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Theoretical solutions based on the matching of 2-D range measurements with a map of the environment have been proposed to solve the robot localization problem. However, most of them have not been experimented in real conditions: the robot was stopped or it moved slowly during range data acquisition, and the environment was supposed to be static. In this(More)
The surface electromyographic (SEMG) signal is very convenient for prosthesis control because it is non-invasively acquired and intrinsically related to the user's intention. This work presents a feature extraction and pattern classification algorithm for estimation of the intended knee joint angle from SEMG signals acquired using two sets of electrodes(More)
This paper presents a segmentation method for line extraction in 2-D range images. It uses a prototype-based fuzzy clustering algorithm in a split-and-merge framework. The split-and-merge structure allows us to use the fuzzy clustering algorithm without any previous knowledge on the number of prototypes. This algorithm aims to be used in mobile robots(More)
This paper presents a semi-automatic system for robotically assisted 2D needle steering that uses duty-cycling to perform insertions with arcs of adjustable curvature radius. It combines image feedback manually provided by an operator with an adaptive path planning strategy to compensate for system uncertainties and changes in the workspace during the(More)
This paper addresses the H<sub>&#x221E;</sub> robust control problem for robot manipulators using unit dual quaternion representation, which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H<sub>&#x221E;</sub> control criteria that ensure asymptotic(More)
This paper presents a reconfigurable matrix VoC that can be applied to stereo vision computation. VoC accelerates block pixel matching by providing a highly parallel implementation of the sum of absolute differences metric. Reconfigurability allows VoC to deal with different block sizes, ranging from a single 7 times 7 SAD computation to 9 simultaneous 5(More)
This work addresses the problem of stochastic state estimation for hybrid Markovian switching systems. The proposed Multiple Hypotheses Mixing Filter (MHMF) combines the Generalized Pseudo Bayes' (GPB) multiple hypotheses tracking with the Interacting Multiple Model's (IMM) estimates mixing in order to improve performance, the later being a particular case(More)