Presented in this paper is a complete system for robust autonomous navigation in cluttered and dynamic environments. It consists of computationally efficient approaches to the problems of simultaneous localization and mapping, path planning, and motion control, all based on a memory-efficient environment representation. These components have been implemented and integrated with additional compo...

In this paper we suggest an entirely new strategy for the dexterous manipulation of a linear flexible object, such as rope or a cable, with a high-speed manipulator. We deal with a flexible rope as one example of the linear flexible object. The strategy involves manipulating the object at highspeed. By moving the robot at high-speed, we can assume that the dynamic behaviour of the flexible rope...

Recent progress in research on humanoid robots is making them to complicated tasks, such as manipulation, navigation in dynamic environments, or serving tasks. One of promising application areas for humanoid robots include the manipulation task thanks to their high potential ability of executing of a variety of tasks by fully exploiting their high mobility and adaptability coming from its large...

For robots to be effective in human environments, they should be capable of successful task execution in unstructured environments. Of these, many task oriented manipulation behaviors executed by robots rely on model based grasping strategies and model based strategies require accurate object detection and pose estimation. Both these tasks are hard in human environment, since human environments...

When one visual object moves behind another, the object farther from the viewer is progressively occluded and/or disoccluded by the nearer object. For nearly half a century, this dynamic occlusion cue has been thought to be sufficient by itself for determining the relative depth of the two objects. This view is consistent with the self-evident geometric fact that the surface undergoing dynamic ...

Object abstraction is indispensable to construction of distributed applications to encapsulate the details of execution entities. By applying an RPC technology integrated with virtual memory management, this paper presents a novel approach to implementing migratable distributed objects. The novelties of the approach are transparency achieved at the instruction code level, distributed dynamic me...

When two or more arms are used to manipulate a large object, it is preferable not to have a rigid grasp in order to gain more dexterity in manipulation. It may therefore be necessary to control contact motion between the object and the effector(s) on one or more arms. This paper addresses the dynamic control of two arms cooperatively manipulating a large object with rolling contacts. In the fra...

We address the problem of observing an agent We advocate a modeling approach for the visual system and its observer where a discrete event dynamic system DEDS framework is developed and events are de ned as ranges on parameter subsets The dynamic recursive context for nite state machines DRFSM is described with some applications in the inspection and reverse engineering domain We propose a syst...

Title of Document: MULTI-DIGIT MANIPULATION OF A CIRCULAR OBJECT Junfeng Huang, Doctor of Philosophy, 2012 Directed By: Associate Professor, Jae Kun Shim Department of Kinesiology Multi-digit prehension tasks are commonly encountered in our daily activities. Previous studies investigated behavioral characteristics and neuromuscular mechanisms during manipulation actions. The purpose of this dis...