In this paper, a control method is developed for minimizing joint torque on a redundant
manipulator where an external force acts on the end-effector. Using null space control, the …

This paper presents the research on and development of a robotic system for stripping paint
and rust from steel bridges, with the ultimate objective of preventing human exposure to …

This paper presents a system for Autonomous eXploration to Build A Map (AXBAM) of an
unknown, 3D complex steel bridge structure using a 6 degree-of-freedom anthropomorphic …

We present the ANBOT, an intelligent robotic coworker for physical human-robot
collaboration. The ANBOT system assists workers performing industrial abrasive blasting …

This paper presents an integrated exploration approach for geometric mapping and surface
material–type identification of complex three‐dimensional (3D) environments using a six …

This paper presents the field testing results of an autonomous manipulator-based robotic
system that strips the paint and rust from steel bridges [Liu et al., 2008]. The key components …

This paper presents an efficient trajectory planning approach for a 6DOF robotic manipulator
conducting grit-blasting in complex bridge structural environments. The proposed approach …

Robotic systems such as exoskeletons can be effectively used in the reduction of fatigue and
musculoskeletal disorders (MSD) associated with physical tasks, but robots which work in …

This paper presents a method for single sensor simultaneous derivation of three-
dimensional mapping data and material type data for use in an autonomous sandblasting …

This paper presents modifications made to the Adaptive Capacitive Sensor for Obstacle
Ranging (ACSOR)[1] that have enabled the sensor to provide material type data for an …