF (2749 KB) | HTML

From which states and with what controls can a biped avoid falling or reach a given target state? What is the most robust way to do these? So as to help with the design of walking robot controllers, and perhaps give insights into human walking, we address these questions using two simple 2-D models: the inverted pendulum (IP) and linear inverted pendulum (LIP). Each has one state variable at mid-s... View full abstract»

• ### Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking

Publication Year: 2006, Page(s):1216 - 1227
Cited by:  Papers (246)  |  Patents (1)
| | PDF (1728 KB) | HTML

Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an extended Kalman filter designed for real-time estimation of the orientation of human limb segments. The filter processes data from small inertial/magnetic sensor modules containing triaxial angular rate sensors, accelerome... View full abstract»

• ### Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization

Publication Year: 2018, Page(s):370 - 387
| | PDF (1308 KB) | HTML Media

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but has significant implementation difficulties when applied to the high degrees of freedom humanoids. The primary impediment is the process of gait design-it is difficult for optimizers to converge on a viable set of virtual constraints defining a gait. This paper presents a methodology that allows for fast and reli... View full abstract»

• ### Mechanics Modeling of Tendon-Driven Continuum Manipulators

Publication Year: 2008, Page(s):1262 - 1273
Cited by:  Papers (223)  |  Patents (10)
| | PDF (533 KB) | HTML

Continuum robotic manipulators articulate due to their inherent compliance. Tendon actuation leads to compression of the manipulator, extension of the actuators, and is limited by the practical constraint that tendons cannot support compression. In light of these observations, we present a new linear model for transforming desired beam configuration to tendon displacements and vice versa... View full abstract»

• ### Visual Place Recognition: A Survey

Publication Year: 2016, Page(s):1 - 19
Cited by:  Papers (39)
| | PDF (832 KB) | HTML

Visual place recognition is a challenging problem due to the vast range of ways in which the appearance of real-world places can vary. In recent years, improvements in visual sensing capabilities, an ever-increasing focus on long-term mobile robot autonomy, and the ability to draw on state-of-the-art research in other disciplines-particularly recognition in computer vision and animal navigation in... View full abstract»

• ### Collocated Adaptive Control of Underactuated Mechanical Systems

Publication Year: 2015, Page(s):1527 - 1536
Cited by:  Papers (5)
| | PDF (836 KB) | HTML

Collocated adaptive control of underactuated mechanical systems is still a concern for the control community. The main difficulty comes from the nonlinearity of the collocated inverse dynamics with respect to the base parameters, which forbids the direct application of classical adaptive control schemes. This paper extends and encompasses the Slotine's adaptive control, which was developed for ful... View full abstract»

• ### Coordinated multi-robot exploration

Publication Year: 2005, Page(s):376 - 386
Cited by:  Papers (391)  |  Patents (1)
| | PDF (1392 KB) | HTML

In this paper, we consider the problem of exploring an unknown environment with a team of robots. As in single-robot exploration the goal is to minimize the overall exploration time. The key problem to be solved in the context of multiple robots is to choose appropriate target points for the individual robots so that they simultaneously explore different regions of the environment. We present an a... View full abstract»

• ### Trajectory Deformations From Physical Human–Robot Interaction

Publication Year: 2018, Page(s):126 - 138
| | PDF (1009 KB) | HTML

Robots are finding new applications where physical interaction with a human is necessary, such as manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control approaches, which support compliant interactions between human and robot. However, a limitation of traditional impedance control is that-despite provisions for... View full abstract»

• ### Consensus-Based Decentralized Auctions for Robust Task Allocation

Publication Year: 2009, Page(s):912 - 926
Cited by:  Papers (206)  |  Patents (3)
| | PDF (591 KB) | HTML

This paper addresses task allocation to coordinate a fleet of autonomous vehicles by presenting two decentralized algorithms: the consensus-based auction algorithm (CBAA) and its generalization to the multi-assignment problem, i.e., the consensus-based bundle algorithm (CBBA). These algorithms utilize a market-based decision strategy as the mechanism for decentralized task selection and use a cons... View full abstract»

• ### Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification

Publication Year: 2018, Page(s):1 - 13
| | PDF (1978 KB) |  Media

Humans can skilfully use tools and interact with the environment by adapting their movement trajectory, contact force, and impedance. Motivated by the human versatility, we develop here a robot controller that concurrently adapts feedforward force, impedance, and reference trajectory when interacting with an unknown environment. In particular, the robot’s reference trajectory is adapted to ... View full abstract»

• ### Kinematics for multisection continuum robots

Publication Year: 2006, Page(s):43 - 55
Cited by:  Papers (245)  |  Patents (4)
| | PDF (1880 KB) | HTML

We introduce a new method for synthesizing kinematic relationships for a general class of continuous backbone, or continuum , robots. The resulting kinematics enable real-time task and shape control by relating workspace (Cartesian) coordinates to actuator inputs, such as tendon lengths or pneumatic pressures, via robot shape coordinates. This novel approach, which carefully considers physical man... View full abstract»

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

Publication Year: 2011, Page(s):918 - 930
Cited by:  Papers (104)
| | PDF (1328 KB) | HTML

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»

• ### Periodic Trajectory Planning Beyond the Static Workspace for 6-DOF Cable-Suspended Parallel Robots

Publication Year: 2018, Page(s):1 - 13
| | PDF (965 KB) |  Media

This paper proposes a dynamic trajectory planning technique for six-degree-of-freedom (6-DOF) cable-suspended parallel robots (CSPRs). First, a passive mechanical system that is equivalent to the CSPR is introduced to provide insight and facilitate the design of trajectories that can extend beyond the robot’s static workspace. The tilt-and-torsion angle convention is used to develop the mat... View full abstract»

• ### Safety Barrier Certificates for Collisions-Free Multirobot Systems

Publication Year: 2017, Page(s):661 - 674
Cited by:  Papers (1)
| | PDF (1110 KB) | HTML Media

This paper presents safety barrier certificates that ensure scalable and provably collision-free behaviors in multirobot systems by modifying the nominal controllers to formally satisfy safety constraints. This is achieved by minimizing the difference between the actual and the nominal controllers subject to safety constraints. The resulting computation of the safety controllers is done through a ... View full abstract»

## 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