• Constructing a high-performance robot from commercially available parts 

      Smith, Christian; Christensen, Henrik I. (Georgia Institute of Technology, 2009-12)
      Robot manipulators were the topic of this article. A large number of robot manipulators have been designed over the last half century, and several of these have become standard platforms for R&D efforts. The most widely ...
    • Real-time 3d model-based tracking using edge and keypoint features for robotic manipulation 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      We propose a combined approach for 3D real-time object recognition and tracking, which is directly applicable to robotic manipulation. We use keypoints features for the initial pose estimation. This pose estimate serves ...
    • Using COTS to Construct a High Performance Robot Arm 

      Smith, Christian; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-04)
      In this paper we present a design study and technical specifications of a high performance robotic manipulator to be used for ball catching experiments using commercial off-the-shelf (COTS) components. Early evaluation ...