# IEEE Robotics and Automation Letters

## Filter Results

Displaying Results 1 - 25 of 115

Publication Year: 2017, Page(s):C1 - iii
| PDF (119 KB)
• ### IEEE Robotics and Automation Letters publication information

Publication Year: 2017, Page(s): C2
| PDF (55 KB)
• ### Geometric Priors for Gaussian Process Implicit Surfaces

Publication Year: 2017, Page(s):373 - 380
Cited by:  Papers (4)
| | PDF (2158 KB) | HTML

This paper presents an extension of Gaussian process implicit surfaces (GPIS) by the introduction of geometric object priors. The proposed method enhances the probabilistic reconstruction of objects from three-dimensional (3-D) pointcloud data, providing a rigorous way of incorporating prior knowledge about objects expected in a scene. The key ideas, including the systematic use of surface normal ... View full abstract»

• ### Design of a Passive Vertical Takeoff and Landing Aquatic UAV

Publication Year: 2017, Page(s):381 - 388
Cited by:  Papers (3)
| | PDF (1336 KB) | HTML Media

With the goal of extending unmanned aerial vehicles mission duration, a solar recharge strategy is envisioned with lakes as preferred charging and standby areas. The Sherbrooke University Water-Air VEhicle (SUWAVE) concept developed is able to takeoff and land vertically on water. The physical prototype consists of a wing coupled to a rotating center body that minimizes the added components with a... View full abstract»

• ### Trajectory Generation for Unmanned Aerial Manipulators Through Quadratic Programming

Publication Year: 2017, Page(s):389 - 396
Cited by:  Papers (5)
| | PDF (613 KB) | HTML Media

In this paper, a trajectory generation approach using quadratic programming is described for aerial manipulation, i.e., for the control of an aerial vehicle equipped with a robot arm. The proposed approach applies the online active set strategy to generate a feasible trajectory of the joints, in order to accomplish a set of tasks with defined bounds and constraint inequalities. The definition of t... View full abstract»

• ### Repeatable Folding Task by Humanoid Robot Worker Using Deep Learning

Publication Year: 2017, Page(s):397 - 403
Cited by:  Papers (15)
| | PDF (965 KB) | HTML Media

We propose a practical state-of-the-art method to develop a machine-learning-based humanoid robot that can work as a production line worker. The proposed approach provides an intuitive way to collect data and exhibits the following characteristics: task performing capability, task reiteration ability, generalizability, and easy applicability. The proposed approach utilizes a real-time user interfa... View full abstract»

• ### Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU

Publication Year: 2017, Page(s):404 - 411
Cited by:  Papers (22)
| | PDF (1061 KB) | HTML Media

We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state e... View full abstract»

• ### Determining the Singularities for the Observation of Three Image Lines

Publication Year: 2017, Page(s):412 - 419
| | PDF (869 KB) | HTML

The determination of the singularity cases in the observation of image features is a complicated problem, which is still open, apart from image points. For the first time, we provide the singularity cases in the observation of three image lines. We show that a concept named the “hidden robot,” which was formerly used for understanding the singularities of a vision-based controller dedicated to par... View full abstract»

• ### Self-Supervised Visual Descriptor Learning for Dense Correspondence

Publication Year: 2017, Page(s):420 - 427
Cited by:  Papers (5)
| | PDF (707 KB) | HTML

Robust estimation of correspondences between image pixels is an important problem in robotics, with applications in tracking, mapping, and recognition of objects, environments, and other agents. Correspondence estimation has long been the domain of hand-engineered features, but more recently deep learning techniques have provided powerful tools for learning features from raw data. The drawback of ... View full abstract»

• ### Multiregion Inspection by Combining Clustered Traveling Salesman Tours With Sampling-Based Motion Planning

Publication Year: 2017, Page(s):428 - 435
Cited by:  Papers (2)
| | PDF (767 KB) | HTML Media

This paper develops an efficient approach to generate a collision-free and dynamically feasible trajectory that enables a robotic vehicle to inspect the entire workspace or a subset consisting of one or several regions. The approach makes it possible to specify constraints on the order in which the regions should be inspected by using colors to ensure that regions with the same color are inspected... View full abstract»

• ### Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency

Publication Year: 2017, Page(s):436 - 443
Cited by:  Papers (1)
| | PDF (1209 KB) | HTML

Compliant elements in robotic systems can strongly increase the energy efficiency of highly dynamic periodic motions with large energy consumption such as jumping. Their control is a challenging task for multijoint systems. Typical control algorithms are model-based and thus fail to adjust to unexpected mechanical environments or make limited use of mechanical resonance properties. Here, we apply ... View full abstract»

• ### Direct Visual Odometry in Low Light Using Binary Descriptors

Publication Year: 2017, Page(s):444 - 451
Cited by:  Papers (4)
| | PDF (1145 KB) | HTML

Feature descriptors are powerful tools for photometrically and geometrically invariant image matching. To date, however, their use has been tied to sparse interest point detection, which is susceptible to noise under adverse imaging conditions. In this letter, we propose to use binary feature descriptors in a direct tracking framework without relying on sparse interest points. This novel combinati... View full abstract»

• ### Motion Discontinuity-Robust Controller for Steerable Mobile Robots

Publication Year: 2017, Page(s):452 - 459
Cited by:  Papers (1)
| | PDF (1767 KB) | HTML

Steerable wheeled mobile robots are able to perform arbitrary three-dimensional (3-D) planar trajectories, only after initializing the steer joint vector to the proper values. These robots employ fully steerable conventional wheels. Hence, they have higher load carrying capacity than their holonomic counterparts, and as such are preferable for industrial applications. Industrial setups nowadays ar... View full abstract»

• ### Incipient Slip Detection and Recovery for Controllable Gecko-Inspired Adhesion

Publication Year: 2017, Page(s):460 - 467
Cited by:  Papers (2)
| | PDF (1804 KB) | HTML

We present work on incipient slip sensing and recovery for controllable gecko-inspired adhesives. The approach is based on the relationship between changes in real contact area and maximum shear force. Using signals from an on-board tactile sensor, we detect the onset of adhesive failure and execute recovery behavior. Results show the system using tactile sensor feedback is able to achieve &gt... View full abstract»

• ### Learning Depth-Aware Deep Representations for Robotic Perception

Publication Year: 2017, Page(s):468 - 475
Cited by:  Papers (8)
| | PDF (538 KB) | HTML

Exploiting RGB-D data by means of convolutional neural networks (CNNs) is at the core of a number of robotics applications, including object detection, scene semantic segmentation, and grasping. Most existing approaches, however, exploit RGB-D data by simply considering depth as an additional input channel for the network. In this paper we show that the performance of deep architectures can be boo... View full abstract»

• ### Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight

Publication Year: 2017, Page(s):476 - 482
Cited by:  Papers (4)
| | PDF (785 KB) | HTML Media

Quadrotors are well suited for executing fast maneuvers with high accelerations but they are still unable to follow a fast trajectory with centimeter accuracy without iteratively learning it beforehand. In this paper, we present a novel body-rate controller and an iterative thrust-mixing scheme, which improve the trajectory-tracking performance without requiring learning and reduce the yaw control... View full abstract»

• ### Spherepix: A Data Structure for Spherical Image Processing

Publication Year: 2017, Page(s):483 - 490
Cited by:  Papers (2)
| | PDF (1858 KB) | HTML

This letter introduces the “spherepix” data structure for efficient implementation of low-level image processing operations on spherical images. Efficient implementation of low-level image processing depends heavily on separability of the convolution kernels that form the fundamental building blocks of most algorithms. Due to the curvature of the sphere, it is not possible to place an orthogonal g... View full abstract»

• ### Design and Analysis of a Soft-Fingered Hand With Contact Feedback

Publication Year: 2017, Page(s):491 - 498
Cited by:  Papers (4)
| | PDF (1128 KB) | HTML

This paper presents a novel approach to the fabrication of a soft robotic hand with contact feedback for grasping delicate objects. Each finger has a multilayered structure, consisting of a main structure and sensing elements. The main structure includes a softer layer much thicker than a stiffer layer. The gripping energy of the fingers is generated from the elastic energy of the prestretched sof... View full abstract»

• ### Automated Robotic Measurement of 3-D Cell Morphologies

Publication Year: 2017, Page(s):499 - 505
Cited by:  Papers (5)
| | PDF (587 KB) | HTML

Cell morphology plays an important role in maintaining normal cellular functions. Existing techniques for cell morphology measurement, such as confocal imaging and atomic force microscopy, have the limitations of photobleaching and incompatibility for integration with other cell manipulation instruments. This paper reports a robotic cell manipulation system that is capable of measuring changes of ... View full abstract»

• ### Computationally Efficient Belief Space Planning via Augmented Matrix Determinant Lemma and Reuse of Calculations

Publication Year: 2017, Page(s):506 - 513
Cited by:  Papers (1)
| | PDF (1378 KB) | HTML

We develop a computationally efficient approach for evaluating the information theoretic term within belief space planning (BSP) considering both unfocused and focused problem settings, where uncertainty reduction of the entire system or only of chosen variables is of interest, respectively. State-of-the-art approaches typically calculate, for each candidate action, the posterior information (or c... View full abstract»

• ### Dexterity Analysis of Three 6-DOF Continuum Robots Combining Concentric Tube Mechanisms and Cable-Driven Mechanisms

Publication Year: 2017, Page(s):514 - 521
Cited by:  Papers (1)
| | PDF (1194 KB) | HTML

Continuum robots are increasingly used in minimally invasive surgeries. To date, the concentric tube mechanism and the cable-driven mechanism have been two prevalent mechanisms for constructing continuum robots. As these two mechanisms complement each other, it is worth exploring the possibility of combining them together. In this paper, we investigate the dexterity of three continuum robots combi... View full abstract»

• ### Passive Hierarchical Impedance Control Via Energy Tanks

Publication Year: 2017, Page(s):522 - 529
Cited by:  Papers (4)
| | PDF (1561 KB) | HTML

Modern robotic systems with a large number of actuated degrees of freedom can be utilized to perform several tasks at the same time while following a given order of priority. The most frequently used method is to apply null space projections to realize such a strict hierarchy, where lower priority tasks are executed as long as they do not interfere with any higher priority objectives. However, int... View full abstract»

• ### Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders With Multiple Pursuers

Publication Year: 2017, Page(s):530 - 537
Cited by:  Papers (1)
| | PDF (783 KB) | HTML

We propose a distributed algorithm for the cooperative pursuit of multiple evaders using multiple pursuers in a bounded convex environment. The algorithm is suitable for intercepting rogue drones in protected airspace, among other applications. The pursuers do not know the evaders' policy, but by using a global “area-minimization” strategy based on a Voronoi tessellation of the environment, we gua... View full abstract»

Publication Year: 2017, Page(s):538 - 545
Cited by:  Papers (7)
| | PDF (2222 KB) | HTML

An autonomous, adaptive, and intelligent electroadhesive material handling system has been presented in this paper. The system has been proposed and defined based on the identification of a system need through a comprehensive literature review and laboratory-based experimental tests. The proof of the proposed concept has been implemented by a low cost and novel electroadhesive pad design and manuf... View full abstract»

• ### Automatic Virtual Metrology and Target Value Adjustment for Mass Customization

Publication Year: 2017, Page(s):546 - 553
Cited by:  Papers (2)
| | PDF (864 KB) | HTML

One of the core values of Industry 4.0 targets to integrate people's demand into manufacturing for enhanced products, systems, and services for a wider variety of increasingly personalized customization of products. Thus, Industry 4.0 advances the traditional manufacturing techniques from mass production toward mass customization (MC). Take wheel machining automation (WMA) as an example. To meet M... View full abstract»

## Aims & Scope

The IEEE Robotics and Automation Letters (RA-L) publishes peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.

Full Aims & Scope

## Meet Our Editors

Editor-in-Chief

Allison Okamura

Department: Mechanical Engineering

Stanford University

Stanford,  California  USA 94305-4021

EiC.RA.Letters@ieee.org