In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

A hybrid motion system is defined as a mechanical system that combines a macro motion and a micro motion into one system to achieve a large motion and high resolution with fast response simultaneously. In this paper, a spatial hybrid motion mechanism with 3-DOFs is developed that integrates two types of motion through only one compliant mechanism: a macro motion driven by DC servomotors for lar...

In this paper, we review rapidly-exploring random trees (RRTs) for motion planning, experiment with them on standard control problems, and extend them to the case of hybrid systems.

Motion estimation has traditionally been approached either from a pure discrete point of view, using multi-view tensors, or from a pure continuous point of view, using optical-flow-based techniques. This paper builds upon the recent developments of hybrid matching constraints for motion estimation. These hybrid matching constraints are based on both corresponding feature points and the motion o...

In the paper a new approach is developed for stability analysis of motions of dynamical systems defined on metric space using matrix-valued preserving mappings. These results are applicable to a much larger class of systems then existing results, including dynamical systems that cannot be determined by the usual classical equations and inequalities. We apply our results in the stability analysi...

technique and reformatted to display the coronaries (here LAD), (a) were compared to acquisitions performed with the new hybrid method (b). In this case, the vessel sharpness resulted visibly improved in the central and distal parts of the LAD. Figure 1: Schematic description of the hybrid motion correction technique The Next Step in Self-Navigated Coronary MRI: A Hybrid Approach for Affine Mot...

Motion blur due to camera motion can significantly degrade the quality of an image. Since the path of the camera motion can be arbitrary, deblurring of motion blurred images is a hard problem. Previous methods to deal with this problem have included blind restoration of motion blurred images, optical correction using stabilized lenses, and special CMOS sensors that limit the exposure time in th...