IEEE Robotics and Automation Society Information

Ieee Transactions on Robotics and Automation

We present a geometric approach to the dynamic analysis of manipulation systems of a rather general class, including some important types of manipulators, as e.g. cooperating, super{articulated, and whole{arm manipulators. The focus is in particular on simple industry{ oriented devices, for which a minimalistic design approach requires a clear understanding of mobility and graspability properti...

Ieee Transactions on Robotics and Automation ,

Ieee Transactions on Robotics and Automation

| An analytical and experimental investigation of a jet pipe controlled electropneumatic servoactuator designed for use in the Utah/MIT Dextrous Hand (UMDH) has been performed. An accurate dynamic model has been developed and veriied which includes detailed representation of the jet pipe element, oriice areas and uid ows. The eeects and modeling of hysteresis in the jet pipe are discussed. Actu...

Ieee Transactions on Robotics and Automation ,

| New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navi-gational behaviors to enable a robotic team to reach nav-igational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation , on robots in the laboratory and aboard DARPA's HMMWV-based Unmanned...

Ieee Transactions on Robotics and Automation

| In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-eeector with an object. First we extend the method proposed in 1] to the case of a camera which is not mounted onto the robot being controlled and we stress the importance of the real-time estimation of the image Jacobian. Second, we show how to represent...