Showing papers in "IEEE Robotics & Automation Magazine in 1996"
TL;DR: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories.
Abstract: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functions provided, for arbitrary serial-link manipulators, include forward and inverse kinematics, Jacobians, and forward and inverse dynamics. This article introduces the Toolbox in tutorial form, with examples chosen to demonstrate a range of capabilities. The complete Toolbox and documentation is freely available via anonymous ftp.
867 citations
TL;DR: The "Agile Eye" is a high-performance mechanism capable of orienting a camera within a workspace larger than that of a human eye and with velocities and accelerations larger than those of the human eye.
Abstract: The "Agile Eye" is a high-performance mechanism capable of orienting a camera within a workspace larger than that of a human eye and with velocities and accelerations larger than those of the human eye. The mechanical design, control issues, and experimental results are presented.
199 citations
TL;DR: The authors review the most important past and ongoing research projects in macro-robotics, micro-ro botics and bio-ro Botics, three general areas of robotics which have the potential to provide significant improvements to the state of the art of medical technology.
Abstract: The authors review the most important past and ongoing research projects in macro-robotics, micro-robotics and bio-robotics, three general areas of robotics which have the potential to provide significant improvements to the state of the art of medical technology. A brief analysis of the economic potentialities of robotics in medicine is also provided.
150 citations
TL;DR: AURORA has been conceived in order to substitute hard and unhealthy human work inside greenhouses by means of an autonomous mobile robot outfitted with appropriate sensors and operation devices.
Abstract: AURORA has been conceived in order to substitute hard and unhealthy human work inside greenhouses by means of an autonomous mobile robot outfitted with appropriate sensors and operation devices. Emphasis has been put in the development of a new robotic platform specifically designed for greenhouse tasks, governed by a control architecture that supports both autonomous navigation and shared human control.
115 citations
TL;DR: This work discusses how the pulley diameters for the tendoning system were chosen by maximizing the workspace of the fingers while mechanically insuring that the hand cannot collide with itself, and presents the mechanical structure of the robotic hand and the antagonistic tendoned system.
Abstract: With only one motor per finger and a simple, easy to maintain, mechanical structure, the Graspar robotic hand uses minimal computation to provide secure grasping of objects ranging from eggs and light bulbs to tennis rackets, coffee pots and stuffed toys. We first discuss currently developed hands, and show the motivation for our work. Next, we present the mechanical structure of our robotic hand and the antagonistic tendoning system. We then show how this structure moves and complies to the object surface. We discuss how we chose the pulley diameters for our tendoning system by maximizing the workspace of the fingers while mechanically insuring that the hand cannot collide with itself. Our control algorithm which uses simple mechanical switches is presented.
110 citations
TL;DR: A prediction-based feedforward filter has been developed to make a ground-based hydraulic simulator generate contact forces and rebound velocities that match those expected during Shuttle on-orbit berthing operations.
Abstract: A prediction-based feedforward filter has been developed to make a ground-based hydraulic simulator generate contact forces and rebound velocities that match those expected during Shuttle on-orbit berthing operations.
69 citations
TL;DR: The authors investigate how to find a set of paths so as to permit various choices concerning multiple criteria and discuss an extension to navigation in time-varying scenes.
Abstract: Most path planners are designed to generate a single path that is optimal in terms of some criterion such as path length or travel time. However, for realistic terrain navigation we wish to find a path that is reasonable to execute in a given environment. Therefore we must consider several factors, such as safety, time, and energy consumption. In this article the authors investigate how to find a set of paths (as opposed to a single path) so as to permit various choices concerning multiple criteria. They present simulation results to demonstrate the feasibility of the approach and discuss an extension to navigation in time-varying scenes.
56 citations
TL;DR: By incorporating high bandwidth visual feedback into the manipulator feedback loop, more flexible and adaptable robotic assembly systems can be developed.
Abstract: Visual feedback has traditionally been used in the assembly process to a very limited extent. By incorporating high bandwidth visual feedback into the manipulator feedback loop, more flexible and adaptable robotic assembly systems can be developed. The authors present experimentally tested algorithms and propose solutions for the problem of dynamic sensor placement in assembly tasks.
54 citations
TL;DR: This paper presents the development of a visually guided robotic system for handling food products that are presented in an unstructured manner using a grasp vector formulated using both online visual information and off-line data.
Abstract: This paper presents the development of a visually guided robotic system for handling food products that are presented in an unstructured manner. Vision guided grasping is described in the context of vector manipulations. The grasp vector is formulated using both online visual information and off-line data. Problems due to the constraints imposed in food handling applications are addressed.
31 citations
TL;DR: The authors developed a robotics system to be used with an endoscopic manipulator in minimally invasive surgical procedures and describe the application context, the evolutionary development approach they used, and the role of requirements gathering, recording and analysis throughout the evolution of the device.
Abstract: The authors developed a robotics system to be used with an endoscopic manipulator in minimally invasive surgical procedures. They describe the application context, the evolutionary development approach they used, and the role of requirements gathering, recording and analysis throughout the evolution of the device.
27 citations
TL;DR: The telepresence robot featured here has "user friendly" limb linked output and feedback systems and the mechanism design and sensory feedback of visual, audio and multi-functional tactile parameters are described.
Abstract: Complex tasks in unstructured/hazardous environments often require teleoperation. The telepresence robot featured here has "user friendly" limb linked output and feedback systems. The mechanism design and sensory feedback of visual, audio and multi-functional tactile (pressure, texture/slip and thermal parameters) are described.
TL;DR: Experimental results relevant to the execution of a reference task for space robotics, namely the replacement of an orbital replacement unit (ORU), are presented.
Abstract: The External Servicing Testbed for Automation and Robotics (ESTAR) was developed on behalf of the European Space Agency (ESA) as an open system suitable for easy implementation of new control concepts, algorithms and operational procedures, and integration of new components and subsystems. In this article, the authors present experimental results relevant to the execution of a reference task for space robotics, namely the replacement of an orbital replacement unit (ORU).
TL;DR: A compact automated system cuts complicated contours on prefabricated polystyrene blocks which are used as molds to cast Cerrobend, which is used as a shield in radiation therapy, to describe the development of the prototype.
Abstract: A compact automated system cuts complicated contours on prefabricated polystyrene blocks which are used as molds to cast Cerrobend, which is used as a shield in radiation therapy The authors describe the development of the prototype, including details for machine configuration, motion planning and cutting experiments
TL;DR: A new camera calibration technique, which is singular-free for this type of system, is employed and several practical recommendations are given for robot users in general and SCARA arm users in particular.
Abstract: This paper presents some experimental results obtained by applying an approach of Lenz and Tsai (1989) to SCARA arm calibration. A new camera calibration technique, which is singular-free for this type of system, is employed. Several practical recommendations are given for robot users in general and SCARA arm users in particular.
TL;DR: XAnimate's graphical user interface, C library of functions, and a set of predefined objects enable users to easily display animated wireframe images or solid color objects for robotics systems of any topological structure.
Abstract: XAnimate has been developed at The Ohio State University to provide portable graphical simulation capabilities at no cost. XAnimate's graphical user interface, C library of functions, and a set of predefined objects enable users to easily display animated wireframe images or solid color objects for robotics systems of any topological structure. The use of X Windows and C allows the package to be ported to almost any Unix system.
TL;DR: In this article, a robust automated assembly algorithm is trained on synthetic images generated using the CAD model of the different components of the assembly, which can detect assembly errors by examining real images of the assembled product.
Abstract: An important aspect of robust automated assembly is an accurate and efficient method for the inspection of finished assemblies. This novel algorithm is trained on synthetic images generated using the CAD model of the different components of the assembly. Once trained on synthetic images, the algorithm can detect assembly errors by examining real images of the assembled product.
TL;DR: The Institution's core skills are in mechatronics, computer-integrated control and dynamic engineering, and the use in terrestrial applications of technology developed for use in Space is considered.
Abstract: Examines various aspects of the Institution's work. Its core skills are in mechatronics, computer-integrated control and dynamic engineering. Telerobotics, robot learning, robot vision and the use in terrestrial applications of technology developed for use in Space are also considered.
TL;DR: The author provides an overview of seven different academic institutions in Poland, which are an active area of research in robotics and teaching programs.
Abstract: Robotics is an active area of research in Poland. Teaching programs are similar to those in Western European countries. Research activities are basically supported by the State Committee for Scientific Research (SCSR) and European agencies. The author provides an overview of seven different academic institutions in Poland.