52 Result(s)
within
Chapter
Oussama Khatib
-
Chapter and Conference Paper
A New Compact Paired-Parallel Architecture for Haptic Transparency
This paper presents a highly compact paired-parallel mechanical architecture that aims for haptic transparency: accurate motion in free space and high force capability in contact. Low inertia and high stiffnes...
-
Chapter and Conference Paper
Parametrization of Compliant, Object-Level Controllers from Human Demonstrations
For decades, robots have been able to reliably follow precise trajectories making them ideal tools for assembly lines and other structured environments. However, pre-programmed motions fail under uncertainty ...
-
Chapter and Conference Paper
Correction to: Experimental Robotics
The original version of the book was inadvertently published without abstracts in chapters 19, 20. The erratum chapter and the book have been updated with the changes.
-
Chapter and Conference Paper
Experimental Studies of Contact Space Model for Multi-surface Collisions in Articulated Rigid-Body Systems
Modeling simultaneous contact and collisions at multiple surfaces in articulated rigid-body systems is computationally challenging because joint and contact constraints must be enforced together. Previously, w...
-
Chapter and Conference Paper
Controlling Muscle-Actuated Articulated Bodies in Operational Space
We develop methods to compute dynamics and control for articulated body systems that are actuated by linear contractile elements. We motivate the conditions under which our mathematical formulation is suitable...
-
Chapter and Conference Paper
The Age of Human-Robot Collaboration
Robotics is undergoing a major transformation in scope and dimension with accelerating impact on the economy, production, and culture of our global society. The generations of robots now being developed will i...
-
Chapter and Conference Paper
Controlling Ocean One
Using robots to explore venues that are beyond human reach has been a longstanding aspiration of scientists and expeditionists alike. The deep sea exemplifies such an unchartered environment that is currently ...
-
Chapter
Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device
need for multi-purpose haptic devices is extensively emerging. This paper presents a novel 6-DOF versatile haptic device, the Delthaptic, with a large and singularity-free workspace. The originality of the ...
-
Chapter and Conference Paper
Experimental Analysis of Human Control Strategies in Contact Manipulation Tasks
Here, we present insights into human contact-control strategies by defining conditions to determine whether a human controls a contact state, empirically analyzing object-to-environment contact geometry data o...
-
Chapter and Conference Paper
The New Robotics Age: Meeting the Physical Interactivity Challenge
The generations of robots now being developed will increasingly touch people and their lives. They will explore, work, and interact with humans in their homes, workplaces, in new production systems, and in cha...
-
Chapter
Muscular Effort for the Characterization of Human Postural Behaviors
The human selection of specific postures among the infinity of possibilities is the result of a long and complex process of learning. Through learning, humans seem to come to discover the properties of their b...
-
Chapter
Robotics and the Handbook
Robots! Robots on Mars and in oceans, in hospitals and homes, in factories and schools; robots fighting fires, making goods and products, saving time and lives. Robots today are making a considerable impact on...
-
Chapter
Using Haptic fMRI to Enable Interactive Motor Neuroimaging Experiments
Combining haptics with functional magnetic resonance imaging (Haptic fMRI) has enabled complex motor neuroimaging experiments that non-invasively map real-world motor tasks on to the human brain. The technique...
-
Chapter
A Framework for Real-Time Multi-Contact Multi-Body Dynamic Simulation
In this paper we propose a unified framework for the real-time dynamic simulation and contact resolution of rigid articulated bodies. This work builds on previous developments in the field of dynamic simulatio...
-
Chapter and Conference Paper
A Novel Robotic Joint Actuation Concept: The Variable Mechanical Fuse, VMF
This paper presents a novel robotic joint actuation concept, the Variable Mechanical Fuse, VMF. This actuation system realizes a rigid behavior for high control performance and an elastic behavior for safer hu...
-
Chapter
Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System
This paper presents a new robotic system designed to assist sonographers in performing ultrasound examinations by addressing common limitations of sonography, namely the physical fatigue that can result from p...
-
Chapter
JediBot – Experiments in Human-Robot Sword-Fighting
Real-world sword-fighting between human opponents requires extreme agility, fast reaction time, and dynamic perception capabilities. In this paper, we present experimental results achieved with a 3D vision sys...
-
Chapter
Motor vs. Brake: Comparative Studies on Performance and Safety in Hybrid Actuations
Human-centered robotics draws growing interest in utilizing pneumatic artificial muscles (PAMs) for robots to cooperate with humans. In order to address the limited control performance which prevents PAMs from...
-
Chapter and Conference Paper
Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait
The goal of this study is to apply a task-space approach to characterize muscle force contributions to the body center of mass during human gait taking into account the contacts with the environment and the co...
-
Chapter and Conference Paper
Human Motion Reconstruction and Synthesis of Human Skills
Reconstructing human motion dynamics in real-time is a challenging problem since it requires accurate motion sensing, subject specific models, and efficient reconstruction algorithms. A promising approach is t...
