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
Historical Perspective and State of the Art in Robot Force Control
International Journal of Robotics Research - Tập 6 Số 1 - Trang 3-14 - 1987
Daniel E. Whitney
This paper combines histarical lineage, assessment of the state of the art, and discussion of unsolved problems in robot force control. The difference between continuous and logic branching strategies is described. The development of various impedance strategies and hybrid methods is traced and com pared. The problem of stability is discussed, and remedies are related to higher strategy i...
The Equivalence of Second-Order Impedance Control and Proportional Gain Explicit Force Control
International Journal of Robotics Research - Tập 14 Số 6 - Trang 574-589 - 1995
R. Volpe, Pradeep K. Khosla
This article discusses the essential equivalence of second-order impedance control with force feedback and proportional gain explicit force control with force feedforward. This is first done analytically by reviewing each control method and showing how they mathematically correspond for constrained manipula tor control. For stiff environments the correspondence is exact. However, even for...... hiện toàn bộ
Force Tracking Impedance Control for Robot Manipulators with an Unknown Environment: Theory, Simulation, and Experiment
International Journal of Robotics Research - Tập 20 Số 9 - Trang 765-774 - 2001
Seul Jung, T.C. Hsia, R.G. Bonitz
In impedance control for force tracking, it is well known that the reference trajectory of the robot is calculated from known environmental stiffness. The authors present a simple technique for determining the reference trajectory under the condition that the environment is unknown. The technique is developed based on the replacement of the unknown stiffness with a function of the measure...... 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
The Kinematics of Contact and Grasp
International Journal of Robotics Research - Tập 7 Số 3 - Trang 17-32 - 1988
David J. Montana
The kinematics of contact describe the motion of a point of contact over the surfaces of two contacting objects in response to a relative motion of these objects. Using concepts from differential geometry, I derive a set of equations, called the contact equations, that embody this relationship. I employ the contact equations to design the following applications to be executed by an end-ef...... hiện toàn bộ
A New Actuation Approach for Human Friendly Robot Design
International Journal of Robotics Research - Tập 23 Số 4-5 - Trang 379-398 - 2004
Michael Zinn, Bernard Roth, Oussama Khatib, J. Kenneth Salisbury
In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected o...... hiện toàn bộ
Homography-based 2D Visual Tracking and Servoing
International Journal of Robotics Research - Tập 26 Số 7 - Trang 661-676 - 2007
Selim Benhimane, Ezio Malis
The objective of this paper is to propose a new homography-based approach to image-based visual tracking and servoing. The visual tracking algorithm proposed in the paper is based on a new efficient second-order minimization method. Theoretical analysis and comparative experiments with other tracking approaches show that the proposed method has a higher convergence rate than standard firs...... hiện toàn bộ
Solving the direct geometrico-static problem of underconstrained cable-driven parallel robots by interval analysis
International Journal of Robotics Research - Tập 35 Số 6 - Trang 723-739 - 2016
Alessandro Berti, Jean‐Pierre Merlet, Marco Carricato
This paper presents an efficient interval-analysis-based algorithm to solve the direct geometrico-static problem (DGP) of underconstrained cable-driven parallel robots (CDPRs). Solving the DGP for a generic CDPR consists of finding all possible equilibrium poses of the end effector for the given cable lengths. Since cables impose unilateral constraints, configurations with one or more sla...... hiện toàn bộ
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