2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)最新文献

Using visual features to build topological maps of indoor environments 利用视觉特征构建室内环境的拓扑图

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-12-09 DOI: 10.1109/ROBOT.2003.1241699

P. Rybski, Franziska Zacharias, Jean-François Lett, O. Masoud, Maria L. Gini, N. Papanikolopoulos

引用次数: 40

Interactive rendering of deformable objects based on a filling sphere modeling approach 基于填充球体建模方法的可变形物体交互渲染

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242167

François Conti, O. Khatib, C. Baur

{"title":"Interactive rendering of deformable objects based on a filling sphere modeling approach","authors":"François Conti, O. Khatib, C. Baur","doi":"10.1109/ROBOT.2003.1242167","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242167","url":null,"abstract":"Mass-spring systems have widely and effectively been used for modeling in real-time deformable objects. Easier to implement and faster than finite elements, these systems, on the other side, suffer from several drawbacks when coming to render physically believable behaviors. Neither isotropic or anisotropic materials can be controlled easily and the large number of springs and mass points composing the model makes it fastidious to define parameters to control elongation, flexion and torsion at a macroscopic level. Another weakness is that most of the materials found in nature maintain a constant or quasi-constant volume during deformations; unfortunately, mass-spring models do not have this property. In this paper, we extend the current state-of-the-art in soft tissue simulation by introducing a six-degree of freedom macroscopic elastic sphere described by mass, inertia and volumetric properties. Spheres are placed along the medial axis transform of the object whose centers are connected by a skeleton composed of a set of three-dimensional elastic links. Spheres represent internal mass, volume and control the global deformation of the object. The surface is modeled by setting point masses on the mesh nodes and damped springs on the mesh edges. These nodes are connected to the skeleton by individual elastic links, which control volume conservation and transfer forces between the surface and volumetric model. Using this framework we also present an efficient method to approximate collision detection between multiple bodies in real-time.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115451833","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 50

Self-assembly in space via self-reconfigurable robots 通过自重构机器人在太空中进行自组装

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241971

Wei-Min Shen, P. Will, B. Khoshnevis

引用次数: 55

Cooperative task planning of multi-robot systems with temporal constraints 具有时间约束的多机器人系统协同任务规划

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241969

Feng‐Li Lian, R. Murray

引用次数: 22

An extensor mechanism for an anatomical robotic hand 解剖机械手的伸肌机构

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241602

D. Wilkinson, M. V. Weghe, Y. Matsuoka

引用次数: 96

Efficient selection of scheduling rule combination by combining design of experiment and ordinal optimization-based simulation 通过实验设计与基于序次优化的仿真相结合，实现调度规则组合的高效选择

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241590

B. Hsieh, Shi-Chung Chang, Chun-Hung Chen

引用次数: 2

EMG classification for prehensile postures using cascaded architecture of neural networks with self-organizing maps 基于自组织映射的神经网络级联结构的可抓握姿势肌电图分类

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241803

Han-Pang Huang, Yi-Hung Liu, Li-Wei Liu, Chun-Shin Wong

引用次数: 61

Intelligent control of an experimental articulated leg for a galloping machine 一种用于驰骋机器的实验性铰接腿的智能控制

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242183

Luther R. Palmer, D. Orin, D. Marhefka, J. Schmiedeler, K. Waldron

引用次数: 49

Micromachined fluid ejector arrays for biotechnological and biomedical applications 生物技术和生物医学应用的微机械流体喷射器阵列

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242031

G. Perçin, Göksin G. Yaralioglu, B. Khuri-Yakub

{"title":"Micromachined fluid ejector arrays for biotechnological and biomedical applications","authors":"G. Perçin, Göksin G. Yaralioglu, B. Khuri-Yakub","doi":"10.1109/ROBOT.2003.1242031","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242031","url":null,"abstract":"In this paper, we present a micromachined flextensional droplet ejector array for use to eject liquids. By placing a fluid behind one face of a vibrating circular plate that has an orifice at its center, we achieve continuous and drop-on-demand ejection of the fluid. We present results of ejection of water and isopropanol. The ejector is harmless to sensitive fluids and can be used to eject fuels, organic polymers, photoresists, low-A dielectrics, adhesives, chemical and biological samples. Micromachined two-dimensional array flextensional droplet ejectors were realized using planar silicon micromachining techniques. Typical resonant frequency of the micromachined device ranges from 400 kHz to 4.5 MHz. The ejections of water thru 4 /spl mu/m diameter orifice at 3.45 MHz and 10 /spl mu/m diameter orifice at 2.15 MHz were demonstrated by using the developed micromachined two-dimensional array ejectors. The unique features of the device are that the fluid is not pressurized, the fluid container is chemically or biologically compatible with most fluids, and the vibrating plate contains the orifice as the ejection source.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125154978","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Analysis of formation control of cooperative transportation of mother ship by SMC 基于SMC的母船协同运输编队控制分析

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241715

M. Yamakita, Y. Taniguchi, Yuichirou Shukuya

引用次数: 23