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Amortized constant time estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter
(2011)
Article.
Accés obert
Article.
Accés obert
The computational bottleneck in all information-based algorithms for simultaneous localization and mapping (SLAM)
is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the ...
A three-dof actuated robot
(2011)
Article.
Accés obert
Article.
Accés obert
This article presents the realization of a tensegrity-based robot composed of a three-bar symmetric prismlike minimal tensegrity configuration. Statics and kinematics are studied presenting the workspace for the designed ...
Synthesis of spatial RPRP closed linkages for a given screw system
(ASME PRESS, 2011-04-11)
Article.
Accés obert
Article.
Accés obert
The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not ...
Learning the semantics of object-action relations by observation
(2011-10-28)
Article.
Accés obert
Article.
Accés obert
Recognizing manipulations performed by a human and the transfer and execution of this by a robot is a difficult problem. We address this in the current study by introducing a novel representation of the relations between ...
A local algorithm for the computation of image velocity via constructive interference of global Fourier components
(2011)
Article.
Accés obert
Article.
Accés obert
A novel Fourier-based technique for local motion detection from image sequences is proposed. In this method, the instantaneous velocities of local image points are inferred directly from the global 3D Fourier components ...
Randomized tree construction algorithm to explore energy landscapes
(2011-12)
Article.
Accés obert
Article.
Accés obert
We report in the present work a new method for exploring conformational energy landscapes.
The method, called T-RRT, combines ideas from statistical physics and robot path planning
algorithms. A search tree is constructed ...
Object-action complexes: grounded abstractions of sensory-motor processes
(2011)
Article.
Accés obert
Article.
Accés obert
This paper formalises Object-Action Complexes (OACs) as a basis for symbolic
representations of sensorimotor experience and behaviours. OACs are
designed to capture the interaction between objects and associated actions
in ...
Synthesizing grasp configurations with specified contact regions
(2011)
Article.
Accés obert
Article.
Accés obert
This paper presents a new method to solve the
configuration problem on robotic hands:deter-
mine how a hand should be configured so as to
grasp a given object in a specific way, characterized by a number of hand-object ...
Lock-in time-of-flight (ToF) cameras: a survey
(2011)
Article.
Accés obert
Article.
Accés obert
This paper reviews the state-of-the art in the field of lock-in ToF cameras, their advantages, their limitations, the
existing calibration methods, and the way they are being used, sometimes in combination with other ...
Distance-based position analysis of the three seven-link Assur kinematic chains
(2011-02)
Article.
Accés obert
Article.
Accés obert
The position analysis of planar linkages has been dominated by resultant elimination and
tangent-half-angle substitution techniques applied to sets of kinematic loop equations.
This analysis is thus reduced to finding ...