Now showing items 1-20 of 416

    • 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, ...
    • 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 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, ...
    • Adaptive Command Shaping Using Adaptive Filter Approach in Time Domain 

      Rhim, Sungsoo; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1999-06)
      Since its introduction, the command shaping method has been applied to the control of many different types of flexible manipulators. A properly designed command shaper cancels the resonance poles of the system regardless ...
    • Adaptive impedance control for bilateral teleoperation of long reach flexible manipulators 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyPublished for the International Federation of Automatic Control by Elsevier, 1996-07)
      Current applications in the field of telerobotics, such as space based assembly and nuclear waste remediation, require the use of long reach manipulators. These robots are characterized by their large workspace and reduced ...
    • Adaptive Model-Independent Tracking of Rigid Body Position and Attitude Motion with Mass and Inertia Matrix Identification using Dual Quaternions 

      Filipe, Nuno; Tsiotras, Panagiotis (Georgia Institute of Technology, 2013-08)
      In this paper, we propose a nonlinear adaptive position and attitude tracking controller for a rigid body that requires no information about the mass and inertia matrix of the body. Moreover, we provide su cient conditions ...
    • Adaptive Position and Attitude Tracking Controller for Satellite Proximity Operations using Dual Quaternions 

      Filipe, Nuno; Tsiotras, Panagiotis (Georgia Institute of Technology, 2013-08)
      In this paper, we propose a nonlinear adaptive position and attitude tracking controller for satellite proximity operations. This controller requires no information about the mass and inertia matrix of the satellite, and ...
    • Adaptive Position and Attitude-Tracking Controller for Satellite Proximity Operations Using Dual Quaternions 

      Filipe, Nuno; Tsiotras, Panagiotis (Georgia Institute of Technology, 2015)
      This paper proposes a nonlinear adaptive position and attitude tracking controller for satellite proximity operations between a target and a chaser satellite. The controller requires no information about the mass and inertia ...
    • Adaptive Robot Navigation Protocol for Estimating Variable Terrain Elevation Data 

      Parker, Lonnie T.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-10)
      Efficiently measuring environmental phenomena (e.g., elevation, chemical composition, and mineral density) is a task typically reserved for the geoscience community. Recent robotic systems with the potential for addressing ...
    • Adaptive Time Horizon Optimization in Model Predictive Control 

      Droge, Greg; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      Whenever the control task involves the tracking of a reference signal the performance is typically improved if one knows the future behavior of this reference. However in many applications this is typically not the case ...
    • Air Traffic Maximization for the Terminal Phase of Flight Under FAA's NextGen Framework 

      Chipalkatty, Rahul; Rahmani, Amir R.; Egerstedt, Magnus B.; Young, R.; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      The NextGen program is the FAA's response to the ever increasing air traffic, that provides tools to increase the capacity of national airspace, while ensuring the safety of aircraft. In support of this vision, this paper ...
    • Algorithm for Optimal Mode Scheduling in Switched Systems 

      Wardi, Yorai; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      This paper considers the problem of computing the schedule of modes in an autonomous switched dynamical system, that minimizes a cost functional defined on the trajectory of the system’s continuous state variable. It ...
    • Alternatives in the generation of time domain models of fluid lines using frequency domain techniques 

      Watson, Cody; Book, Wayne John (Georgia Institute of TechnologyElsevier, 2000-10)
      By converting from frequency domain models to time domain models, nonlinear behavior and linear distributed behavior can both be effectively represented. Three methods are presented to convert fluid line models from the ...
    • Alternatives in the generation of time domain models of fluid lines using frequency domain techniques 

      Watson, Cody; Book, Wayne John (Georgia Institute of TechnologyElsevier, 2000-02)
      By converting from frequency domain models to time domain models, nonlinear behavior and linear distributed behavior can both be effectively represented. Three methods are presented to convert fluid line models from the ...
    • Analysis of an MRI Compatible Force Sensor for Sensitivity and Precision 

      Turkseven, Melih; Ueda, Jun (Georgia Institute of Technology, 2013-02)
      Magnetic resonance imaging (MRI) compatible force sensors are important components in medical robotics, as they enable force feedback in a challenging environment for surgical and assistive robots. This paper analyzes a ...
    • An Analytical Model of the CAN Bus for Online Schedulability Test 

      Shi, Zhenwu; Zhang, Fumin (Georgia Institute of Technology, 2012-12-04)
      Controller area network (CAN) is a prioritybased bus that supports real-time communication. Existing schedulability analysis for the CAN bus is peformed at the design stage, by assuming that all message information ...
    • Anticipating Human Actions for Collaboration in the Presence of Task and Sensor Uncertainty 

      Hawkins, Kelsey P.; Bansal, Shray; Vo, Nam N.; Bobick, Aaron F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      A representation for structured activities is developed that allows a robot to probabilistically infer which task actions a human is currently performing and to predict which future actions will be executed and when they ...
    • Anticipation in Robot Motion 

      Gielniak, Michael J.; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2011)
      Robots that display anticipatory motion provide their human partners with greater time to respond in interactive tasks because human partners are aware of robot intent earlier. We create anticipatory motion autonomously ...