International Journal of Robotics Research

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3DPO: A Three- Dimensional Part Orientation System
International Journal of Robotics Research - Tập 5 Số 3 - Trang 3-26 - 1986
Robert C. Bolles, Patrice Horaud
In this paper, we present a system that recognizes objects in a jumble, verifies them, and then determines some essential configurational information, such as which ones are on top. The approach is to use three-dimensional models of the objects to find them in range data. The matching strategy starts with a distinctive edge feature, such as the edge at the end of a cylindrical part, and t...... hiện toàn bộ
A Force Control Approach to a Robot-assisted Cell Microinjection System
International Journal of Robotics Research - Tập 29 Số 9 - Trang 1222-1232 - 2010
Yongchun Xie, Dong Sun, Chengguo Liu, Ho Yan Gloria Tse, Shuk Han Cheng
Robotic cell microinjection is a technique that utilizes automation technology to insert substances into a single living cell with a fine needle. Compared with manual microinjection, the main benefits of the robotic cell injection are quality, productivity and repeatability. In this paper we aim to control the penetration force during robotic cell injection to quantify the influence of th...... hiện toàn bộ
Tầm nhìn gặp gỡ robot: Tập dữ liệu KITTI Dịch bởi AI
International Journal of Robotics Research - Tập 32 Số 11 - Trang 1231-1237 - 2013
Andreas Geiger, Philip Lenz, Christoph Stiller, Raquel Urtasun
Chúng tôi trình bày một tập dữ liệu mới được ghi lại từ một chiếc xe station wagon VW để phục vụ nghiên cứu về robot di động và lái xe tự động. Tổng cộng, chúng tôi đã ghi lại 6 giờ kịch bản giao thông với tần suất từ 10 đến 100 Hz, sử dụng nhiều phương thức cảm biến khác nhau như camera stereo màu và đen trắng độ phân giải cao, máy quét laser 3D Velodyne và hệ thống dẫn đường quán tính G...... hiện toàn bộ
#tập dữ liệu KITTI #robot di động #lái xe tự động #cảm biến #camera stereo #máy quét laser 3D #GPS #IMU
Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle
International Journal of Robotics Research - Tập 26 Số 1 - Trang 41-54 - 2007
D. Yoerger, Michael V. Jakuba, A. M. Bradley, Brian Bingham
This paper reports the development and at-sea deployment of a set of algorithms that have enabled the autonomous underwater vehicle ABE to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acoustic positioning, terrain-following, and automated nested surveys are reported.
Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers
International Journal of Robotics Research - Tập 19 Số 9 - Trang 835-847 - 2000
Shih-Feng Chen, Imin Kao
In this paper, we develop the theoretical work on the properties and mapping of stiffness matrices between joint and Cartesian spaces of robotic hands and fingers, and propose the conservative congruence transformation (CCT). In this paper, we show that the conventional formulation between the joint and Cartesian spaces, K θ = J Tθ... hiện toàn bộ
A Tactile Sensing System for Robotic Manipulation
International Journal of Robotics Research - Tập 9 Số 6 - Trang 25-36 - 1990
Thomas H. Speeter
A tactile sensing system (TSS) for articulated robotic hands is described. The system is composed of flexible touch sensing arrays, access electronics, and algorithms for data sampling and processing. The TSS is meant to exist in a multiprocess ing control environment and is designed to keep low-level procedures such as sensor addressing and data access off of the control system's shared ...... hiện toàn bộ
Sense Organs of Insect Legs and the Selection of Sensors for Agile Walking Robots
International Journal of Robotics Research - Tập 15 Số 2 - Trang 113-127 - 1996
Fred Delcomyn, Mark Evan Nelson, J.H. Cocatre-Zilgien
Legged robots modeled after insects have been proposed for use on rugged, dangerous, or inaccessible terrain. The agility of current hexapod robots, however, is not yet as good as that of their biological counterparts. The capability of insects for agile locomotion is likely due mainly to the rich variety of sensory information that is provided by sense organs in their legs. In this artic...... hiện toàn bộ
Structure Synthesis of a Class of 4-DoF and 5-DoF Parallel Manipulators with Identical Limb Structures
International Journal of Robotics Research - Tập 21 Số 9 - Trang 799-810 - 2002
Yuefa Fang, Lung‐Wen Tsai
In this paper, a systematic approach is developed for the structural synthesis of a class of four-degrees-of-freedom (4-DoF) and 5-DoF overconstrained parallel manipulators with identical serial limbs. The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions that must be met by the limbs of such parallel manipulators. Limb structures that can be ...... hiện toàn bộ
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research - Tập 31 Số 5 - Trang 647-663 - 2012
Peter Henry, Michael Krainin, Evan Herbst, Xiaofeng Ren, Dieter Fox
RGB-D cameras (such as the Microsoft Kinect) are novel sensing systems that capture RGB images along with per-pixel depth information. In this paper we investigate how such cameras can be used for building dense 3D maps of indoor environments. Such maps have applications in robot navigation, manipulation, semantic mapping, and telepresence. We present RGB-D Mapping, a full 3D mapping syst...... hiện toàn bộ
The Role of Dynamic Models in Cartesian Force Control of Manipulators
International Journal of Robotics Research - Tập 8 Số 4 - Trang 51-72 - 1989
Chae An, John M. Hollerbach
Dynamic models are as important in Cartesian force control as they are in position control. A variety of Cartesian force control schemes are examined, comprising some that do incorporate a dynamic model into the control loop (resolved acceleration force control, operational space method, and impedance control) and some that do not (hybrid control and stiffness control). Stability analyses...... hiện toàn bộ
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