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Robust Grasping Under Object Pose Uncertainty
Autonomous Robots: Special Issue on RSS 2010, (2011)
Download: grasping_under_uncertainty.pdf (1.96 MB)
Scalable Utility Aware Scheduling Heuristics for Real-time Tasks with Stochastic Non-preemptive Execution Intervals
Proceedings of the Euromicro Conference on Real-Time Systems (ECRTS 2011), (2011)
A Panorama Interface for Telepresence Robots
Proceedings of the 6th ACM/IEEE International Conference on Human-Robot Interaction, Lausanne, Switzerland, (2011)
Sparse Pose Adjustment for 2D Mapping
IROS, 10/2010, Taipei, Taiwan, (2010)
Download: spa2d.pdf (1.42 MB)
Low-cost Accelerometers for Robotic Manipulator Perception
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2010)
Download: low-cost-accelerometers.pdf (1.89 MB)
Planning for Autonomous Door Opening with a Mobile Manipulator
International Conference on Robotics and Automation, Anchorage, Alaska, (2010)
Download: door_planner.pdf (1.87 MB)
Search-Based Planning for Manipulation with Motion Primitives
International Conference on Robotics and Automation, Anchorage, Alaska, (2010)
Using Near-Field Stereo Vision for Robotic Grasping in Cluttered Environments
ISER, (2010)
Download: iser2010.pdf (4.22 MB)
View-based maps
International Journal of Robotics Research (IJRR), Volume 29, Issue 10, Number 10, (2010)
Download: viewmap.pdf (2.24 MB)
View-based maps
Proceedings of Robotics: Science and Systems, June, Seattle, USA, (2009)
Download: viewmap.pdf (2.29 MB)
Leaving Flatland: Toward Real-Time 3D Navigation
The IEEE International Conference on Robotics and Automation (ICRA), 05/2009, Kobe, Japan, (2009)
Abstract
Functional Analysis of Finger Contact Locations during Grasping
World Haptics, 03/2009, Salt Lake City, Utah, (2009)
Download: HAP09_0149_Final.pdf (1.36 MB)
Leaving Flatland: Efficient Real-Time 3D Perception and Motion Planning
Journal of Field Robotics (Special Issue on 3D Mapping), (2009)
Abstract
Relatively Robust Grasping
ICAPS 2009 Workshop on Bridging the Gap Between Task and Motion Planning, (2009)
Download: Hsiao_BTAMP09.pdf (1008.41 KB)
ROS: an open-source Robot Operating System
ICRA Workshop on Open Source Software, (2009)
Download: icraoss09-ROS.pdf (443.02 KB)
Search-based planning for a legged robot over rough terrain
International Conference on Robotics and Automation, Kobe, Japan, (2009)
Little Ben: The Ben Franklin Racing Team’s entry in the 2007 {DARPA} Urban Challenge
J. Field Robot., Volume 25, Number 9, p.598–614, (2008)
Abstract
Download: J. Field Robot 2008 - Little Ben.pdf (860.92 KB)
Optimization of a Planar Quadruped Dynamic Leap
ASME International Design Engineering Technical Conferences (IDETC), New York, NY, (2008)
Robust Belief-Based Execution of Manipulation Programs
WAFR, (2008)
Download: Hsiao-WAFR2008.pdf (682.03 KB)
Distributed multirobot exploration, mapping, and task allocation
Ann. Math. Artif. Intell., Volume 52, Number 2-4, p.229-255, (2008)
Laser-Machined Shape Memory Alloy Sensors for Position Feedback in Active Catheters
Sensors & Actuators: A. Physical, Volume 147, Number 1, p.83–92, (2008)
Shape Memory Alloy Position Sensor for Feedback Control of Active Catheters
SMST-2006: Proc. of the Int. Conference on Shape Memory and Superelastic Technologies, p.615–628, (2008)
Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks
World Haptics, 2007, Tsukuba, Japan, (2007)
Download: haptics07.pdf (1.23 MB)