This thesis reports research results on three different topics under the theme of the automatic execution of compliant motion tasks for robot manipulators: numerical trajectory optimization, smooth interpolation of orientation, and control algorithm design. The major purpose of this research is to present a comprehensive joint-space solution for robot’s hybrid motion/force control, which we bel...

In this paper the authors present an approach to provide efficient low-complexity encoding for the block-based video coding scheme. The authors present a method based on removing the most time-consuming task, that is motion estimation, from the encoder. Instead the decoder will perform motion prediction based on the available decoded frame and send the predicted motion vectors to the encoder. T...

Long-term memory prediction extends the spatial displacement vector utilized in hybrid video coding by a variable time delay permitting the use of more than one reference frame for motion compensation. This extension provides improved rate-distortion performance. However, motion compensation in combination with transmission errors leads to temporal error propagation that occurs when the referen...

The use of temporal redundancy is of vital importance for a successful video coding algorithm. An effective approach is the hybrid video coder where motion estimation is used for prediction of the next image frame and code the prediction error, and the motion field. The standard method for motion estimation is block matching as in MPEG-2, typically resulting in block artifacts. In this paper a ...

Many robotic tasks require compliant motion, but planning such motion poses special challenges not present in collision-free motion planning. One challenge is how to achieve exactness, i.e., how to make sure that a planned path exactly compliant to a desired contact state, especially when the con guration manifold of such a contact state is hard to describe analytically due to high geometrical ...

The estimation of motion in videos yields information useful in the scope of video annotation, retrieval and compression. Current approaches use iterative minimization techniques based on intensity gradients in order to estimate the parameters of a 2D transform between successive frames. These approaches rely on good initial guesses of the motion parameters. For single or dominant motion there ...