NDLI: Principles of microscale flexure hinge design for enhanced endurance

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2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

Robotic manipulation in object composition space

6D proximity servoing for preshaping and haptic exploration using capacitive tactile proximity sensors

Multi-joint gripper with Differential Gear System

Artificial hand with stiffness adjuster

Design and implementation of a low-cost and lightweight inflatable robot finger

Design of hands for aerial manipulation: Actuator number and routing for grasping and perching

Robust model free control of robotic manipulators with prescribed transient and steady state performance

Dual execution of optimized contact interaction trajectories

Quasi-static manipulation of a planar elastic rod using multiple robotic grippers

Garment perception and its folding using a dual-arm robot

Numerical approximation for a visibility based pursuit-evasion game

Optimized visibility motion planning for target tracking and localization

Pursuit-evasion game for normal distributions

Optimal control for robot-hand manipulation of an object using dynamic visual servoing

Camera control for learning nonlinear target dynamics via Bayesian nonparametric Dirichlet-process Gaussian-process (DP-GP) models

Remote operated vehicle tether disturbances analysis and target tracking control

Reactive phase and task space adaptation for robust motion execution

Synchronization and consensus of a robot network on an underactuated dynamic platform

Robust Fixed Point Transformation based design for Model Reference Adaptive Control of a modified TORA system

Receding horizon optimization of robot motions generated by hierarchical movement primitives

Mining visual phrases for long-term visual SLAM

Towards indoor localization using Visible Light Communication for consumer electronic devices

Network localization from relative bearing measurements

2D-3D camera fusion for visual odometry in outdoor environments

Position control of a robot end-effector based on synthetic aperture wireless localization

Static forces weighted Jacobian motion models for improved Odometry

Visual localization within LIDAR maps for automated urban driving

Decentralized cooperative trajectory estimation for autonomous underwater vehicles

Vision based robot localization by ground to satellite matching in GPS-denied situations

Hybridization of Monte Carlo and set-membership methods for the global localization of underwater robots

A novel RRT extend function for efficient and smooth mobile robot motion planning

Guiding sampling-based tree search for motion planning with dynamics via probabilistic roadmap abstractions

Planning agile motions for quadrotors in constrained environments

Optimal navigation functions for nonlinear stochastic systems

A lattice-based approach to multi-robot motion planning for non-holonomic vehicles

Multi-cost robotic motion planning under uncertainty

Constrained path optimization with Bézier curve primitives

Distance metric approximation for state-space RRTs using supervised learning

State lattice with controllers: Augmenting lattice-based path planning with controller-based motion primitives

Modeling of underwater snake robots moving in a vertical plane in 3D

Actuation strategies for underactuated anthropomorphic hands

New rolling and crawling gaits for snake-like robots

iSplash-MICRO: A 50mm robotic fish generating the maximum velocity of real fish

Mamba - A waterproof snake robot with tactile sensing

Multi-arm robotic swimming with octopus-inspired compliant web

ReBiS - Reconfigurable Bipedal Snake robot

Role of compliant leg in the flea-inspired jumping mechanism

Optimal dynamic force mapping for obstacle-aided locomotion in 2D snake robots

Empirical investigation of closed-loop control of extensible continuum manipulators

Reactive switching protocols for multi-robot high-level tasks

Correlated Orienteering Problem and its application to informative path planning for persistent monitoring tasks

Cooperative control of a heterogeneous multi-robot system based on relative localization

Three-dimensional multirobot formation control for target enclosing

Finding optimal routes for multi-robot patrolling in generic graphs

Fleet size of multi-robot systems for exploration of structured environments

Stable formation of groups of robots via synchronization

The RoboCup 2013 drop-in player challenges: Experiments in ad hoc teamwork

Aligning coordinate frames in multi-robot systems with relative sensing information

A mathematical programming approach to collaborative missions with heterogeneous teams

Locally-weighted homographies for calibration of imaging systems

Towards simultaneous coordinate calibrations for cooperative multiple robots

Force calibration of KUKA LWR-like robots including embedded joint torque sensors and robot structure

Calibrating a pair of inertial sensors at opposite ends of an imperfect kinematic chain

Extrinsic calibration of a set of range cameras in 5 seconds without pattern

Extrinsic calibration of non-overlapping camera-laser system using structured environment

Magnetometer bias calibration based on relative angular position: Theory and experimental comparative evaluation

Automatic calibration of RGBD and thermal cameras

Spatio-temporal laser to visual/inertial calibration with applications to hand-held, large scale scanning

A catadioptric extension for RGB-D cameras

A dual-motor robot joint mechanism with epicyclic gear train

Kinematic design and analysis for a macaque upper-limb exoskeleton with shoulder joint alignment

An alternative approach to robot safety

On the performance evaluation and analysis of general robots with mixed dofs

Closed-loop inverse kinematics under inequality constraints: Application to concentric-tube manipulators

Novel three-DOF ankle mechanism for lower-limb exoskeleton: Kinematic analysis and design of passive-type ankle module

Robust solution of prioritized inverse kinematics based on Hestenes-Powell multiplier method

Analytical inverse kinematic solution for modularized 7-DoF redundant manipulators with offsets at shoulder and wrist

Flexible and robust robotic arm design and skill learning by using recurrent neural networks

A new coefficient-adaptive orthonormal basis function model structure for identifying a class of pneumatic soft actuators

Design of paper mechatronics: Towards a fully printed robot

Development of A Meal Assistive Exoskeleton made of Soft Materials for polymyositis patients

Spatial parallel soft robotic architectures

Whole arm planning for a soft and highly compliant 2D robotic manipulator

An untethered jumping soft robot

Motion pattern discrimination for soft robots with morphologically flexible sensors

An active compliant control mode for interaction with a pneumatic soft robot

Conformable actuation and sensing with robotic fabric

Kinematics of a new class of smart actuators for soft robots based on generalized pneumatic artificial muscles

Unsupervised and online non-stationary obstacle discovery and modeling using a laser range finder

Mutual learning of an object concept and language model based on MLDA and NPYLM

Object manifold learning with action features for active tactile object recognition

Entropy-based strategies for physical exploration of the environment's degrees of freedom

Knowledge propagation and relation learning for predicting action effects

Learning to reach into the unknown: Selecting initial conditions when reaching in clutter

Learning haptic representation for manipulating deformable food objects

A neural dynamics architecture for grasping that integrates perception and movement generation and enables on-line updating

Control in the reliable region of a statistical model with Gaussian process regression

Confidence-based roadmap using Gaussian process regression for a robot control

Environment-based trajectory clustering to extract principal directions for autonomous vehicles

Wide-field optical flow aided inertial navigation for unmanned aerial vehicles

Experimental study of odometry estimation methods using RGB-D cameras

Precise vision-aided aerial navigation

Real-time autonomous 3D navigation for tracked vehicles in rescue environments

Interactive navigation of humans from a game theoretic perspective

Layered costmaps for context-sensitive navigation

Omnidirectional 3D reconstruction in augmented Manhattan worlds

Semantic mapping for object category and structural class

Anytime navigation with Progressive Hindsight optimization

6D image-based visual servoing for robot manipulators with uncalibrated stereo cameras

Weakly calibrated stereoscopic visual servoing for laser steering: Application to phonomicrosurgery

Novel two-stage control scheme for robust constrained visual servoing

Lyapunov-stable eye-in-hand kinematic visual servoing with unstructured static feature points

A sequence of micro-assembly for irregular objects based on a multiple manipulator platform

Visual servoing based trajectory tracking of underactuated water surface robots without direct position measurement

Image Jacobian estimation using structure from motion on a centralized point

Vision guided robotic block stacking

A two phase RGB-D visual servoing controller

Pose error correction for visual features prediction

Three dimensional multi-cell spheroids assembly using thermoresponsive Gel probe

Construction of vascular-like microtubes via fluidic axis-translation self-assembly based on multiple hydrogels

Magnetic actuation of ultra-compliant micro robotic mechanisms

Selective and rapid cell injection of fluorescence sensor encapsulated in liposome using optical control of zeta potential and local mechanical stimulus by optical tweezers

Real-time LOC-based morphological cell analysis system using high-speed vision

Noncontact fine alignment for multiple microcontact printing

Study on rotational and unclogging motions of magnetic chain-like microrobot

Development of chemical stimulation system for local environment control by using combination of spout and suction from dual-pipettes

A stick-slip omnidirectional powertrain for low-cost swarm robotics: Mechanism, calibration, and control

Non-vector space stochastic control for nano robotic manipulations

Task specific robust grasping for multifingered robot hands

Achieving elastic stability of concentric tube robots through optimization of tube precurvature

Cable stiffened flexible link manipulator

Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis

Cooperative suspended object manipulation using reinforcement learning and energy-based control

Robotic dual probe setup for reliable pick and place processing on the nanoscale using haptic devices

Optimal parameter identification for discrete mechanical systems with application to flexible object manipulation

The joint coordination in reach-to-grasp movements

A robot system design for low-cost multi-robot manipulation

Declarative specification of task-based grasping with constraint validation

Identification of HRP-2 foot's dynamics

Integration of non-inclusive contacts in posture generation

3D dynamics of bipedal running: Effects of step width on an amputee-inspired robot

Lyapunov Stability Margins for humanoid robot balancing

State estimation for a humanoid robot

Sideward locomotion control of biped robots based on dynamics morphing

Modular low-cost humanoid platform for disaster response

Perception and control strategies for driving utility vehicles with a humanoid robot

Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Dynamic state estimation using Quadratic Programming

“Look at this!” learning to guide visual saliency in human-robot interaction

SuperFAST: Model-based adaptive corner detection for scalable robotic vision

Auto-adjusting camera exposure for outdoor robotics using gradient information

SLAM with object discovery, modeling and mapping

Real-time sequential model-based non-rigid SFM

Direct superpixel labeling for mobile robot navigation using learned general optical flow templates

A directional visual descriptor for large-scale coverage problems

Real-time pose estimation of deformable objects using a volumetric approach

PAS: Visual odometry with Perspective Alignment Search

Planar building facade segmentation and mapping using appearance and geometric constraints

Compliance computation for continuum types of robots

Multiport modeling of force and displacement in elastic transmissions for underactuated hands

iSplash-II: Realizing fast carangiform swimming to outperform a real fish

Multi-functional bio-inspired leg for underwater robots

Torque control strategies for snake robots

A 3D motion planning framework for snake robots

Human control of robot swarms with dynamic leaders

Snakes on an inclined plane: Learning an adaptive sidewinding motion for changing slopes

Flapping actuator inspired by lepidotrichia of ray-finned fishes

Design and implementation of a low cost, pump-based, depth control of a small robotic fish

Distributed management and representation of data and context in robotic applications

Environment-independent formation flight for micro aerial vehicles

Rapid multirobot deployment with time constraints

A distributed optimal strategy for rendezvous of multi-robots with random node failures

Distributed cohesive configuration control for swarm robots with boundary information and network sensing

Decentralized and complete multi-robot motion planning in confined spaces

Mobile robotic wireless sensor networks for efficient spatial prediction

Improving data ferrying by iteratively learning the radio frequency environment

A cooperative formation control strategy maintaining connectivity of a multi-agent system

Interactive Augmented Reality for understanding and analyzing multi-robot systems

Steering of flexible needles combining kinesthetic and vibratory force feedback

Touch attention Bayesian models for robotic active haptic exploration of heterogeneous surfaces

Design and evaluation of a 1DoF ERF-based needle insertion haptic platform

Haptic-enabled teleoperation of base-excited hydraulic manipulators applied to live-line maintenance

A mixed-initiative control system for an Aerial Service Vehicle supported by force feedback

Design of a bladder based elastomeric Smart Shoe for haptic terrain display

Contact force decomposition using tactile information for haptic augmented reality

ROBOPuppet: Low-cost, 3D printed miniatures for teleoperating full-size robots

Haptic exploration of unknown surfaces with discontinuities

The patched intrinsic tactile object: A tool to investigate human grasps

Workspace characterization for concentric tube continuum robots

Preliminary evaluation of a new microsurgical robotic system for head and neck surgery

Surgical Structured Light for 3D minimally invasive surgical imaging

Cooperative teleoperation with projection-based force reflection for MIS

Design of a unified active locomotion mechanism for a wireless laparoscopic camera system

Toward automated intraocular laser surgery using a handheld micromanipulator

Quasi-static modeling of the da Vinci instrument

Design and evaluation of a novel flexible robot for transluminal and endoluminal surgery

Design of a spine-inspired kinematic for the guidance of flexible instruments in minimally invasive surgery

Hybrid control of master-slave velocity control and admittance control for safe remote surgery

A peer pressure experiment: Recreation of the Asch conformity experiment with robots

Inverse Reinforcement Learning algorithms and features for robot navigation in crowds: An experimental comparison

Extraction of person-specific motion style based on a task model and imitation by humanoid robot

Determining proper grasp configurations for handovers through observation of object movement patterns and inter-object interactions during usage

Using spatial language to drive a robot for an indoor environment fetch task

Speech-based human-robot interaction robust to acoustic reflections in real environment

Head-eyes system and gaze analysis of the humanoid robot Romeo

Development of a rehabilitation robot suit with velocity and torque-based mechanical safety devices

Modeling and controller design of cooperative robots in workspace sharing human-robot assembly teams

Adjutant: A framework for flexible human-machine collaborative systems

Efficient policy search with a parameterized skill memory

Simultaneous on-line Discovery and Improvement of Robotic Skill options

Dimensionality reduction and motion coordination in learning trajectories with Dynamic Movement Primitives

OrigamiBot-I: A thread-actuated origami robot for manipulation and locomotion

Decoding surface electromyogram into dynamic state to extract dynamic motor control strategy of human

Latent space policy search for robotics

Learning of closed-loop motion control

Unsupervised learning approach to attention-path planning for large-scale environment classification

Automatic channel selection and neural signal estimation across channels of neural probes

Fast planning of well conditioned trajectories for model learning

A compositional approach to stochastic optimal control with co-safe temporal logic specifications

Formal verification of maneuver automata for parameterized motion primitives

How Behavior Trees modularize robustness and safety in hybrid systems

Verification and testing of mobile robot navigation algorithms: A case study in SPARK

Verifying and validating multirobot missions

Maximally satisfying LTL action planning

Optimal and dynamic planning for Markov decision processes with co-safe LTL specifications

SafeRobots: A model-driven Framework for developing Robotic Systems

Automated composition of motion primitives for multi-robot systems from safe LTL specifications

A stable switched-system approach to obstacle avoidance for mobile robots in SE(2)

eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs

Robot Task Commander: A framework and IDE for robot application development

Enhancing software module reusability using port plug-ins: An experiment with the iCub robot

Simple concurrency for robotics with the Roboscoop framework

A lightweight, cross-platform, multiuser robot visualization using the cloud

ReFrESH: A self-adaptation framework to support fault tolerance in field mobile robots

Speeding up rao-blackwellized particle filter SLAM with a multithreaded architecture

Developing virtual testbeds for intelligent robot manipulators - An eRobotics approach

Crowdsourcing as a methodology to obtain large and varied robotic data sets

Characterization of the precision manipulation capabilities of robot hands via the continuous group of displacements

Encoderless robot motion control using vision sensor and back electromotive force

Humanoid compliant whole arm dexterous manipulation: Control design and experiments

Analyzing human fingertip usage in dexterous precision manipulation: Implications for robotic finger design

Adaptive under-actuated anthropomorphic hand: ISR-SoftHand

Coordinated motion control of a nonholonomic mobile manipulator for accurate motion tracking

Hierarchical Fingertip Space for multi-fingered precision grasping

Modeling of skid-steer mobile manipulators using spatial vector algebra and experimental validation with a compact loader

Physically-consistent sensor fusion in contact-rich behaviors

A real-time distributed architecture for large-scale tactile sensing

A new extension of desired compensation adaptive control and its real-time application to redundantly actuated PKMs

Structural synthesis of dexterous hands

Study of reconfigurable suspended cable-driven parallel robots for airplane maintenance

Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators

Improvement of the direct kinematic model of a haptic device for medical application in real time using an extra sensor

Switching strategy for flexible task execution using the cooperative dual task-space framework

Vibration control of 3P(S)4 class parallel mechanisms for high speed applications using Quantitative Feedback Design

Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precision

Active vibration canceling of a cable-driven parallel robot using reaction wheels

Proactive kinodynamic planning using the Extended Social Force Model and human motion prediction in urban environments

An automatic approach for the generation of the roadmap for multi-AGV systems in an industrial environment

Recursive non-uniform coverage of unknown terrains for UAVs

Path planning with stability uncertainty for articulated mobile vehicles in challenging environments

Closed-loop global motion planning for reactive execution of learned tasks

An empirical study of optimal motion planning

The lion and man game on polyhedral surfaces with boundary

Motion planning under uncertainty for medical needle steering using optimization in belief space

A sampling-based algorithm for multi-robot visibility-based pursuit-evasion

Online learning of task-specific dynamics for periodic tasks

Towards consistent reconstructions of indoor spaces based on 6D RGB-D odometry and KinectFusion

Biologically inspired SLAM using Wi-Fi

Point cloud registration using congruent pyramids

On the formulation, performance and design choices of Cost-Curve Occupancy Grids for stereo-vision based 3D reconstruction

Handling perceptual clutter for robot vision with partial model-based interpretations

Modeling motion patterns of dynamic objects by IOHMM

Fast hybrid relocation in large scale metric-topologic-semantic map

Stereo-vision based obstacle mapping for indoor/outdoor SLAM

Meta-rooms: Building and maintaining long term spatial models in a dynamic world

The Response Robotics Summer School 2013: Bringing responders and researchers together to advance Response Robotics

Design of a Hybrid Exploration Robot for Air and Land Deployment (H.E.R.A.L.D) for urban search and rescue applications

Approaches to robotic teleoperation in a disaster scenario: From supervised autonomy to direct control

Remote vertical exploration by Active Scope Camera into collapsed buildings

Estimation of ground surface radiation sources from dose map measured by moving dosimeter and 3D map

Making a robot dance to diverse musical genre in noisy environments

Improvement in outdoor sound source detection using a quadrotor-embedded microphone array

Visualization of auditory awareness based on sound source positions estimated by depth sensor and microphone array

Rapidly learning musical beats in the presence of environmental and robot ego noise

Audio ray tracing for position estimation of entities in blind regions

An adaptive basic I/O gain tuning method based on leveling control input histogram for human-machine systems

Development and field test of teleoperated mobile robots for active volcano observation

Intelligent slip-optimization control with traction-energy trade-off for wheeled robots on rough terrain

Novel robot mechanism capable of 3D differential driving inside pipelines

Autonomous robotic system for bridge deck data collection and analysis

Road surface washing system for decontaminating radioactive substances

A framework for predicting the mission-specific performance of autonomous unmanned systems

Experimental analysis of models for trajectory generation on tracked vehicles

Sonar-based chain following using an autonomous underwater vehicle

A fast, low-cost, computer vision approach for tracking surgical tools

A dynamically consistent hierarchical control architecture for robotic-assisted tele-echography

Extended kinematic mapping of tendon-driven continuum robot for neuroendoscopy

Dielectrophoresis-based automatic 3D cell manipulation and patterning through a micro-electrode integrated multi-layer scaffold

A novel redundant motion control mechanism in accordance with medical diagnostic and therapeutic task functions for a NIUTS

Simultaneously powering and controlling many actuators with a clinical MRI scanner

Simultaneous catheter and environment modeling for Trans-catheter Aortic Valve Implantation

Structurally-redesigned concentric-tube manipulators with improved stability

Online identification of abdominal tissues in vivo for tissue-aware and injury-avoiding surgical robots

Micro laser ablation system integrated with image sensor for minimally invasive surgery

Preliminary evaluation of a new control approach to achieve speed adaptation in robotic transfemoral prostheses

Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor

A method for predicting personalized pelvic motion based on body meta-features for gait rehabilitation robot

Towards local reflexive control of a powered transfemoral prosthesis for robust amputee push and trip recovery

Analysis of inertial motion in swing phase of human gait and its application to motion generation of transfemoral prosthesis

Investigation of contralateral leg response to unilateral stiffness perturbations using a novel device

Mobile robotic gait rehabilitation system CORBYS - overview and first results on orthosis actuation

Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement

Integrated control method for power-assisted rehabilitation: Ellipsoid regression and impedance control

reachMAN2: A compact rehabilitation robot to train reaching and manipulation

A gesture recognition system for mobile robots that learns online

Cartesian impedance control of redundant manipulators for human-robot co-manipulation

Estimation of contact forces using a virtual force sensor

Multi-muscle FES control of the human arm for interaction tasks—Stabilizing with muscle co-contraction and postural adjustment: A simulation study

Pneumatic tubular body fixture for wearable assistive device — Analysis and design of active cuff to hold upper limb —

Implementation and experimental validation of Dynamic Movement Primitives for object handover

Support Vector Machine classification of muscle cocontraction to improve physical human-robot interaction

Oscillation reduction scheme for wearable robots employing linear actuators and sensors

Joint configuration strategy for serial-chain safe manipulators

Single muscle site sEMG interface for assistive grasping

Using haptics to extract object shape from rotational manipulations

Dynamic attack motion prediction for kendo agent

Integration of various concepts and grounding of word meanings using multi-layered multimodal LDA for sentence generation

A machine learning approach for real-time reachability analysis

Transfer of sparse coding representations and object classifiers across heterogeneous robots

A perceptual memory system for grounding semantic representations in intelligent service robots

Actor-critic design using echo state networks in a simulated quadruped robot

Expensive multiobjective optimization for robotics with consideration of heteroscedastic noise

Flop and roll: Learning robust goal-directed locomotion for a Tensegrity Robot

Efficient Bayesian local model learning for control

Predicting the speed of a Wave Glider autonomous surface vehicle from wave model data

3D trajectory synthesis and control for a legged swimming robot

Control of a compact, tetherless ROV for in-contact inspection of complex underwater structures

Three-dimensional reconstruction of bridge structures above the waterline with an unmanned surface vehicle

I-AUV docking and intervention in a subsea panel

Active Range-Only beacon localization for AUV homing

Autonomous vehicle localization in a vector field: Underwater vehicle implementation

Underway path-planning for an unmanned surface vehicle performing cooperative navigation for UUVs at varying depths

Experimental validation of robotic manifold tracking in gyre-like flows

Trajectory planning with adaptive control primitives for autonomous surface vehicles operating in congested civilian traffic

Inchworm style gecko adhesive climbing robot

Backup state observer based on Optic Flow applied to lunar landing

Experimental evaluation of on-board, visual mapping of an object spinning in micro-gravity aboard the International Space Station

Small body surface mobility with a limbed robot

On Controller parametric sensitivity of passive object handling in space by robotic servicers

Design of a hopping mechanism using permanent magnets for small-scale exploration rovers

Soft landing of capsule by casting manipulator system

Particle filter based 3D position tracking for terrain rovers using laser point clouds

A real-time recognition based drilling strategy for lunar exploration

Robust control of flexible joint robots based on motor-side dynamics reshaping using disturbance observer (DOB)

A novel RISE-based adaptive feedforward controller for redundantly actuated parallel manipulators

Constrained directions as a path planning algorithm for mobile robots under slip and actuator limitations

Partially analytical extra-insensitive shaper for a lightly damped flexible arm

Terminal sliding-mode based force tracking control of piezoelectric actuators for variable physical damping system

Development of a single controller for the compensation of several types of disturbances during task execution of a wheeled inverted pendulum assistant robot

A reverse priority approach to multi-task control of redundant robots

Dynamic modeling of constant curvature continuum robots using the Euler-Lagrange formalism

Fast and reasonable contact force computation in forward dynamics based on momentum-level penetration compensation

Recursive dynamics and feedback linearizing control of serial-chain manipulators

Grasp planning for constricted parts of objects approximated with quadric surfaces

Fast grasping of unknown objects using force balance optimization

Robotic nonprehensile catching: Initial experiments

Changing pre-grasp strategies with increasing object location uncertainty

Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle

Guided locomotion in 3D for snake robots based on contact force optimization

Push resistance in in-hand manipulation

Online interactive perception of articulated objects with multi-level recursive estimation based on task-specific priors

Using environment objects as tools: Unconventional door opening

Perturbation recovery of biped walking by updating the footstep

Swing-leg retraction efficiency in bipedal walking

Falling prevention of humanoid robots by switching standing balance and hopping motion based on MOA set

Preliminary walking experiments with underactuated 3D bipedal robot MARLO

Running into a trap: Numerical design of task-optimal preflex behaviors for delayed disturbance responses

SLIP with swing leg augmentation as a model for running

Quantifying the trade-offs between stability versus energy use for underactuated biped walking

Highly robust running of articulated bipeds in unobserved terrain

From template to anchor: A novel control strategy for spring-mass running of bipedal robots

An estimation model for footstep modifications of biped robots

Finding and navigating to household objects with UHF RFID tags by optimizing RF signal strength

RGB-D sensor setup for multiple tasks of home robots and experimental results

Enhanced robotic cleaning with a low-cost tool attachment

CHARM: A platform for algorithmic robotics education & research

Development of a comic mark based expressive robotic head adapted to Japanese cultural background

Effects of bodily mood expression of a robotic teacher on students

Real-time recognition of pointing gestures for robot to robot interaction

Adaptive spacing in human-robot interactions

Determining the affective body language of older adults during socially assistive HRI

Direction-driven navigation using cognitive map for mobile robots

iSPCG: Incremental subgraph-preconditioned conjugate gradient method for online SLAM with many loop-closures

Real-time RGB-D registration and mapping in texture-less environments using ranked order statistics

Online global loop closure detection for large-scale multi-session graph-based SLAM

Selecting good measurements via ℓ1 relaxation: A convex approach for robust estimation over graphs

Hybrid Inference Optimization for robust pose graph estimation

Robust graph SLAM back-ends: A comparative analysis

Graph SLAM with signed distance function maps on a humanoid robot

Credibilist simultaneous Localization And Mapping with a LIDAR

Novel insights into the impact of graph structure on SLAM

Robust model predictive control for visual servoing

Prescribed performance image based visual servoing under field of view constraints

Monocular template-based vehicle tracking for autonomous convoy driving

Real-time object pose recognition and tracking with an imprecisely calibrated moving RGB-D camera

Robust ground surface map generation using vehicle-mounted stereo camera

RGB-D fusion: Real-time robust tracking and dense mapping with RGB-D data fusion

Bearings-only path following with a vision-based potential field

Event-based, 6-DOF pose tracking for high-speed maneuvers

Learning visual feature descriptors for dynamic lighting conditions

Detection of small moving objects using a moving camera

Soft Pneumatic Actuator skin with embedded sensors

Towards variable stiffness control of antagonistic twisted string actuators

A multiplex pneumatic actuator drive method based on acoustic communication in air supply line

A low-friction passive fluid transmission and fluid-tendon soft actuator

Design of a novel intermittent self-closing mechanism for a MACCEPA-based Series-Parallel Elastic Actuator (SPEA)

A resonant parallel elastic actuator for biorobotic applications

Smart braid: Air muscles that measure force and displacement

Variable stiffness fabrics with embedded shape memory materials for wearable applications

A flexible passive joint for robotic fish pectoral fins: Design, dynamic modeling, and experimental results

Formulation and optimization of pulley-gear-type SMA heat engine toward microfluidic MEMS motor

Design, principles, and testing of a latching modular robot connector

Design, modeling and performance evaluation of a long and slim continuum robotic cable

Kinetostatic optimization for an adjustable four-bar based articulated leg-wheel subsystem

A single DOF arm for transition of climbing robots between perpendicular planes

Design of variable release torque-based compliant spring-clutch and torque estimation

Principles of microscale flexure hinge design for enhanced endurance

Strengthening of 3D printed robotic parts via fill compositing

Cogeneration of mechanical, electrical, and software designs for printable robots from structural specifications

Design of a robotic finger using series gear chain mechanisms

Prior-assisted propagation of spatial information for object search

Combining top-down spatial reasoning and bottom-up object class recognition for scene understanding

Learning relational affordance models for two-arm robots

Cognitive factories with multiple teams of heterogeneous robots: Hybrid reasoning for optimal feasible global plans

Incorporating kinodynamic constraints in automated design of simple machines

Unifying multi-goal path planning for autonomous data collection

Stochastic collection and replenishment (SCAR) optimisation for persistent autonomy

Coverage planning with finite resources

Coordination in human-robot teams using mental modeling and plan recognition

A framework for formal specification of robotic constraint-based tasks and their concurrent execution with online qos monitoring

Synthesizing manipulation sequences for under-specified tasks using unrolled Markov Random Fields

A probability-based path planning method using fuzzy logic

Multi-goal path planning based on the generalized Traveling Salesman Problem with neighborhoods

A multi-tree extension of the transition-based RRT: Application to ordering-and-pathfinding problems in continuous cost spaces

Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic

Integrating multiple soft constraints for planning practical paths

Sampling-based trajectory imitation in constrained environments using Laplacian-RRT

The anatomy of a distributed motion planning roadmap

Safest path adversarial coverage

Planning with the STAR(s)

Augmenting Bayes filters with the Relevance Vector Machine for time-varying context-dependent observation distribution

Audio-visual classification and detection of human manipulation actions

Object shape categorization in RGBD images using hierarchical graph constellation models based on unsupervisedly learned shape parts described by a set of shape specificity levels

sEMG-based decoding of human intentions robust to the changes of electrode positions

Multi-target visual tracking with aerial robots

Opportunistic sampling-based planning for active visual SLAM

Ear-based exploration on hybrid metric/topological maps

Fast and effective visual place recognition using binary codes and disparity information

A linear approach to visuo-inertial fusion for homography-based filtering and estimation

Fusion of optical flow and inertial measurements for robust egomotion estimation

Cameraman robot: Dynamic trajectory tracking with final time constraint using state-time space stochastic approach

Automatic detection and verification of pipeline construction features with multi-modal data

Grasping point selection on an item of crumpled clothing based on relational shape description

A solution to pose ambiguity of visual markers using Moiré patterns

On leader following and classification

Complexity-based motion features and their applications to action recognition by hierarchical spatio-temporal naïve Bayes classifier

Enhancement of Layered Hidden Markov Model by brain-inspired feedback mechanism

Guiding computational perception through a shared auditory space

Classification and identification of robot sensing data based on nested infinite GMMs

Localization of multiple sources from a binaural head in a known noisy environment

A novel continuum-style robot with multilayer compliant modules

A fish-like locomotion model in an ideal fluid with lateral-line-inspired background flow estimation

MR compatible continuum robot based on closed elastica with bending and twisting

Trajectory optimization of flapping wings modeled as a three degree-of-freedoms oscillation system

The use of unicycle robot control strategies for skid-steer robots through the ICR kinematic mapping

Open-source, affordable, modular, light-weight, underactuated robot hands

Modeling of wheeled mobile robots as differential-algebraic systems

Practical identification and flatness based control of a terrestrial quadrotor

Partial force control of constrained floating-base robots

Balancing control algorithm for a 3D under-actuated robot

On the convergence of fixed-point iteration in solving complementarity problems arising in robot locomotion and manipulation

Quadruped bounding control with variable duty cycle via vertical impulse scaling

Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control

Optimal gaits and motions for legged robots

Quadratic programming-based inverse dynamics control for legged robots with sticking and slipping frictional contacts

Remote control system for multiple mobile robots using touch panel interface and autonomous mobility

Ridesharing with passenger transfers

Modeling of human velocity habituation for a robotic wheelchair

Physical embodied communication between robots and children: An approach for relationship building by holding hands

Using social cues to estimate possible destinations when driving a robotic wheelchair

A novel user-guided interface for robot search

Contextual task-aware shared autonomy for assistive mobile robot teleoperation

Personalizing vision-based gestural interfaces for HRI with UAVs: a transfer learning approach

Multimodal real-time contingency detection for HRI

Pose estimation in physical human-machine interactions with application to bicycle riding

Learning of grasp adaptation through experience and tactile sensing

Construction of an object manipulation database from grasp demonstrations

Evaluating the efficacy of grasp metrics for utilization in a Gaussian Process-based grasp predictor

Predicting object interactions from contact distributions

Learning robot tactile sensing for object manipulation

Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles

Simulating quadrotor UAVs in outdoor scenarios

Health aware stochastic planning for persistent package delivery missions using quadrotors

High-throughput study of flapping wing aerodynamics for biological and robotic applications

Computational morphology for a soft micro air vehicle in hovering flight

Towards valve turning using a dual-arm aerial manipulator

Control of a multirotor outdoor aerial manipulator

Reinforcement learning for autonomous dynamic soaring in shear winds

Vision-based absolute localization for unmanned aerial vehicles

Variable impedance control for aerial interaction

Improving object tracking through distributed exploration of an information map

Topometric localization on a road network

Pose estimation of servo-brake-controlled caster units arbitrarily located on a mobile base

Rail-guided robotic end-effector position error due to rail compliance and ship motion

A multi-AUV state estimator for determining the 3D position of tagged fish

Task-space motion planning of MRI-actuated catheters for catheter ablation of atrial fibrillation

Using Lie algebra for shape estimation of medical snake robots

Modeling and control of robotic surgical platform for single-port access surgery

Semi-autonomous navigation for robot assisted tele-echography using generalized shape models and co-registered RGB-D cameras

State recognition of bone drilling with audio signal in Robotic Orthopedics Surgery System

Estimating contact force for steerable ablation catheters based on shape analysis

Predicting kinematic configuration from string length for a snake-like manipulator not exhibiting constant curvature bending

Comparison of methods for estimating the position of actuated instruments in flexible endoscopic surgery

Robust forceps tracking using online calibration of hand-eye coordination for microsurgical robotic system

MRI-powered closed-loop control for multiple magnetic capsules

Development and evaluation of an operation interface for physical therapy devices based on rehabilitation database

EMG-based continuous control method for electric wheelchair

NTUH-II robot arm with dynamic torque gain adjustment method for frozen shoulder rehabilitation

Involuntary movement during haptics-enabled robotic rehabilitation: Analysis and control design

A framework for supervised robotics-assisted mirror rehabilitation therapy

Development of an upper limb exoskeleton powered via pneumatic electric hybrid actuators with bowden cable

A novel customized Cable-driven robot for 3-DOF wrist and forearm motion training

Identifying inverse human arm dynamics using a robotic testbed

A risk assessment infrastructure for powered wheelchair motion commands without full sensor coverage

LINarm: a low-cost variable stiffness device for upper-limb rehabilitation

Nonlinear dimensionality reduction for kinematic cartography with an application toward robotic locomotion

Orienting in mid-air through configuration changes to achieve a rolling landing for reducing impact after a fall

Motion planning for non-holonomic mobile robots using the i-PID controller and potential field

Spherical parabolic blends for robot workspace trajectories

Trajectory planning for car-like robots in unknown, unstructured environments

Fast, dynamic trajectory planning for a dynamically stable mobile robot

Risk-aware trajectory generation with application to safe quadrotor landing

Hierarchical robustness approach for nonprehensile catching of rigid objects

Parameterized controller generation for multiple mode behavior

Extending equilibria to periodic orbits for walkers using continuation methods

Global registration of mid-range 3D observations and short range next best views

Model-free robot anomaly detection

A constraint-based method for solving sequential manipulation planning problems

Attack resilient state estimation for autonomous robotic systems

A metric for self-rightability and understanding its relationship to simple morphologies

Sampling based motion planning with reachable volumes: Application to manipulators and closed chain systems

Probabilistically complete kinodynamic planning for robot manipulators with acceleration limits

Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour

Sampling-based tree search with discrete abstractions for motion planning with dynamics and temporal logic

Distributed fault detection and recovery for networked robots

Autonomous wireless backbone deployment with bounded number of networked robots

Point cloud culling for robot vision tasks under communication constraints

Robust routing and Multi-Confirmation Transmission Protocol for connectivity management of mobile robotic teams

A centralized-equivalent decentralized implementation of Extended Kalman Filters for cooperative localization

From autonomy to cooperative traded control of humanoid manipulation tasks with unreliable communication: System design and lessons learned

Route swarm: Wireless network optimization through mobility

Cooperative dynamic behaviors in networked systems with decentralized state estimation

Adding transmission diversity to unmanned systems through radio switching and directivity

Effective compression of range data streams for remote robot operations using H.264

Network lifetime maximization in mobile visual sensor networks

Task assignment and trajectory optimization for displaying stick figure animations with multiple mobile robots

Worst-case optimal average consensus estimators for robot swarms

Robust sensor cloud localization from range measurements

Application of grazing-inspired guidance laws to autonomous information gathering

Human-swarm interaction using spatial gestures

Mapping of unknown environments using minimal sensing from a stochastic swarm

Probabilistic guidance of distributed systems using sequential convex programming

Geodesic topological voronoi tessellations in triangulated environments with multi-robot systems

Outdoor flocking and formation flight with autonomous aerial robots

Dynamic trajectory planning of planar two-dof redundantly actuated cable-suspended parallel robots

Workspace augmentation of spatial 3-DOF cable parallel robots using differential actuation

Tendon routing resolving inverse kinematics for variable stiffness joint

Drum stroke variation using Variable Stiffness Actuators

Compliant robotic systems on graphs

Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection

Force-guiding particle chains for shape-shifting displays

A class of microstructures for scalable collective actuation of Programmable Matter

HiGen: A high-speed genderless mechanical connection mechanism with single-sided disconnect for self-reconfigurable modular robots

Stretchable electroadhesion for soft robots

Miniature capacitive three-axis force sensor

A framework for dynamic sensory substitution

High-throughput analysis of the morphology and mechanics of tip growing cells using a microrobotic platform

What's in the container? Classifying object contents from vision and touch

3D spatial self-organization of a modular artificial skin

Detection of membrane puncture with haptic feedback using a tip-force sensing needle

Active gathering of frictional properties from objects

Localization and manipulation of small parts using GelSight tactile sensing

Exploiting global force torque measurements for local compliance estimation in tactile arrays

Toward a modular soft sensor-embedded glove for human hand motion and tactile pressure measurement

3D-SLIP steering for high-speed humanoid turns

Emergence of humanoid walking behaviors from mixed-integer model predictive control

Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion

Model preview control in multi-contact motion-application to a humanoid robot

Predictive control for dynamic locomotion of real humanoid robots

A Robot-Machine Interface for full-functionality automation using a humanoid

Planar sliding analysis of a biped robot in centroid acceleration space

Energy based control of compass gait soft limbed bipeds

Analytical control parameters of the swing leg retraction method using an instantaneous SLIP model

Task-oriented whole-body planning for humanoids based on hybrid motion generation

Real-time people detection and tracking for indoor surveillance using multiple top-view depth cameras

Robot-assisted human indoor localization using the Kinect sensor and smartphones

Gesture-based attention direction for a telepresence robot: Design and experimental study

Kinect-based people detection and tracking from small-footprint ground robots

Robust articulated upper body pose tracking under severe occlusions

Pedestrian detection combining RGB and dense LIDAR data

Confidence-based pedestrian tracking in unstructured environments using 3D laser distance measurements

Whole-body pose estimation in physical rider-bicycle interactions with a monocular camera and a set of wearable gyroscopes

Pedalvatar: An IMU-based real-time body motion capture system using foot rooted kinematic model

Real-time collision avoidance in human-robot interaction based on kinetostatic safety field

Determining states of inevitable collision using reachability analysis

Collision prediction among polygons with arbitrary shape and unknown motion

Unified GPU voxel collision detection for mobile manipulation planning

A practical reachability-based collision avoidance algorithm for sampled-data systems: Application to ground robots

Time scaled collision cone based trajectory optimization approach for reactive planning in dynamic environments

A representation method based on the probability of collision for safe robot navigation in domestic environments

Real-time 3D collision avoidance for biped robots

Ensuring safety in human-robot coexistence environment

A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots

Deterioration of depth measurements due to interference of multiple RGB-D sensors

IMU/LIDAR based positioning of a gangway for maintenance operations on wind farms

A quantitative evaluation of surface normal estimation in point clouds

View planning for 3D object reconstruction with a mobile manipulator robot

Planar pose estimation for general cameras using known 3D lines

GPS-based preliminary map estimation for autonomous vehicle mission preparation

Dynamic objects tracking with a mobile robot using passive UHF RFID tags

Spatio-temporal motion features for laser-based moving objects detection and tracking

The role of target modeling in designing search strategies

Advances in fibrillar on-off polymer adhesive: Sensing and engagement speed

Bimanual telerobotic surgery with asymmetric force feedback: A $daVinci^{®}$ surgical system implementation

First 3D printed medical robot for ENT surgery - Application specific manufacturing of laser sintered disposable manipulators

Mass and inertia optimization for natural motion in hands-on robotic surgery

Interleaved continuum-rigid manipulation approach: Development and functional evaluation of a clinical scale manipulator

Using monocular images to estimate interaction forces during minimally invasive surgery

Recursive estimation of needle pose for control of 3D-ultrasound-guided robotic needle steering

Development of multi-axial force sensing system for haptic feedback enabled minimally invasive robotic surgery

Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns

Design and realization of grasper-integrated force sensor for minimally invasive robotic surgery

A biomechanical model describing tangential tissue deformations during contact micro-probe scanning

Industrial robotic assembly process modeling using support vector regression

Teleoperation system using past image records for mobile manipulator

Experimental evaluation of guidance and forbidden region virtual fixtures for object telemanipulation

Investigating human perceptions of robot capabilities in remote human-robot team tasks based on first-person robot video feeds

Know thy user: Designing human-robot interaction paradigms for multi-robot manipulation

Modeling visuo-motor control and guidance functions in remote-control operation

Transparency compensation for bilateral teleoperators with time-varying communication delays

Model-free path planning for redundant robots using sparse data from kinesthetic teaching

Learning task outcome prediction for robot control from interactive environments

A robust autoregressive gaussian process motion model using l1-norm based low-rank kernel matrix approximation

Unifying scene registration and trajectory optimization for learning from demonstrations with application to manipulation of deformable objects

Robot learns Chinese calligraphy from Demonstrations

Learning to sequence movement primitives from demonstrations

Kinematically optimised predictions of object motion

Program synthesis by examples for object repositioning tasks

LAT: A simple Learning from Demonstration method

Discovering task constraints through observation and active learning

Unsupervised object individuation from RGB-D image sequences

Grasp planning based on strategy extracted from demonstration

Stiffness modeling of industrial robots for deformation compensation in machining

A study on data-driven in-hand twisting process using a novel dexterous robotic gripper for assembly automation

Velocity coordination and corner matching in a multi-robot sewing cell

On the location of the center of mass for parts with shape variation

Design and motion planning of body-in-white assembly cells

Cartesian sensor-less force control for industrial robots

Improving the sequence of robotic tasks with freedom of execution

Parallel active/passive force control of industrial robots with joint compliance

Automated guidance of peg-in-hole assembly tasks for complex-shaped parts

Intuitive skill-level programming of industrial handling tasks on a mobile manipulator

Simultaneous localization and planning on multiple map hypotheses

Long-term topological localisation for service robots in dynamic environments using spectral maps

SAIL-MAP: Loop-closure detection using saliency-based features

Visual place recognition using HMM sequence matching

Linear-time estimation with tree assumed density filtering and low-rank approximation

Large-scale image mosaicking using multimodal hyperedge constraints from multiple registration methods within the Generalized Graph SLAM framework

Localization algorithm based on Zigbee wireless sensor network with application to an active shopping cart

RF odometry for localization in pipes based on periodic signal fadings

Multi-vehicle localisation with additive compressed factor graphs

Building local terrain maps using spatio-temporal classification for semantic robot localization

HexaMorph: A reconfigurable and foldable hexapod robot inspired by origami

On the optimal selection of motors and transmissions for electromechanical and robotic systems

Active behavior of musculoskeletal robot arms driven by pneumatic artificial muscles to effectively receive human's direct teaching

Received signal strength based bearing-only robot navigation in a sensor network field

GeckoGripper: A soft, inflatable robotic gripper using gecko-inspired elastomer micro-fiber adhesives

Design and architecture of a series elastic snake robot

Hybrid Unmanned Aerial Underwater Vehicle: Modeling and simulation

Circumnavigation by a mobile robot using bearing measurements

Modeling and experiments of high speed magnetic micromanipulation at the air/liquid interface

Assembly and mechanical characterizations of polymer microhelical devices

Controllable Roll-to-Swim motion transition of helical nanoswimmers

Three dimensional rotation of bovine oocyte by using magnetically driven on-chip robot

Robust nanomanipulation control based on laser beam feedback

Microrobotic platform for mechanical stimulation of swimming microorganism on a chip

Magnetic-based motion control of sperm-shaped microrobots using weak oscillating magnetic fields

On-chip flexible scaffold for construction of multishaped tissues

Cell isolation system for rare Circulating Tumor Cell

Incorporating in-situ force sensing capabilities in a magnetic microrobot

Joint space torque controller based on time-delay control with collision detection

Force/vision control for robotic cutting of soft materials

Hierarchical inequality task specification for indirect force controlled robots using quadratic programming

Fast dual-arm manipulation using variable admittance control: Implementation and experimental results

External torque sensing algorithm for flexible-joint robot based on disturbance observer structure

Implicit force control for an industrial robot with flexible joints and flexible links

Cartesian Space Synchronous Impedance Control of Two 7-DOF robot arm manipulators

Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback

Fuzzy learning variable admittance control for human-robot cooperation

Robust attitude controller for uncertain hexarotor micro aerial vehicles (MAVs)

Emergency landing for a quadrotor in case of a propeller failure: A backstepping approach

Guaranteed road network search with small unmanned aircraft

A ground-based optical system for autonomous landing of a fixed wing UAV

On crop height estimation with UAVs

Model-aided state estimation for quadrotor micro air vehicles amidst wind disturbances

Inspection of pole-like structures using a vision-controlled VTOL UAV and shared autonomy

Image-based control for dynamically cross-coupled aerial manipulation

The Quadroller: Modeling of a UAV/UGV hybrid quadrotor

Persistent monitoring with a team of autonomous gliders using static soaring

Compliant terrain legged locomotion using a viscoplastic approach

Passive dynamic walking of compass-like biped robot with dynamic absorbers

More solutions means more problems: Resolving kinematic redundancy in robot locomotion on complex terrain

Hopping control for the musculoskeletal bipedal robot: BioBiped

A passive dynamic quadruped that moves in a large variety of gaits

Velocity disturbance rejection for planar bipeds walking with HZD-based control

Reactive posture behaviors for stable legged locomotion over steep inclines and large obstacles

The effect of leg impedance on stability and efficiency in quadrupedal trotting

On the energetics of quadrupedal bounding with and without torso compliance

On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations

A model-free approach for the segmentation of unknown objects

Automatic detection of pole-like structures in 3D urban environments

Real-time and low latency embedded computer vision hardware based on a combination of FPGA and mobile CPU

Multi-view terrain classification using panoramic imagery and LIDAR

Efficient real-time loop closure detection using GMM and tree structure

Place categorization using sparse and redundant representations

Real-time global localization of intelligent road vehicles in lane-level via lane marking detection and shape registration

On-road vehicle detection through part model learning and probabilistic inference

Real-time depth enhanced monocular odometry

MEVO: Multi-environment stereo visual odometry

Place recognition and self-localization in interior hallways by indoor mobile robots: A signature-based cascaded filtering framework

Automated perception of safe docking locations with alignment information for assistive wheelchairs

Terrain classification using Laser Range Finder

A novel feature for polyp detection in wireless capsule endoscopy images

Automation of “ground truth” annotation for multi-view RGB-D object instance recognition datasets

Recognition of inside pipeline geometry by using PSD sensors for autonomous navigation

Large scale place recognition in 2D LIDAR scans using Geometrical Landmark Relations

Evaluation of feature selection and model training strategies for object category recognition

Automatic segmentation and recognition of human activities from observation based on semantic reasoning

Detection of liquids in cups based on the refraction of light with a depth camera using triangulation

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Principles of microscale flexure hinge design for enhanced endurance

Content Provider	IEEE Xplore Digital Library
Author	Malka, R. Desbiens, A.L. Yufeng Chen Wood, R.J.
Copyright Year	2014
Description	Author affiliation: Harvard Microrobotics Lab., Harvard Univ., Cambridge, MA, USA (Malka, R.; Desbiens, A.L.; Yufeng Chen; Wood, R.J.)
Abstract	Articulation based on flexure hinges is increasingly popular in microrobotics because of the absence of Coulomb friction, ease of manufacturability, fluid motion, durability, and large angular ranges. However, the inherent flexibility of these hinges makes modeling very complex and specific to the particular engineering applications for which they were developed. In this paper we describe the development and testing of a simplified, versatile method for modeling the stress on a flexure hinge under multi-axis loads in order to maximize hinge lifespan. We also discuss other stress concentration reducing features and design rules that can be applied to more general flexure hinge designs to further extend hinge lifespan.
Starting Page	2879
Ending Page	2885
File Size	5890956
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942958
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fasteners Stress Load modeling Polyimides Force Drag
Content Type	Text
Resource Type	Article

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