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检索条件"机构=Mechatronics and Robotics Engineering"
2377 条 记 录,以下是2261-2270 订阅
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Kinematics and stiffness analyses of a flexure-jointed planar micromanipulation system for a decoupled compliant motion
Kinematics and stiffness analyses of a flexure-jointed plana...
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Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
作者: G. Alici B. Shirinzadeh Department of Mechanical Engineering Robotics & Mechatronics Research Laboratory Monash University VIC Australia
This paper aims (i) to introduce a new monolithic micromanipulation system for applications requiring micro/nano scale planar motion, and (ii) to model its stiffness consisting of the inherent stiffness of its joints,... 详细信息
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Constrained structural optimisation of a revolute-jointed planar parallel manipulator
Constrained structural optimisation of a revolute-jointed pl...
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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics
作者: G. Alici B. Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Melbourne Australia
This paper addresses kinematic analysis and constrained structural optimisation of a five-bar planar parallel manipulator articulated with revolute joints only. The kinematics of the manipulator is investigated, and i... 详细信息
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A stable sequential inverse kinematics of flexible robots: explicit and implicit expansion methods
A stable sequential inverse kinematics of flexible robots: e...
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Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
作者: Joono Cheong Youngil Youm Wan Kyun Chung Robotics Laboratory School of Aerospace 63 Mechanical Engineering Seoul National University South Korea Department of Mechanical Engineering Robotics and Bio-Mechatronics Laboratory South Korea
This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in, the explicit version of the sequential inverse kinematics ... 详细信息
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Incremental and robust construction of Generalized Voronoi Graph (GVG) for mobile guide robot
Incremental and robust construction of Generalized Voronoi G...
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Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
作者: Sunghwan Ahn Nakju Lett Doh KyoungMin Lee Wan Kyun Chung Robotics & Bio-Mechatronics Laboratory Mechanical Engineering Pohang University of Science and Technology Pohang South Korea
GVG has been effectively used as a sensor based navigation tool using 360/spl deg/ sensor data. For mobile guide robot applications, however, we can only use 180/spl deg/ sensor data and the robustness of the navigati... 详细信息
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Numerical and experimental estimation of stiffness performances for the humanoid robot WABIAN-RV
Numerical and experimental estimation of stiffness performan...
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2003 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2003
作者: Carbone, G. Lim, Hun-Ok Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Dept. of System Design Engineering Kanagawa Institute of Technology 1030 Shimoogino AtugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan
In this paper, basic models and a formulation are presented for the stiffness analysis of the humanoid robot WABIAN-RV. An evaluation of stiffness performances is carried out by numerically implementing the proposed f... 详细信息
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Time domain passivity control with reference energy behavior
Time domain passivity control with reference energy behavior
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IEEE International Workshop on Intelligent Robots and Systems (IROS)
作者: Jee-Hwan Ryu B. Hannaford C. Preusche G. Hirzinger Department of Electrical Engineering University of Washington Seattle WA USA Department of Robotic Systems Institute of Robotics and Mechatronics Germany
A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a "PHANToM" commercial haptic device. The "passivity observer" (PO) and "passivity contro... 详细信息
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Time domain passivity control for 6 degrees of freedom haptic displays
Time domain passivity control for 6 degrees of freedom hapti...
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IEEE International Workshop on Intelligent Robots and Systems (IROS)
作者: C. Preusche G. Hirzinger J.-H. Ryu B. Hannaford Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical Engineering University of Washington Seattle WA USA
In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the ... 详细信息
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Optimal motion planning for free-flying robots
Optimal motion planning for free-flying robots
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IEEE International Conference on robotics and Automation (ICRA)
作者: R. Lampariello S. Agrawal G. Hirzinger Institute of Robotics and Mechatronics German Aerospace Center Webling Germany Department of Mechanical Engineering University of Delaware Newark DE USA
This paper addresses the problem of motion planning for free-flying robots. Full state actuation is considered to allow for large displacements of the spacecraft. Motion planning is formulated as an optimization probl... 详细信息
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Stiffness performance estimation for biped locomotor WL-15
Stiffness performance estimation for biped locomotor WL-15
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2003 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2003
作者: Carbone, G. Sugahara, Y. Lim, H.O. Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Graduate School of Science and Engineering Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan Kanagawa Institute of Technology Department of System Design Engineering 1030 Shimoogino AtsugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan
In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of ... 详细信息
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Accurate relative localization using odometry
Accurate relative localization using odometry
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IEEE International Conference on robotics and Automation (ICRA)
作者: Nakju Doh H. Choset Wan Kyun Chung Robotics & Bio-Mechatronics Laboratory Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Sensor Based Planning Laboratory Mechanical Engineering Carnegie Mellon University Pittsburgh USA
All mobile robots suffer from odometry error. Relative localization from odometry has both the systematic and the non-systematic errors. However, once a precise system error model and its parameters are given, the acc... 详细信息
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