Search Results - Springer

Chapter and Conference Paper

Digital Interactivity: Human-Centered Robotics, Haptics, and Simulation

A new field of robotics is emerging. Robots are today moving towards applications beyond the structured environment of a manufacturing plant. They are making their way into the everyday world that people inhab...

Oussama Khatib in Active Media Technology (2001)

Chapter and Conference Paper

Haptically Augmented Teleoperation

This article presents various experiments conducted at the Stanford Robotics Group to enhance teleoperation thru the use of movement constraints. Several types of constraints have been studied : Safety constra...

Nicolas Turro, Oussama Khatib in Experimental Robotics VII (2001)

Chapter

Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation

A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement force and motion control with dynamic compensation, a torque-cont...

Denny Oetomo, Marcelo H. Ang Jr., Rodrigo Jamisola, Oussama Khatib in Romansy 14 (2002)

Chapter

Actuation Methods For Human-Centered Robotics and Associated Control Challenges

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 f...

Michael Zinn, Oussama Khatib, Bernard Roth… in Control Problems in Robotics (2003)

Book and Conference Proceedings

Robotics Research. The Eleventh International Symposium

With 303 Figures

Paolo Dario, Raja Chatila in Springer Tracts in Advanced Robotics (2005)

Chapter and Conference Paper

Open Forum

The twelve short presentations on current work, progress and future projects were put in perspective by Henrik Christensen’s talk who recalled through an overview of the July 1983 special issue on robotics of ...

Bob Bolles, Raja Chatila, Henrik Christensen… in Robotics Research. The Eleventh Internatio… (2005)

Article

Simulating the task-level control of human motion: a methodology and framework for implementation

A task-level control framework is proposed for providing feedback control in the simulation of goal-directed human motion. An operational space approach, adapted from the field of robotics, is used for this pu...

Vincent De Sapio, James Warren, Oussama Khatib, Scott Delp in The Visual Computer (2005)

Book and Conference Proceedings

Experimental Robotics IX

The 9th International Symposium on Experimental Robotics

Marcelo H. Ang Jr., Oussama Khatib in Springer Tracts in Advanced Robotics (2006)

Chapter and Conference Paper

Robust Haptic Teleoperation of a Mobile Manipulation Platform

This paper presents a new teleoperation scheme for mobile manipulation systems. A virtual spring connects a master and slave system where local force feedback on the slave system compensates for the dynamics o...

Jaeheung Park, Oussama Khatib in Experimental Robotics IX (2006)

Chapter

The Human Frontier: Robotics New Quest and Challenge

Robotics is rapidly expanding into human environments and vigorously engaged in its new emerging challenges. Interacting, exploring, and working with humans, the new generation of robots will increasingly touc...

Oussama Khatib in Romansy 16 (2006)

Article

Task-level approaches for the control of constrained multibody systems

This paper presents a task-level control methodology for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation of constrained dynamical systems is r...

Vincent De Sapio, Oussama Khatib, Scott Delp in Multibody System Dynamics (2006)

Book