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Hybrid motion/force control of multi-backbone continuum robots

Andrea Bajo, Nabil Simaan
2015 The international journal of robotics research  
In this paper, we present the modeling, sensing and control of multi-backbone continuum robots in a unified framework for hybrid motion/force control.  ...  To advance further the force sensing capabilities of multi-backbone continuum robots, we present a new framework for hybrid motion and force control of continuum robots with intrinsic force sensing capabilities  ...  In Lock and Dupont (2011) , the authors proposed a method for friction estimation and compensation in concentric tube robots.  ... 
doi:10.1177/0278364915584806 fatcat:t56x2knzajg7pp75yyv34x6kuy

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA July 2020 4313-4320 Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes.  ...  ., +, LRA April 2020 354-361 SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review [chapter]

Fouad F., Pierre Payeur
2010 Robot Manipulators Trends and Development  
represents a strategy suitable for constrained motion.  ...  Modeling and control of robots whose tasks include interaction with their environment is still a very active area in the robotic community.  ...  It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems.  ... 
doi:10.5772/9183 fatcat:45qccjxfjnaspesr6d4cdiusay

2021 Index IEEE Transactions on Robotics Vol. 37

2021 IEEE Transactions on robotics  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  -that appeared in this periodical during 2021, and items from previous years that were commented upon or corrected in 2021.  ...  ., +, TRO Oct. 2021 1634-1648 Legged Robot Running Using a Physics-Data Hybrid Motion Template. Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery.  ... 
doi:10.1109/tro.2022.3141270 fatcat:wbcpmrap6ndprec2gtu7m2yhmy

2018 Index IEEE/ASME Transactions on Mechatronics Vol. 23

2018 IEEE/ASME transactions on mechatronics  
., +, TMECH Dec. 2018 2952-2962 Skeleton-Based Visual Servoing in Unknown Environments.  ...  ., +, TMECH Feb. 2018 233-241 J Jacobian matrices Vision-Based Robotic Manipulation of Flexible PCBs.  ...  1981 -1992 Improved NO and NO2 Concentration Estimation for a Diesel-Engine-Aftertreatment System. Zhang, H., +, TMECH Feb. 2018 190-199  ... 
doi:10.1109/tmech.2019.2893551 fatcat:ds4rb6mpw5bnbbbrdn25n3oh6m

[IEEE Robotics & Automation Society]

2012 IEEE robotics & automation magazine  
Berlin In this paper, we address the problem of an autonomous robotic vehicle collecting a finite but unknown number of objects with non-negligible masses and unknown locations in a restricted area and  ...  FrA4.5 A New Dual-Mode Model Predictive Control for Constrained Linear Systems, pp. 1393-1397 Nguyen, Hoai-Nam Tech.  ... 
doi:10.1109/mra.2012.2229854 fatcat:rjrxtwk4jbcgjpvjdad6mougsq

IEEE Robotics & Automation Society

2012 IEEE robotics & automation magazine  
Berlin In this paper, we address the problem of an autonomous robotic vehicle collecting a finite but unknown number of objects with non-negligible masses and unknown locations in a restricted area and  ...  FrA4.5 A New Dual-Mode Model Predictive Control for Constrained Linear Systems, pp. 1393-1397 Nguyen, Hoai-Nam Tech.  ... 
doi:10.1109/mra.2012.2230568 fatcat:33actbknxrel3jnag2kx7cncem

IEEE Robotics & Automation Society

2011 IEEE robotics & automation magazine  
Berlin In this paper, we address the problem of an autonomous robotic vehicle collecting a finite but unknown number of objects with non-negligible masses and unknown locations in a restricted area and  ...  FrA4.5 A New Dual-Mode Model Predictive Control for Constrained Linear Systems, pp. 1393-1397 Nguyen, Hoai-Nam Tech.  ... 
doi:10.1109/mra.2011.941112 fatcat:owvu2behc5hulpcae2dp5myigm

IEEE Robotics & Automation Society

2011 IEEE robotics & automation magazine  
Berlin In this paper, we address the problem of an autonomous robotic vehicle collecting a finite but unknown number of objects with non-negligible masses and unknown locations in a restricted area and  ...  FrA4.5 A New Dual-Mode Model Predictive Control for Constrained Linear Systems, pp. 1393-1397 Nguyen, Hoai-Nam Tech.  ... 
doi:10.1109/mra.2011.943480 fatcat:d2wvloyv6jcbzp2yathd52mx2u

Table of contents

2009 2009 17th Mediterranean Conference on Control and Automation  
Finally two simulation examples are presented to show the effectiveness and the performances of the proposed approach. 11:00-11:20 WeA2.5 Adaptive Fuzzy Controller for Loop Control in a Distributed Control  ...  Univ. of the Negev This paper establishes control strategies for a wheeled mobile robot model that includes the kinematic and dynamic equations of motion.  ...  A humanoid robot should have the ability to autonomously recognize its surroundings and make right decisions under unknown environment.  ... 
doi:10.1109/med.2009.5164498 fatcat:bi37lbkbhfaihj7lbc64vvplo4

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
I offer my best wishes for a successful and productive event, I look forward to seeing all of you in Athens, Greece, and I also look forward to continuing working with you. Kimon P.  ...  It is everybody's hope and wish to get through this 'unknown challenge' as soon as possible and with the least possible number of deaths.  ...  For the controller design, a distributed low complexity backstepping approach is adopted. A Lyapunov-like stability analysis proves the efficiency of the proposed methodology.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe

Preliminary Studies on Force/Motion Control of Intelligent Mechanical Systems [article]

Dinesh Rabindran
2014 arXiv   pre-print
We present a comprehensive literature review on robot force control, including algorithms, specialized actuators, and robot control software.  ...  For achieving this goal, past work has concentrated on force control algorithms at the system level with limited focus on performance expansion at the actuator level.  ...  a force-controlled task on an environment with unknown stiffness.  ... 
arXiv:1402.5461v1 fatcat:xcnz2pjnyvf2fpfsvc7nd7hhjq

Theta phase coding in a network model of the entorhinal cortex layer II with entorhinal-hippocampal loop connections

Jun Igarashi, Hatsuo Hayashi, Katsumi Tateno
2006 Cognitive Neurodynamics  
Abstract In this paper, we address object recognition for a mobile robot which is deployed in a multistory building.  ...  One approach for reducing number of support vectors is to formulate SVM with a non-convex loss function.  ...  Acknowledgements This work was supported by a Grant-in-Aid for Science Research in a Priority Area "Super-Hierarchical Structures" from the Ministry of Education, Culture, Sports, Science and Technology  ... 
doi:10.1007/s11571-006-9003-8 pmid:19003510 pmcid:PMC2267667 fatcat:avihqfr6a5e7tm43lythi27n3a

A Planning and Control Framework for Humanoid Systems: Robust, Optimal, and Real-time Performance [article]

Ye Zhao
2017 arXiv   pre-print
Second, we take a step toward formally synthesizing high-level reactive planners for whole-body locomotion in constrained environments.  ...  This framework is a hybrid motion planner incorporating a series of pivotal components.  ...  This study especially concentrates on the multi-contact mobility of a humanoid legged robot in a constrained environment as shown in Fig. 1 .5.  ... 
arXiv:1701.05929v1 fatcat:tqsr6sss3jeudcklibi2x6tjmy

Conference Digest

2020 2020 IEEE Aerospace Conference  
The Auxiliary Payload Sensor Suite (APSS), a collection of environmental sensors carried by the Interior exploration using Seismic Investigations, Geodesy, and Heat Transport (InSight) lander, is capable  ...  of measuring Martian air temperature, wind speed, atmospheric pressure, and local magnetic fields.  ...  This work proposes a hybrid approach that combines both approaches to improve the performance of a robotic manipulator in both know and unknown environments.  ... 
doi:10.1109/aero47225.2020.9172613 fatcat:ioqf5ijrx5gvffu3ls34aa2nsq
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