Experimental Robotics

by Khatib, Oussama; Kumar, Vijay; Rus, Daniela

• ISBN13: 9783540774563
• ISBN10: 3540774564
• Format: Hardcover
• Copyright: 2008-04-01
• Publisher: Springer Verlag

Summary

The International Symposium on Experimental Robotics (ISER) is a series of bi-ennial meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research.

Table of Contents

Manipulation
Contact State Segmentation Using Particle Filters for Programming by Human Demonstration in Compliant Motion Tasks	p. 3
Experimental Investigation of Mechanics in Soft-Fingered Grasping and Manipulation	p. 13
Motion Planning for Robotic Manipulation of Deformable Linear Objects	p. 23
Learning to Grasp Novel Objects Using Vision	p. 33
Stable Grasp and Manipulation in 3D Space with 2-Soft-Fingered Robot Hand	p. 43
Vision
Combining Object Recognition and SLAM for Extended Map Representations	p. 55
Long-Term Motion Estimation from Images	p. 65
Real-Time Time-to-Collision from Variation of Intrinsic Scale	p. 75
Using Scene Similarity for Place Labelling	p. 85
Navigation
Robust GPS/INS-Aided Localization and Mapping Via GPS Bias Estimation	p. 101
Vision Assisted Laser Scanner Navigation for Autonomous Robots	p. 111
Selection and Monitoring of Navigation Modes for an Autonomous Rover	p. 121
Medical and Bio-robotics
Automatic Determination of the Actions and Force Feedback Augmentation in the Minimal Invasive Surgical System	p. 133
Control of Muscle Force During Exercise Using a Musculoskeletal-Exoskeletal Integrated Human Model	p. 143
Robot Assisted Fracture Reduction	p. 153
User Personality Matching with a Hands-Off Robot for Post-stroke Rehabilitation Therapy	p. 165
Estimation and Mapping
Outdoor Mapping and Navigation Using Stereo Vision	p. 179
Control for Localization of Targets Using Range-Only Sensors	p. 191
Experiments with Simultaneous Environment Mapping and Multi-target Tracking	p. 201
Rao-Blackwellized Particle Filters for Recognizing Activities and Spatial Context from Wearable Sensors	p. 211
Field Robotics
Development of Teleoperated Landmine Detection Buggy GRYPHON for Practical Humanitarian Demining Tasks	p. 225
Long-Range Autonomous Instrument Placement	p. 235
A Four Wheel Drive Boom Lift Robot for Bush Fire Fighting	p. 245
Estimation and Control
Mobile Robot Simultaneous Localization and Mapping Using Low Cost Vision Sensors	p. 259
Sensor-Based Behavior Control for an Autonomous Underwater Vehicle	p. 267
Visual Servoing on Image Maps	p. 277
Context Sensitive Driver Assistance Based on Gaze - Road Scene Correlation	p. 287
Small-Scale Robot Formation Movement Using a Simple On-Board Relative Positioning System	p. 297
Navigation
Learning Informative Features for Indoor Traversability	p. 309
Activity-Based Semantic Mapping of an Urban Environment	p. 321
Robot Navigation in Multi-terrain Outdoor Environments	p. 331
Constrained Optimization Path Following of Wheeled Robots in Natural Terrain	p. 343
Estimation and Localization
Multi-level State Estimation in an Outdoor Decentralised Sensor Network	p. 355
Occupancy Grids from Stereo and Optical Flow Data	p. 367
MLS Based Distributed, Bearing, Range and Posture Estimation for Schools of Submersibles	p. 377
Cooperative Localization for Autonomous Underwater Vehicles	p. 387
Vision-Based Localization Using a Central Catadioptric Vision System	p. 397
Design
On the Design of a Fast Parallel Robot Based on Its Dynamic Model	p. 409
Dynamic Rolling for a Modular Loop Robot	p. 421
Shady: Robust Truss Climbing with Mechanical Compliances	p. 431
A New Actuation Approach for Haptic Interface Design	p. 441
Real-Time Microforce Sensors and High Speed Vision System for Insect Flight Control Analysis	p. 451
Cooperative Control
Experiments with Cooperative Networked Control of Underwater Robots	p. 463
Comparing Coordination Schemes for Miniature Robotic Swarms: A Case Study in Boundary Coverage of Regular Structures	p. 471
Feedback Control of Stochastic Cellular Actuators	p. 481
An Optimization-Based Approach to Time-Critical Cooperative Surveillance and Coverage with UAVs	p. 491
The Demonstration of a Cooperative Control Architecture for UAV Teams	p. 501
Humanoids
Humanoid Robot HRP-2 with Human Supervision	p. 513
Biped Humanoid Robot Capable of Being Used as Human Motion Simulator	p. 523
Task Autonomy for a Teleoperated Humanoid Robot	p. 533
Short Cycle Pattern Generation for Online Walking Control System of Humanoids	p. 541
Grasp Recognition and Manipulation with the Tango	p. 551
Author Index	p. 561
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