580 California St., Suite 400
San Francisco, CA, 94104
This approach was used in a multi-arm robot sysiem to manipulate objects while performing accurate control of intemal forces.
This paper discusses intuitive and eficient ways to model and control the dynamics of highly redundant branching mechanisms using the operational space formulation. As the complexity of mechanisms increases, their modeling and control... more
In this paper, an adaptive motion force c ontrol based approach is proposed t o c ontrol bilateral teleoperation systems under both position and rate control with arbitrary motion force s c aling. The master and the slave are t r eated... more
The Coupled-Tank (CT) system has wide applications in process industries such as petro-chemical, waste water treatment and purification, biochemical, spray coating, beverages and pharmaceutical industries. A typical process control... more
Techniques are described for determining the location of the initial center of rotation (COR) of a rectangular bar being pushed or pulled. The initial COR is the point about which the bar first rotates when the pushing or pulling force is... more
This paper presents a generic kinematic modeling approach for articulated multi-monocycle mobile robots. The formulation proposed to deduce the input/output velocity equations for such kinematic structures is an extension of the... more
Exosuit is nothing but a device or robot which works in different areas, such as -military, medical or lifting some load. Generally, it is not fully covered like a shield because it is made by using cables motors and some useful... more
This paper presents a novel walking hybrid-kinematics robot that can be reconfigured to have three, five, and six degrees of freedom (DOFs) for adsorption machining of large structures. A symmetric 3PRPR or 3PRRR parallel mechanism with... more
In this paper, we consider the problem of maximizing the localization accuracy of a mobile vehicle, based on triangulation measurements derived from optical data. The problem is intrinsically nonlinear, as the linear approximation of the... more
A novel servomotor design that is powered and controlled through only one wire is presented in this paper. A traditional servonzotor needs both a power cable and a control cable connecting the motor to a control amplifier. Cables are... more
A system of multi-axis networked smart motors is developed to reduce complex cable harnesses. Motor control signals are sent over the DC power bus line and received by motors with integrated power amplifiers and controllers. Unlike... more
Abslmcl-This paper idenmes the key issues in the empirical implementation of redundant marine thrusters for two dillerent autonomous underwater vehicles of different designs, so as to " i z e the effedivenm for kine motion control. A... more
This paper considers thruster dead zones and saturation limits in fine motion control of underwater robots. Thruster dead zones and saturation limits are major nonlinear elements that make fine motion control of underwater robots... more
This paper reports on the development of an automatic thrust redistribution algorithm for a redundant autonomous underwater vehicle (AUV) in the case of thruster faults. Under favorable conditions, the transformation of the thruster force... more
Underwater robotic vehicles (URVs) have become an important tool for numerous underwater tasks due to their greater speed, endurance, depth capability, and a higher factor of safety than human divers. However, most vehicle control system... more
Underwater robotic vehicles (URYs) have been used for various tasks in the underwater environment. The development of advanced vehicle technologies is accelerated by the demand for an URY with high performance and efficient operation.... more
Abslmcl-This paper idenmes the key issues in the empirical implementation of redundant marine thrusters for two dillerent autonomous underwater vehicles of different designs, so as to " i z e the effedivenm for kine motion control. A... more
This paper reports on the development of an automatic thrust redistribution algorithm for a redundant autonomous underwater vehicle (AUV) in the case of thruster faults. Under favorable conditions, the transformation of the thruster force... more
HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or... more
he Sky-Sailor project aims to build an ultralightweight solar autonomous airplane capable of continuous flight over days and nights. It is intended to be used as a demonstrator of a Mars exploration airplane. In this article, we present... more
This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots with time varying delay. First, we decompose the dynamics of multiple slave robots... more
The boomerang flight is presented in the known publications by the action of aerodynamic forces and gyroscopic precession torque. This solution does not give a true answer because gyroscopic effects are expressed by the action of the... more
The many publications related to the gyroscope theory consider the action of the inertial torques on the spinning disc. All of them have simplified expressions for the inertial torques and mathematical models of the gyroscope motions do... more
Youlaパ ラ メ ト リゼ ー シ ヨ ン に 基 づ くAnti-Windup制 御 系 の 解 析 と設 計 鷹 羽 浄 嗣 ＊ Analysis and Synthesis of Anti-Windup Control System Based on Youla Parametrization Kiyotsugu TAKABA* This paper is concerned with the analysis and synthesis of an... more
Soft-robotics is a sub-branch of robotics that deals with breaking this traditional perspective of rigid robots by making the robot more compliant and inspired by nature. This paper aims to design and analyses a soft robotic jellyfish for... more
An innovative inspection method to assess the condition of sewer pipes is proposed in this paper. The standard sewer inspection technique, based on closed-circuit television systems, has a very poor performance. A video camera is mounted... more
This paper addresses the problem of computing pathways for a ligand to exit from the active site of a protein. Such problem can be formulated as a mechanical disassembly problem for two articulated objects. Its solution requires searching... more
This paper presents a global behavioral architecture used as a coordinator for the global navigation of an autonomous vehicle in an urban context including traffic laws and other features. As an extension to our previous work, the... more
DUGAN UM achieved his Ph.D in Mechanical Engineering at the University of Wisconsin at Madison. Sensitive robotic skin for unknown environments motion planning was the subject of his dissertation. After he received his degree, he joined... more
DUGAN UM achieved his Ph.D in Mechanical Engineering at the University of Wisconsin at Madison. Sensitive robotic skin for unknown environments motion planning was the subject of his dissertation. After he received his degree, he joined... more
In this paper 1 we study the Extended Kalman Filter approach to simultaneous localization and mapping (EKF-SLAM), describing its known properties and limitations, and concentrate on the filter consistency issue. We show that linearization... more
In this paper we describe an algorithm to compute cycle constraints that can be used in many graph-based SLAM algorithms; we exemplify it in Hierarchical SLAM. Our algorithm incrementally computes the minimum cycle basis of constraints... more
In this paper we describe Divide and Conquer SLAM (D&C SLAM), an algorithm for performing Simultaneous Localization and Mapping using the Extended Kalman Filter. D&C SLAM overcomes the two fundamental limitations of standard EKF SLAM:... more
This paper provides an introduction to the Simultaneous Localization and Mapping (SLAM) problem and the extensive research conducted over the years to solve the problem. SLAM is the process by which a mobile robot builds a map of its... more
In this paper a method for high precision relative localization using a single camera is proposed. The method provides pose estimates comparable in resolution to wheel odometry, but being independent of the kinematics and based on an... more
This paper presents a practical motion planner for humanoids and animated human gures. Modeling human motions as a sum of rigid body and cyclic motions, we identify body postures that represent the rigid-body part of typical motion... more
In this paper the design and the experimental verification of a Constrained Finite Time Optimal (CFTO) control scheme for the attitude control of an Unmanned Quadrotor Helicopter (UqH) subject to wind gusts is being presented. In the... more