International Journal of Robotics Research

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General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators
International Journal of Robotics Research - Tập 21 Số 2 - Trang 131-145 - 2002
Zhenyu Huang, Q.C. Li
In the area of parallel robots, the use of lower-mobility parallel manipulators for many tasks requiring fewer than six degrees of freedom (DoF) has drawn a lot of interest. This paper treats one fundamental problem in the study of lower-mobility parallel manipulators: type synthesis. Using reciprocal screw theory, we define the mechanism constraint system and limb constraint system. We then inves... hiện toàn bộ
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 then "grow... 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 and expe... hiện toàn bộ
Reaching in clutter with whole-arm tactile sensing
International Journal of Robotics Research - Tập 32 Số 4 - Trang 458-482 - 2013
Advait Jain, Marc D. Killpack, Aaron Edsinger, Charles C. Kemp
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 issues.
Virtual Model Control: An Intuitive Approach for Bipedal Locomotion
International Journal of Robotics Research - Tập 20 Số 2 - Trang 129-143 - 2001
Jerry Pratt, Chee–Meng Chew, Ann L. Torres, P. Dilworth, Gill A. Pratt
Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This pa... hiện toàn bộ
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 softer e... 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 measured force. ... 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 the penetra... 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 GPS/IMU độ... hiện toàn bộ
#tập dữ liệu KITTI #robot di động #lái xe tự động #cảm biến #camera stereo #máy quét laser 3D #GPS #IMU
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