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A Mathmematical Introduction to Robotic Manipulation
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The article was published on 1994-01-01 and is currently open access. It has received 2759 citations till now.read more
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Journal ArticleDOI
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
Robert J. Webster,Bryan A. Jones +1 more
TL;DR: This discussion elucidates what has been articulated in different ways by a number of researchers in the past several years, namely that constant-curvature kinematics can be considered as consisting of two separate submappings: one that is general and applies to all continuum robots, and another that is robot-specific.
Journal ArticleDOI
Nonlinear Complementary Filters on the Special Orthogonal Group
TL;DR: An observer on SO(3), termed the explicit complementary filter, that requires only accelerometer and gyro outputs; is suitable for implementation on embedded hardware; and provides good attitude estimates as well as estimating the gyro biases online.
Proceedings ArticleDOI
Human Action Recognition by Representing 3D Skeletons as Points in a Lie Group
TL;DR: A new skeletal representation that explicitly models the 3D geometric relationships between various body parts using rotations and translations in 3D space is proposed and outperforms various state-of-the-art skeleton-based human action recognition approaches.
Journal ArticleDOI
Universal robotic gripper based on the jamming of granular material
Eric Brown,Nicholas Rodenberg,John R. Amend,Annan Michael Mozeika,E. Steltz,Mitchell R. Zakin,Hod Lipson,Heinrich M. Jaeger +7 more
TL;DR: It is shown that volume changes of less than 0.5% suffice to grip objects reliably and hold them with forces exceeding many times their weight, and opens up new possibilities for the design of simple, yet highly adaptive systems that excel at fast gripping of complex objects.
Journal ArticleDOI
A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games
TL;DR: An algorithm for computing the set of reachable states of a continuous dynamic game based on a proof that the reachable set is the zero sublevel set of the viscosity solution of a particular time-dependent Hamilton-Jacobi-Isaacs partial differential equation.