Robotics Research
The 15th International Symposium ISRR
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60 Result(s)
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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...
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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...
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Reference Work Entry In depth
Humanoid Robots: Historical Perspective, Overview, and Scope
This article provides an overview of humanoid robotics. The historical perspective of the field is framed within the development of robotics throughout the last 65 years or so. A brief discussion of the main c...
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Article
Progress and prospects of the human–robot collaboration
Recent technological advances in hardware design of the robotic platforms enabled the implementation of various control modalities for improved interactions with humans and unstructured environments. An import...
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Living Reference Work Entry In depth
Humanoid Robots: Historical Perspective, Overview and Scope
This article provides an overview of humanoid robotics. The historical perspective of the field is framed within the development of robotics throughout the last 65 years or so. A brief discussion of the main c...
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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 ...
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Book
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Book and Conference Proceedings
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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...
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Article
Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors
We consider the problem of devising a unified control policy capable of regulating both the robot motion and its physical interaction with the environment. We formulate this control policy by a non-parametric ...
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Book
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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...
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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...
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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...
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Book
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Book
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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...
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Book
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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...
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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...
