Human-centered robotics and interactive haptic simulation

International Journal of Robotics Research

Volumn 23, Issue 2, 2004, Pages 167-178

  Khatib, Oussama ^a   Brock, Oliver ^b   Chang, Kyong Sok ^a   Ruspini, Diego ^a   Sentis, Luis ^a   Viji, Sriram ^a  

^a Stanford University   (United States)

^b Biologically Inspired Neural and Dynamical Systems Laboratory   (United States)

Author keywords

Dynamic simulation; Haptic rendering; Humanoid robotics; Multi contact simulation; Operational space control; Real time path modification

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; MOTION CONTROL; MOTION PLANNING; ROBOTICS; VIRTUAL REALITY;

HAPTIC RENDERING; HUMAN-CENTERED ROBOTICS; HUMANOID ROBOTICS; INTERACTIVE HAPTIC SIMULATION; MULTICONTACT SIMULATION; OPERATIONAL SPACE CONTROL; REAL-TIME PATH MODIFICATION;

ANTHROPOMORPHIC ROBOTS;

EID: 1242263853     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364904041325     Document Type: Article

References (26)

1. Asfour, T., Berns, K., Schelling, J., and Dillmann, R. 1999. Programming of manipulation tasks of the humanoid robot ARMAR. In Proceedings of the 9th International Conference on Advanced Robotics (ICAR'99), Tokyo, Japan.
2. Brock, O. and Khatib, O. 2002. Elastic strips: A framework for motion generation in human environments. International Journal of Robotics Research 21 (12):1031-1052.
3. Chang, K.-S. 2000. Efficient dynamic control and simulation of highly redundant articulated mechanisms. Ph.D. Thesis, Stanford University.
4. Chang, K.-S. and O. Khatib. April 2000. Operational space dynamics: Efficient algorithms for modeling and control of branching mechanisms. In Proceedings of the International Conference on Robotics and Automation, San Francisco, CA, pp. 850-856.
5. Chang, K.-S., Holmberg, R., and Khatib, O. April 2000. The augmented object model: cooperative manipulation and parallel mechanism dynamics. In Proceedings of the International Conference on Robotics and Automation, San Francisco, CA, pp. 470-475.
6. Featherstone, R. 1987. Robot Dynamics Algorithms, Kluwer Academic, Dordrecht.
7. Hirai, K., Hirose, M., Haikawa, Y., and Takenaka, T. 1998. The development of Honda humanoid robot. In Proceedings of the International Conference on Robotics and Automation, Vol. 2, Leuven, Belgium, pp. 1321-1326.
8. Khatib, O. 1986. Real-time obstacle avoidance for manipulators and mobile robots. International Journal of Robotics Research 5(1):90-98.
9. Khatib, O. 1987. A unified approach to motion and force control of robot manipulators: the operational space formulation. International Journal of Robotics Research 3(1):43-53.
10. Khatib, O. 1988. Object manipulation in a multi-effector robot system. In Robotics Research 4, Bolles, R. and Roth, B., editors, MIT Press, Cambridge, MA, pp. 137-144.
11. Khatib, O. 1995. Inertial properties in robotics manipulation: An object-level framework. International Journal of Robotics Research 14(1):19-36.
12. Khatib, O., Yokoi, K., Chang, K.-S., Ruspini, D., Holmberg, R., and Casal, A. 1996. Coordination and decentralized cooperation of multiple mobile manipulators. Journal of Robotic Systems 13(11):755-764.
13. Khatib, M., Jaouni, H., Chatila, R., and Laumond, J.-P. 1997. How to implement dynamic paths. In Proceedings of the International Symposium on Experimental Robotics, Barcelona, Spain, pp. 225-236 (preprint).
14. Khatib, O., Yokoi, K., Brock, O., Chang, K.-S., and Casal, A. 1999. Robots in human environments: basic autonomous capabilities. International Journal of Robotics Research 18(7):175-183.
15. Koditschek, D. E. 1987. Exact robot navigation by means of potential functions: some topological considerations. In Proceedings of the International Conference on Robotics and Automation, Raleigh, NC, USA, pp. 1-6.
16. Kreutz-Delgado, K., Jain, A., and Rodriguez, G. April 1991. Recursive formulation of operational space control. In Proceedings of the International Conference on Robotics and Automation, Sacramento, CA, USA, pp. 1750-1753.
17. Lilly, K. W. 1992. Efficient Dynamic Simulation of Robotic Mechanisms, Kluwer Academic, Dordrecht.
18. Lilly, K. W. and Orin, D. E. 1993. Efficient O(n) recursive computation of the operational space inertia matrix. IEEE Transactions on Systems, Man, and Cybernetics 23(5):1384-1391.
19. Nishiwaki, K., Sugihara, T., Kagami, S., Kanehiro, F., Inaba, M., and Inoue, H. 2000. Design and development of research platform for perception-action integration in humanoid robot: H6. In Proceedings of the International Conference on Intelligent Robots and Systems, Takamatsu, Japan, Vol. 3, pp. 1559-1564.
20. Quinlan, S. and Khatib, O. 1993. Elastic bands: connecting path planning and control. In Proceedings of the International Conference on Robotics and Automation, Atlanta, GA, USA, Vol. 2, pp. 802-807.
21. Rodriguez, G., Kreutz, K., and Jain, A. May 1989. A spatial operator algebra for manipulator modeling and control. In Proceedings of the International Conference on Robotics and Automation, Scottsdale, AZ, USA, pp. 1374-1379.
22. Ruspini, D. C. and Khatib, O. October 1999. Collision/contact models for dynamic simulation and haptic interaction. In 9th International Symposium of Robotics Research (ISRR'99), Snowbird, UT, USA, pp. 185-195.
23. Ruspini, D. C., Kolarov, K., and Khatib, O. August 1997. The haptic display of complex graphical environments. In SIGGRAPH Conference Proceedings (Computer Graphics), Los Angeles, CA, USA, pp. 345-352. ACM SIGGRAPH.
24. Russakow, J., Khatib, O., and Rocks, S. M. 1995. Extended operational space formation for serial-to-parallel chain (branching) manipulators. In Proceedings of the International Conference on Robotics and Automation, Magota, Japan, Vol. 1, pp. 1056-1061.
25. Takanishi, A., Hirano, S., and Sato, K. 1998. Development of an anthropomorphic head-eye system foå humanoid robot-realization of human-like head-eye motion using eyelids adjusting to brightness. In Proceedings of the International Conference on Robotics and Automation, Vol. 2, Leuven, Belgium, pp. 1308-1314.
26. Williams, D. and Khatib, O. 1993. The virtual linkage: A model for internal forces in multi-grasp manipulation. In Proceedings of the International Conference on Robotics and Automation, Atlanta, GA, USA, Vol. 1, pp. 1025-1030.