Robotics

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Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots. (Wikipedia.org)






Conferences related to Robotics

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2016 IEEE 55th IEEE Conference on Decision and Control (CDC)

The CDC is recognized as the premier scientific and engineering conference dedicated to the advancement of the theory and practice of systems and control. The CDC annually brings together an international community of researchers and practitioners in the field of automatic control to discuss new research results, perspectives on future developments, and innovative applications relevant to decision making, automatic control, and related areas.

  • 2014 IEEE 53rd Annual Conference on Decision and Control (CDC)

    Largest annual conference in control theory and its applications. Areas covered all applied math, communication, control, aerospace, biology, etc.

  • 2013 IEEE 52nd Annual Conference on Decision and Control (CDC)

    The 52nd IEEE Conference on Decision and Control will be held Tuesday through Friday, December 10-13, 2013 at the Congress Centre in Firenze, Italy. The CDC annually brings together an international community of researchers and practitioners in the field of automatic control to discuss the latest advancements of the discipline, shape its future directions, and promote its diffusion among the scientific community at large. The 52nd CDC will feature the presentation of contributed and invited papers, as well as tutorial sessions and workshops. The CDC is hosted by the IEEE Control Systems Society (CSS), and is organized in cooperation with the Society for Industrial and Applied Mathematics (SIAM), the Institute for Operations Research and the Management Sciences (INFORMS), the Japanese Society for Instrument and Control Engineers (SICE), and the European Union Control Association (EUCA).

  • 2012 IEEE 51st Annual Conference on Decision and Control (CDC)

    The conference discusses advances in theory, design and application of control systems. Papers will highlight the latest knowledge, exploratory developments, and practical applications in all aspects of the control systems from analysis and design through simulation and hardware. Its scope shall encompass components, and the integration of these components, as are necessary for the construction of such systems. The word `systems' as used herein shall be interpreted to include physical, biological, organiz

  • 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)

    This conference is dedicated to the advancement of the theory and practice of systems and control, bringing together an international community of researchers and practitioners to discuss new research results, perspectives on future developments, and innovative applications relevant to decision making, automatic control, and related areas.

  • 2010 49th IEEE Conference on Decision and Control (CDC)

    Theory and applications of control theory and control systems technology

  • 2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

    This conference is dedicated to the advancement of the theory and practice of systems and control, bringing together an international community of researchers and practitioners to discuss new research results, perspectives on future developments, and innovative applications relevant to decision making, automatic control, and related areas.


2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

Theoretical and experimental challenges posed by the application of robotics and mechatronics in medicine and biology. Analysis of biological systems from a biomechatronic point of view. Design and fabrication of bio-inspired and biomimetic machines. Robotic and mechatronic devices and systems for prevention, diagnosis, surgery, prosthetics, rehabilitation and personal assistance.

  • 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012)

    Theoretical and experimental challenges posed by the application of robotics and mechatronics in medicine and biology. Analysis of biological systems from biomechatronic point of view. Design and fabrication of bio-inspired machines. Robotic and mechatronic devices and systems for prevention, diagnosis, surgery, prosthetics, rehabilitation and personal assistance.

  • 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010)

    Theoretical and experimental challenges posed by the application of robotics and mechatronics in medicine and biology. Analysis of biological systems from a biomechatronic point of view. Design and fabrication of bio-inspired machines and systems for diagnosis, surgery, prosthetics, rehabilitation and personal assistance.

  • 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008)

    The main focus of Biorobotics is to analyze biological systems from a "biomechatronic" point of view, trying to understand the scientific and engineering principles underlying their extraordinary performance. This profound understanding of how biological systems work, behave and interact can be used for two main objectives: to guide the design and fabrication of novel, high performance bio-inspired machines and systems, for many different potential applications; and to develop (nano, micro, macro) novel dev

  • 2006 1st IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)


2014 American Control Conference - ACC 2014

All areas of the theory and practice of automatic control, including but not limited to network control systems, model predictive control, systems analysis in biology and medicine, hybrid and switched systems, aerospace systems, power and energy systems and control of nano- and micro-systems.

  • 2013 American Control Conference (ACC)

    Control systems theory and practice. Conference themes on sustainability, societal challenges for control, smart healthcare systems. Conference topics include biological systems, vehicle dynamics and control, consensus control, cooperative control, control of communication networks, control of networked systems, control of distributed parameter systems, decentralized control, delay systems, discrete-event systems, fault detection, fault-tolerant systems, flexible structures, flight control, formation flying, fuzzy systems, hybrid systems, system identification, iterative learning control, model predictive control, linear parameter-varying systems, linear matrix inequalities, machine learning, manufacturing systems, robotics, multi-agent systems, neural networks, nonlinear control, observers, optimal control, optimization, path planning, navigation, robust control, sensor fusion, sliding mode control, stochastic systems, switched systems, uncertain systems, game theory.

  • 2012 American Control Conference - ACC 2012

    All areas of control engineering and science.

  • 2011 American Control Conference - ACC 2011

    ACC provides a forum for bringing industry and academia together to discuss the latest developments in the area of Automatic Control Systems, from new control theories, to the advances in sensors and actuator technologies, and to new applications areas for automation.

  • 2010 American Control Conference - ACC 2010

    Theory and practice of automatic control

  • 2009 American Control Conference - ACC 2009

    The 2009 ACC technical program will cover new developments related to theory, application, and education in control science and engineering. In addition to regular technical sessions the program will also feature interactive and tutorial sessions and preconference workshops.


2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)

Control Systems & ApplicationsPower ElectronicsSignal Processing & Computational IntelligenceRobotics & MechatronicsSensors, Actuators & System IntegrationElectrical Machines & DrivesFactory Automation & Industrial InformaticsEmerging Technologies

  • 2012 IEEE 21st International Symposium on Industrial Electronics (ISIE)

    IEEE-ISIE is the largest summer conference of the IEEE Industrial Electronics Society, which is an international forum for presentation and discussion of the state of art in Industrial Electronics and related areas.

  • 2011 IEEE 20th International Symposium on Industrial Electronics (ISIE)

    Industrial electronics, power electronics, power converters, electrical machines and drives, signal processing, computational intelligence, mechatronics, robotics, telecommuniction, power systems, renewable energy, factory automation, industrial informatics.

  • 2010 IEEE International Symposium on Industrial Electronics (ISIE 2010)

    Application of electronics and electrical sciences for the enhancement of industrial and manufacturing processes. Latest developments in intelligent and computer control systems, robotics, factory communications and automation, flexible manufacturing, data acquisition and signal processing, vision systems, and power electronics.

  • 2009 IEEE International Symposium on Industrial Electronics (ISIE 2009)

    The purpose of the IEEE international conference is to provide a forum for presentation and discussion of the state-of art of Industrial Electronics and related areas.


2014 IEEE 27th International Conference on Micro Electro Mechanical Systems (MEMS)

This Conference reflects from the rapid proliferation of the commitment and success of the Microsystems research community. In recent years, the IEEE MEMS Conference has attracted more than 700 participants, 800+ abstract submissions and has created the forum to present over 200 select papers in podium and poster/oral sessions. Its single-session format provides ample opportunity for interaction between attendees, presenters and exhibitors.

  • 2013 IEEE 26th International Conference on Micro Electro Mechanical Systems (MEMS)

    Development of micro -electro mechanical systems (MEMS) focusing on design, simulation and analysis tools, fabrication technologies and processes, integration techniques, and assembly and packaging approaches. Application of MEMS in sensors and actuators, microdevices for opto -mechanical systems, fluidic microsystems, biomedical engineering, wireless communication, power supply and energy harvesting and nano - electro -mechanical devices.

  • 2012 IEEE 25th International Conference on Micro Electro Mechanical Systems (MEMS)

    Premier Conference on MEMS reporting the lastest research results on every aspect of microsystems technology.

  • 2011 IEEE 24th International Conference on Micro Electro Mechanical Systems (MEMS)

    MEMS 2011 will be held in Cancun, Mexico from 23-27 January 2011 at the Hilton. The MEMS Conference series has evolved into the premier annual event reporting research results on every aspect of microsystems technology. In recent years, it has attracted more than 700 participants, 750+ abstract submissions and has presented over 200 select papers in non-overlapping podium and poster/oral sessions. Its single-session format provides ample opportunity for interaction between attendees.

  • 2010 IEEE 23rd International Conference on Micro Electro Mechanical Systems (MEMS)

    Development of micro-electro mechanical systems (MEMS) focusing on design, simulation and analysis tools, fabrication technologies and processes, integration techniques, and assembly and packaging approaches. Application of MEMS in sensors and actuators, microdevices for opto-mechanical systems, fluidic microsystems, biomedical engineering, wireless communication, power supply and energy harvesting and nano-electro-mechanical devices.

  • 2009 IEEE 22nd International Conference on Micro Electro Mechanical Systems (MEMS)

    MEMS 2009 will be held in Sorrento, Italy on 26-29 January 2009 at the Hilton Sorrento Palace. the MEMS Conference series has evolved into the premier annual event reporting research results on every aspect of microsystems technology. In recent years, it has attracted more than 700 participants, 750+ abstract submissions and has presented over 200 select papers in non-overlapping podium and poster/oral sessions. Its single-session format provides ample opportunity for interaction between attendees, present


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Periodicals related to Robotics

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Automation Science and Engineering, IEEE Transactions on

The IEEE Transactions on Automation Sciences and Engineering (T-ASE) publishes fundamental papers on Automation, emphasizing scientific results that advance efficiency, quality, productivity, and reliability. T-ASE encourages interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, operations research, and other fields. We welcome results relevant to industries such as agriculture, biotechnology, healthcare, home automation, maintenance, manufacturing, pharmaceuticals, retail, ...


Computers, IEEE Transactions on

Design and analysis of algorithms, computer systems, and digital networks; methods for specifying, measuring, and modeling the performance of computers and computer systems; design of computer components, such as arithmetic units, data storage devices, and interface devices; design of reliable and testable digital devices and systems; computer networks and distributed computer systems; new computer organizations and architectures; applications of VLSI ...


Intelligent Systems, IEEE

IEEE Intelligent Systems, a bimonthly publication of the IEEE Computer Society, provides peer-reviewed, cutting-edge articles on the theory and applications of systems that perceive, reason, learn, and act intelligently. The editorial staff collaborates with authors to produce technically accurate, timely, useful, and readable articles as part of a consistent and consistently valuable editorial product. The magazine serves software engineers, systems ...


Mechatronics, IEEE/ASME Transactions on

Synergetic integration of mechanical engineering with electronic and intelligent computer control in the design and manufacture of industrial products and processes. (4) (IEEE Guide for Authors) A primary purpose is to have an aarchival publication which will encompass both theory and practice. Papers will be published which disclose significant new knowledge needed to implement intelligent mechatronics systems, from analysis and ...


Microelectromechanical Systems, Journal of

A journal covering Microsensing, Microactuation, Micromechanics, Microdynamics, and Microelectromechanical Systems (MEMS). Contains articles on devices with dimensions that typically range from macrometers to millimeters, microfabrication techniques, microphenomena; microbearings, and microsystems; theoretical, computational, modeling and control results; new materials and designs; tribology; microtelemanipulation; and applications to biomedical engineering, optics, fluidics, etc. The Journal is jointly sponsored by the IEEE Electron Devices ...


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Xplore Articles related to Robotics

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State estimation of nonlinear systems using the Unscented Kalman Filter

J. Almeida; P. Oliveira; C. Silvestre; A. Pascoal TENCON 2015 - 2015 IEEE Region 10 Conference, 2015

This paper addresses the problem of estimating the state of a nonlinear system from measurements that are perturbed by a random source of noise. The Extended Kalman Filter is a type of all-purpose filter that tries to solve this problem by dealing with a linearized version of the system. A new methodology proposed in [1], named Unscented Kalman Filter, is ...


Speed profile generation based on quintic Bézier curves for enhanced passenger comfort

David González; Vicente Milanés; Joshué Pérez; Fawzi Nashashibi 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), 2016

Automated ground vehicles are becoming a reality for future deployment due to their potential improvement of safety, comfort or emission reductions. However, some challenges remain unsolved such as navigation in dynamic urban environments, where safety and comfort are paramount. In this paper, a novel speed profile generator, based on quintic Bézier curves, is presented. This approach permits to improve the ...


Proposal of inspection and rescue tasks for tunnel disasters — Task development of Japan virtual robotics challenge

M. Okugawa; K. Oogane; M. Shimizu; Y. Ohtsubo; T. Kimura; T. Takahashi; S. Tadokoro 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2015

For aging social infrastructure, robot technology is effective for the inspection and maintenance. Such capabilities are similar to those required in the disaster response robots. The application of response robot technology to frequently-used maintenance robots for infrastructure accelerate the social implementation of the response robots. In the paper, the concept and outlines of Japan Virtual Robotics Challenge (JVRC) task development ...


Author index

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2015

Presents an index of the authors whose articles are published in the conference proceedings record.


Towards intelligent hospital devices: Health caring of patients with motor disabilities

E. Vázquez-Santacruz; R. Portillo-Flores; M. Gamboa-Zúñiga 2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), 2015

In this document we present an intelligence device which includes a monitor system for automatic movements of a robotic hospital bed based on posture classification and identification. This functionality has been developed in response to the requirements defined by the application of a diagnostic methodology [10]. Our diagnostic methodology applied on a Mexican public hospital allowed us to understand that ...


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Educational Resources on Robotics

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eLearning

State estimation of nonlinear systems using the Unscented Kalman Filter

J. Almeida; P. Oliveira; C. Silvestre; A. Pascoal TENCON 2015 - 2015 IEEE Region 10 Conference, 2015

This paper addresses the problem of estimating the state of a nonlinear system from measurements that are perturbed by a random source of noise. The Extended Kalman Filter is a type of all-purpose filter that tries to solve this problem by dealing with a linearized version of the system. A new methodology proposed in [1], named Unscented Kalman Filter, is ...


Speed profile generation based on quintic Bézier curves for enhanced passenger comfort

David González; Vicente Milanés; Joshué Pérez; Fawzi Nashashibi 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), 2016

Automated ground vehicles are becoming a reality for future deployment due to their potential improvement of safety, comfort or emission reductions. However, some challenges remain unsolved such as navigation in dynamic urban environments, where safety and comfort are paramount. In this paper, a novel speed profile generator, based on quintic Bézier curves, is presented. This approach permits to improve the ...


Proposal of inspection and rescue tasks for tunnel disasters — Task development of Japan virtual robotics challenge

M. Okugawa; K. Oogane; M. Shimizu; Y. Ohtsubo; T. Kimura; T. Takahashi; S. Tadokoro 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2015

For aging social infrastructure, robot technology is effective for the inspection and maintenance. Such capabilities are similar to those required in the disaster response robots. The application of response robot technology to frequently-used maintenance robots for infrastructure accelerate the social implementation of the response robots. In the paper, the concept and outlines of Japan Virtual Robotics Challenge (JVRC) task development ...


Author index

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2015

Presents an index of the authors whose articles are published in the conference proceedings record.


Towards intelligent hospital devices: Health caring of patients with motor disabilities

E. Vázquez-Santacruz; R. Portillo-Flores; M. Gamboa-Zúñiga 2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), 2015

In this document we present an intelligence device which includes a monitor system for automatic movements of a robotic hospital bed based on posture classification and identification. This functionality has been developed in response to the requirements defined by the application of a diagnostic methodology [10]. Our diagnostic methodology applied on a Mexican public hospital allowed us to understand that ...


More eLearning Resources

IEEE-USA E-Books

  • The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty

    We present a new motion planning framework that explicitly considers uncertainty in robot motion to maximize the probability of avoiding collisions and successfully reaching a goal. In many motion planning applications ranging from maneuvering vehicles over unfamiliar terrain to steering flexible medical needles through human tissue, the response of a robot to commanded actions cannot be precisely predicted. We propose to build a roadmap by sampling collision-free states in the configuration space and then locally sampling motions at each state to estimate state transition probabilities for each possible action. Given a query specifying initial and goal configurations, we use the roadmap to formulate a Markov Decision Process (MDP), which we solve using Infinite Horizon Dynamic Programming in polynomial time to compute stochastically optimal plans. The Stochastic Motion Roadmap (SMR) thus combines a sampling-based roadmap representation of the configuration space, as in PRM's, with the well-established theory of MDP's. Generating both states and transition probabilities by sampling is far more flexible than previous Markov motion planning approaches based on problem-specific or grid-based discretizations. We demonstrate the SMR framework by applying it to nonholonomic steerable needles, a new class of medical needles that follow curved paths through soft tissue, and confirm that SMR's generate motion plans with significantly higher probabilities of success compared to traditional shortest-path plans.

  • A Fundamental Tradeoff between Performance and Sensitivity within Haptic Rendering

    In this paper we show that for haptic rendering using position feedback, the structure of the feedback loop imposes a fundamental tradeoff between accurate rendering of virtual environments and sensitivity of closed-loop responses to hardware variations and uncertainty. Due to this tradeoff, any feedback design that achieves high-fidelity rendering incurs a quantifiable cost in terms of sensitivity. Analysis of the tradeoff reveals certain combinations of virtual environment and haptic device dynamics for which performance is achieved only by accepting very poor sensitivity. This analysis may be used to show that certain design specifications are feasible and may guide the choice of hardware to mitigate the tradeoff severity. We illustrate the predicted consequences of the tradeoff with an experimental study.

  • Motion Strategies for Surveillance

    We address the problem of surveillance in an environment with obstacles. We show that the problem of tracking an evader with one pursuer around one corner is completely decidable. The pursuer and the evader have complete information about each other's instantaneous position. The pursuer has complete information about the instantaneous velocity of the evader. We present a partition of the visibility region of the pursuer where based on the region in which the evader lies, we provide strategies for the evader to escape the visibility region of the pursuer or for the pursuer to track the target for all future time. We also present the solution to the inverse problem: given the position of the evader, the positions of the pursuer for which the evader can escape the visibility region of the target. These results have been provided for varying speeds of the pursuer and the evader. Based on the results of the inverse problem we provide an O(n3 log n) algorithm that can decide if the evader can escape from the visibility region of a pursuer for some initial pursuer and evader positions. Finally, we extend the result of the target tracking problem around a corner in two dimensions to an edge in three dimensions.

  • Closed Loop Control of a Gravity-assisted Underactuated Snake Robot with Application to Aircraft Wing-Box Assembly

    Stable, nonlinear closed-loop control of a gravityassisted underactuated robot arm with 2nd order non-holonomic constraints is presented in this paper. The joints of the hyper articulated arm have no dedicated actuators, but are activated with gravity. By tilting the base link appropriately, the gravitational torque drives the unactuated links to a desired angular position. With simple locking mechanisms, the hyper articulated arm can change its configuration using only one actuator at the base. This underactuated arm design was motivated by the need for a compact snake-like robot that can go into aircraft wings and perform assembly operations using heavy end-effecters. The dynamics of the unactuated links are essentially 2nd order nonholonomic constraints, for which there are no general methods for designing closed loop control. We propose an algorithm for positioning the links of an n-link robot arm inside an aircraft wing-box. This is accomplished by sequentially applying a closed loop point-to-point control scheme to the unactuated links. We synthesize a Lyapunov function to prove the convergence of this control scheme. The Lyapunov function also provides us with lower bounds on the domain of convergence of the control law. The control algorithm is implemented on a prototype 3-link system. Finally, we provide some experimental results to demonstrate the efficacy of the control scheme.

  • Learning Omnidirectional Path Following Using Dimensionality Reduction

    We consider the task of omnidirectional path following for a quadruped robot: moving a four-legged robot along any arbitrary path while turning in any arbitrary manner. Learning a controller capable of such motion requires learning the parameters of a very high-dimensional policy class, which requires a prohibitively large amount of data to be collected on the real robot. Although learning such a policy can be much easier in a model (or "simulator") of the system, it can be extremely difficult to build a sufficiently accurate simulator. In this paper we propose a method that uses a (possibly inaccurate) simulator to identify a low-dimensional subspace of policies that is robust to variations in model dynamics. Because this policy class is low-dimensional, we can learn an instance from this class on the real system using much less data than would be required to learn a policy in the original class. In our approach, we sample several models from a distribution over the kinematic and dynamics parameters of the simulator, then use the Reduced Rank Regression (RRR) algorithm to identify a low-dimensional class of policies that spans the space of controllers across all sampled models. We present a successful application of this technique to the task of omnidirectional path following, and demonstrate improvement over a number of alternative methods, including a hand-tuned controller. We present, to the best of our knowledge, the first controller capable of omnidirectional path following with parameters optimized simultaneously for all directions of motion and turning rates.

  • Monte Carlo Pose Estimation with Quaternion Kernels and the Bingham Distribution

    The success of personal service robotics hinges upon reliable manipulation of everyday household objects, such as dishes, bottles, containers, and furniture. In order to accurately manipulate such objects, robots need to know objects' full 6-DOF pose, which is made difficult by clutter and occlusions. Many household objects have regular structure that can be used to effectively guess object pose given an observation of just a small patch on the object. In this paper, we present a new method to model the spatial distribution of oriented local features on an object, which we use to infer object pose given small sets of observed local features. The orientation distribution for local features is given by a mixture of Binghams on the hypersphere of unit quaternions, while the local feature distribution for position given orientation is given by a locally-weighted (Quaternion kernel) likelihood. Experiments on 3D point cloud data of cluttered and uncluttered scenes generated from a structured light stereo image sensor validate our approach.

  • Robot Caregivers: Ethical Issues across the Human Lifespan

    This chapter contains sections titled: 16.1 Design Strategies, 16.2 Care and the Capabilities Approach, 16.3 Developmental Issues, 16.4 How Humans Might Change, 16.5 Human Psychology and Automation, 16.6 Relying on the Technological Fix to Remedy Social Problems, 16.7 Conclusion, Notes, References

  • Predicting Partial Paths from Planning Problem Parameters

    Many robot motion planning problems can be described as a combination of motion through relatively sparsely filled regions of configuration space and motion through tighter passages. Sample-based planners perform very effectively everywhere but in the tight passages. In this paper, we provide a method for parametrically describing workspace arrangements that are difficult for planners, and then learning a function that proposes partial paths through them as a function of the parameters. These suggested partial paths are then used to significantly speed up planning for new problems.

  • A Fast and Practical Algorithm for Generalized Penetration Depth Computation

    We present an efficient algorithm to compute the generalized penetration depth (PDg) between rigid models. Given two overlapping objects, our algorithm attempts to compute the minimal translational and rotational motion that separates the two objects. We formulate the PDg computation based on modeldependent distance metrics using displacement vectors. As a result, our formulation is independent of the choice of inertial and body-fixed reference frames, as well as specific representation of the configuration space. Furthermore, we show that the optimum answer lies on the boundary of the contact space and pose the computation as a constrained optimization problem. We use global approaches to find an initial guess and present efficient techniques to compute a local approximation of the contact space for iterative refinement. We highlight the performance of our algorithm on many complex models.

  • Model-Based Proprioceptive State Estimation for Spring-Mass Running

    Autonomous applications of legged platforms will inevitably require accurate state estimation both for feedback control as well as mapping and planning. Even though kinematic models and low-bandwidth visual localization may be sufficient for fully-actuated, statically stable legged robots, they are inadequate for dynamically dexterous, underactuated platforms where second order dynamics are dominant, noise levels are high and sensory limitations are more severe. In this paper, we introduce a model based state estimation method for dynamic running behaviors with a simple spring-mass runner. By using an approximate analytic solution to the dynamics of the model within an Extended Kalman filter framework, the estimation accuracy of our model remains accurate even at low sampling frequencies. We also propose two new event-based sensory modalities that further improve estimation performance in cases where even the internal kinematics of a robot cannot be fully observed, such as when flexible materials are used for limb designs. We present comparative simulation results to establish that our method outperforms traditional approaches which rely on constant acceleration motion models and that it eliminates the need for an extensive and unrealistic sensor suite.



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