From the Proceedings of the 1993 IEEE International Conference on Robotics and Automation

Position-Based Virtual Fixtures for Membrane Peeling with a Handheld Micromanipulator.

Peeling delicate retinal membranes, which are often less than 5 µm thick, is one of the most challenging retinal surgeries. Preventing rips and tears caused by tremor and excessive force can decrease injury and reduce the need for follow up surgeries. We propose the use of a fully handheld microsurgical robot to suppress tremor while enforcing helpful constraints on the motion of the tool. Usin...

Proceedings of the 6th International Conference on Science and Social Research (CSSR)(Malaysia)

Motion Generation for Formations of Robots a Geometric Approach

This paper develops a method for generating smooth trajectories for mobile robots in formation. The problem of trajectory generation is cast in terms of designing optimal curves on the Euclidean group, SE(3). Specifically, the method generates the trajectory that minimizes the total energy associated with the translations and rotations of the robots, while maintaining a rigid formation. When th...

Efficient Dynamic Simulation of Robotic Systems with Hierarchy

In this paper multirate numerical integration techniques are introduced as a tool for simulating robotic systems. In contrast with traditional simulation techniques where a single global time step is used, multirate methods seek a gain in efficiency by using larger step sizes for the slow varying components and smaller step sizes for components with rapidly changing solutions. We argue that man...

1999 IEEE International Conference on Robotics and Automation, Marriott Hotel, Renaissance Center, Detroit, Michigan, May 10-15, 1999, Proceedings

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U . S . Patent

Mangaser et al, “Concurrent programming support for a multi-manipulator experiment on RIF’S”; 1989 IEEE International conference on robotics and automation, p. 853-859 vol. 2, 14-19 May 1989. Anderson, “Computer architectures for robot control: a comparison and a new processor delivering 20 real mflops”; 1989 IEEE International conference on robotics and automation, p. 1162-1167 vol. 2, 14-19 M...