Cenk Baykal,Chris Bowen,Ron Alterovitz
Cenk Baykal
In highly constrained settings, e.g., a tentaclelike medical robot maneuvering through narrow cavities in the body for minimally invasive surgery, it may be difficult or impossible for a robot with a generic kinematic design to reach all de...
An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots [0.03%]
基于电感的软体机器人 bellows 驱动连续关节传感系统
Wyatt Felt,C David Remy,Maria J Telleria et al.
Wyatt Felt et al.
In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing system relies on coils of wire wrapped around the minor diameters of each bellows on t...
On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams [0.03%]
基于车载通信的微型飞行器队列中的相对定位以避免碰撞
Mario Coppola,Kimberly N McGuire,Kirk Y W Scheper et al.
Mario Coppola et al.
To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate ...
Solving the task variant allocation problem in distributed robotics [0.03%]
分布式机器人技术中的任务变体分配问题及其解法研究
José Cano,David R White,Alejandro Bordallo et al.
José Cano et al.
We consider the problem of assigning software processes (or tasks) to hardware processors in distributed robotics environments. We introduce the notion of a task variant, which supports the adaptation of software to specific hardware config...
Yilun Zhou,Benjamin Burchfiel,George Konidaris
Yilun Zhou
We present a framework for representing scenarios with complex object interactions, where a robot cannot directly interact with the object it wishes to control and must instead influence it via intermediate objects. For instance, a robot le...
Active Localization and Tracking of Needle and Target in Robotic Image-Guided Intervention Systems [0.03%]
机器人图像引导干预系统中的针和目标的主动定位与跟踪
Mark Renfrew,Mark Griswold,M Cenk Çavuşoğlu
Mark Renfrew
This paper describes a framework of algorithms for the active localization and tracking of flexible needles and targets during image-guided percutaneous interventions. The needle and target configurations are tracked by Bayesian filters emp...
Rolf Lakaemper,Nagesh Adluru
Rolf Lakaemper
In this paper we present a system to enhance the performance of feature correspondence based alignment algorithms for laser scan data. We show how this system can be utilized as a new approach for evaluation of mapping algorithms. Assuming ...
Máximo A Roa,Raúl Suárez
Máximo A Roa
The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especia...
The Neurally Controlled Animat: Biological Brains Acting with Simulated Bodies [0.03%]
受神经控制的仿生机械体：生物大脑与模拟身体的结合
Thomas B Demarse,Daniel A Wagenaar,Axel W Blau et al.
Thomas B Demarse et al.
The brain is perhaps the most advanced and robust computation system known. We are creating a method to study how information is processed and encoded in living cultured neuronal networks by interfacing them to a computer-generated animal, ...
William Bluethmann,Robert Ambrose,Myron Diftler et al.
William Bluethmann et al.
The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut ...