1999 IEEE International Conference on Robotics and Automation, Marriott Hotel, Renaissance Center, Detroit, Michigan, May 10-15, 1999, Proceedings
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Brachiation on a Ladder with Irregular Intervals
We have previously developed a brachiation controller that allows a two degree of freedom robot to swing from handhold to handhold on a horizontal ladder with evenly space rungs as well as swing up from a suspended posture using a "target dynamics" controller. In this paper, we extend this class of algorithms to handle the much more natural problem of locomotion over irregularly spaced handhold...
متن کاملPerception-Based Motion Planning for Indoor Exploration - Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
This paper proposes an approach for motion planning in indoor environments based on incomplete and uncertain information from a line-based binocular stereo system. The primary goal of the planning process is to plan an optimal path through an unknown or partially known environment, depending on the information gained from exploration and the current mission goal. This paper presents an adaptabl...
متن کاملPerformance of a Partitioned Visual Feedback Controller - Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
We present a novel approach we call partitioning where the robot’s degrees-of-freedom (DOF) are categorized into two classes based on joint kinematics and dynamics to design a coupled multi-input control system. We use image data to visually servo the first class of joints that have quick response time. Positionbased data is used to kinematically servo the second class of joints that have large...
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Peeling delicate retinal membranes, which are often less than 5 µm thick, is one of the most challenging retinal surgeries. Preventing rips and tears caused by tremor and excessive force can decrease injury and reduce the need for follow up surgeries. We propose the use of a fully handheld microsurgical robot to suppress tremor while enforcing helpful constraints on the motion of the tool. Usin...
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We report on the design and analysis of a controller which can achieve dynamical self-righting of our hexapedal robot, RHex. We present an empirically developed control procedure which works reasonably well on indoor surfaces, using a hybrid energy pumping strategy to overcome torque limitations of its actuators. Subsequent modeling and analysis yields a new controller with a much wider domain ...
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