Recent technological advances in hardware design of the robotic platforms enabled the
implementation of various control modalities for improved interactions with humans and …

Robot-assisted medical imaging entails the use of a robot to acquire a medical image.
Examples include robot-assisted endoscopic camera imaging, ultrasound imaging where …

We review a range of techniques related to navigation of unmanned vehicles through
unknown environments with obstacles, especially those that rigorously ensure collision …

In this work, we present WALK‐MAN, a humanoid platform that has been developed to
operate in realistic unstructured environment, and demonstrate new skills including powerful …

A fundamental requirement for the success of a manipulation task is the capability to handle
the physical contact between a robot and the environment. Pure motion control turns out to …

We have extended the task-space multiobjective controllers that write as quadratic programs
(QPs) to handle multirobot systems as a single centralized control. The idea is to assemble …

Closed-loop inverse kinematics (CLIK) algorithm mostly resolves the redundancy at the
velocity level. In this paper we extend the CLIK algorithm to the acceleration level to meet …

This paper presents a new framework for constraint-based task specification of robot
controllers. A task specification language (eTaSL) is defined as well as a corresponding …

In this paper, to remedy the joint-angle drift phenomenon for manipulation of two redundant
robot arms, a novel scheme for simultaneous repetitive motion planning and control …

The fundamental difference between autonomous robotic assembly and traditional hard
automation, currently utilized in large-scale manufacturing production, lies in the specific …