Robotics Research. The Eleventh International Symposium
With 303 Figures
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%P
122 Result(s)
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Oussama Khatib
Engineering
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Chapter and Conference Paper
Design and development of torque-controlled joints
This paper discusses the effect of basic manipulator characteristics upon the implementation of high performance joint torque control. Two manipulators with very different characteristics (high and low gear ra...
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Chapter and Conference Paper
A new actuation system for high-performance torque-controlled manipulators
The work reported in this paper is a part of a larger effort concerned with the design and development of a high-performance force controlled, ten degree-of-freedom manipulator and mini-manipulator system, ART...
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Chapter and Conference Paper
Towards real-time execution of motion tasks
The goal of the research described in this paper is to build robotic systems that can execute motion tasks in real time. We present two ideas towards this goal: a real-time path planner for static three-dimens...
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Chapter
A Dynamically Consistent Strategy for Manipulator Control at Singularities
This paper presents a general strategy for manipulator control at kinematic singularities. The basic idea in this strategy is to treat the manipulator in the neighborhood of singular configurations as a redund...
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Chapter and Conference Paper
Experiments in multi-grasp manipulation
In this paper, we present results in dextrous, multi-grasp manipulation based on the integration of two basic concepts: the virtual linkage and the augmented object. The virtual linkage provides a physical repres...
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Chapter
Modular Decomposition for Optimal Dynamic Design of Redundant Macro/Mini Manipulators
This article investigates the design of redundant mechanisms for improved dynamic performance. Our study has resulted in a new methodology which allows the decomposition of the design problem into smaller, mor...
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Chapter and Conference Paper
Improved force control for conventional arms using wrist-based torque feedback
Torque control is an effective technique for improving robot performance. However, most conventional robots are not equipped with torque sensors, and they are difficult to add without modifying the robot's mec...
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Chapter and Conference Paper
An operational space formulation for a free-flying, multi-arm space robot
An experimental validation of the Extended Operational Space Formulation for a two-arm, free-flying space robot is presented. Following a brief summary of the formulation and a quantitative description of the ...
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Chapter and Conference Paper
Elastic Strips: Real-Time Path Modification for Mobile Manipulation
The elastic strip framework presented in this paper is a new approach to real-time obstacle avoidance for robots with many degrees of freedom. The avoidance behavior can be integrated with task execution, a ca...
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Chapter and Conference Paper
A general contact model for dynamically-decoupled force/motion control
This paper integrates a general first-order kinematic model of rigid-body contact with the equations of motion of the manipulated objects and robot arms. The more general kinematic allows us to model tasks tha...
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Chapter and Conference Paper
Mobile manipulator systems
Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. In these applications, consideration of vehicle/arm dynamics is essen...
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Chapter and Conference Paper
Modeling and learning robot manipulation strategies
This paper describes a general approach to learning and planning robot manipulation strategies. Here, the strategies are represented using a discrete-event dynamical systems model where each node corresponds t...
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Chapter and Conference Paper
Mobile Manipulators: Expanding the Frontiers of Robot Applications
Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This article presents various control strategies developed for vehicl...
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Chapter and Conference Paper
Elastic strips: A framework for integrated planning and execution
The execution of robotic tasks in dynamic, unstructured environments requires the generation of motion plans that respect global constraints imposed by the task while avoiding collisions with stationary, movin...
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Chapter and Conference Paper
A portable programming framework
Programming is a key aspect in the development and practical use of complex robotic systems. The work presented in this paper describes developments conducted within Inria’s Orccad and MaestRo programming framewo...
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Chapter and Conference Paper
Collision/Contact Models for Dynamic Simulation and Haptic Interaction
In this paper we present a general framework for the dynamic simulation and haptic exploration of complex virtual environments. This work builds on previous developments in simulation, haptics, and operational...
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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...
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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...
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Book and Conference Proceedings
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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 ...
