Browsing Institute for Robotics and Intelligent Machines (IRIM) by Type "Text"

Now showing items 1-20 of 1535

    • 1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball 

      Mori, Wataru; Ueda, Jun; Ogasawara, Tsukasa (Georgia Institute of TechnologyBrill Academic Publishers, 2010)
      This paper demonstrates that a 1-DOF planar ball-throwing robot has the capability of controlling three kinematic variables of a ball independently: translational velocity, angular velocity, and direction. The throwingmotion ...

    • 1000 Trials: An empirically validated end effector that robustly grasps objects from the floor 

      Xu, Zhe; Deyle, Travis; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      Unstructured, human environments present great challenges and opportunities for robotic manipulation and grasping. Robots that reliably grasp household objects with unknown or uncertain properties would be especially useful, ...

    • 3-D Simulations for Testing and Validating Robotic-Driven Applications for Exploring Lunar Pole 

      Williams, Stephen; Remy, Sekou; Howard, Ayanna M. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-04)

    • 3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics 

      Hereid, Ayonga; Cousineau, Eric A.; Hubick, Christian M.; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
      Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant implementation difficulties when applied to the high degrees of ...

    • 3D Obstacle Avoidance in Adversarial Environments for Unmanned Aerial Vehicles. 

      Geyer, Mark S.; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2006-08)
      As unmanned aerial vehicles (UAVs) are considered for a wider variety of military and commercial applications, the ability to navigate autonomously in unknown and hazardous environments is increasingly vital to the ...

    • 3D Obstacle Detection Using a Single Camera 

      Shah, Syed Irtiza Ali; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2009-08)
      This paper aims at detecting obstacles using a single camera in an unknown three dimensional world, for 3D motion of an unmanned air vehicle. Obstacle detection is a pre-requisite for collision-free motion of a UAV through ...

    • 3D Pose Estimation of Daily Objects Using an RGB-D Camera 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper, we present an object pose estimation algorithm exploiting both depth and color information. While many approaches assume that a target region is cleanly segmented from background, our approach does not rely ...

    • 3D reconfiguration using graph grammars for modular robotics 

      Pickem, Daniel (Georgia Institute of Technology, 2011-12-16)
      The objective of this thesis is to develop a method for the reconfiguration of three-dimensional modular robots. A modular robot is composed of simple individual building blocks or modules. Each of these modules needs to ...

    • 3D Reconstruction of Underwater Structures 

      Beall, Chris; Lawrence, Brian J.; Ila, Viorela; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      Environmental change is a growing international concern, calling for the regular monitoring, studying and preserving of detailed information about the evolution of underwater ecosystems. For example, fragile coral reefs ...

    • 3D Textureless Object Detection and Tracking: An Edge-based Approach 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      This paper presents an approach to textureless object detection and tracking of the 3D pose. Our detection and tracking schemes are coherently integrated in a particle filtering framework on the special Euclidean group, ...

    • A 3D Virtual Environment for Exploratory Learning in Mobile Robot Control 

      Howard, Ayanna M.; Paul, Wesley (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-10)
      This paper discusses a virtual environment that enables human agents to develop the skills necessary to control a mobile robot through the implementation of exploratory learning practices. The interface connects the human ...

    • 4D Cities: Analyzing, Visualizing, and Interacting with Historical Urban Photo Collections 

      Schindler, Grant; Dellaert, Frank (Georgia Institute of TechnologyAcademy Publisher, 2012)
      Vast collections of historical photographs are being digitally archived and placed online, providing an objective record of the last two centuries that remains largely untapped. In this work, we propose that time-varying ...

    • 4D View Synthesis: Navigating Through Time and Space 

      Sun, Mingxuan; Schindler, Grant; Kang, Sing Bing; Dellaert, Frank (Georgia Institute of TechnologyACM, 2007)

    • A control theoretic perspective on learning in robotics 

      O'Flaherty, Rowland Wilde (Georgia Institute of Technology, 2015-12-16)
      For robotic systems to continue to move towards ubiquity, robots need to be more autonomous. More autonomy dictates that robots need to be able to make better decisions. Control theory and machine learning are fields of ...

    • A framework to quantify neuromechanical contributions to stable standing balance: Modeling predictions and experimental observations 

      Bingham, Jeffrey Thomas (Georgia Institute of Technology, 2013-05-17)
      Interactions between the neural and musculoskeletal systems are a prerequisite for the production of robust movement. In spite of this, the neural control and musculoskeletal structure underlying biological movements are ...

    • A linguistic method for robot verification programming and control 

      Dantam, Neil Thomas (Georgia Institute of Technology, 2014-10-29)
      There are many competing techniques for specifying robot policies, each having advantages in different circumstances. To unify these techniques in a single framework, we use formal language as an intermediate representation ...

    • A multidisciplinary framework for mission effectiveness quantification and assessment of micro autonomous systems and technologies 

      Mian, Zohaib Tariq (Georgia Institute of Technology, 2013-08-21)
      Micro Autonomous Systems and Technologies (MAST) is an Army Research Laboratory (ARL) sponsored project based on a consortium of revolutionary academic and industrial research institutions working together to develop new ...

    • Absence of inelastic collapse in a realistic three ball model 

      Goldman, Daniel I.; Shattuck, M. D.; Bizon, C.; McCormick, W. D.; Swift, J. B.; Swinney, Harry L. (Georgia Institute of TechnologyAmerican Physical Society, 1998-04)
      Inelastic collapse, the process in which a number of partially inelastic balls dissipate their energy through an infinite number of collisions in a finite amount of time, is studied for three balls on an infinite line and ...

    • Accountable Autonomous Agents: The next level 

      Arkin, Ronald C. (Georgia Institute of Technology, 2009)

    • Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints 

      Peasley, Brian; Birchfield, Stan; Cunningham, Alexander; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper we present an algorithm for constructing nearly drift-free 3D occupancy grids of large indoor environments in an online manner. Our approach combines data from an odometry sensor with output from a visual ...