Trends in Intelligent Robotics

by Vadakkepat, Prahlad; Kim, Jong-Hwan; Jesse, Norbert; Mamun, Abdullah Al; Kiong, Tan Kok

• ISBN13: 9783642158094
• ISBN10: 3642158099
• Format: Paperback
• Copyright: 2010-09-22
• Publisher: Springer-Verlag New York Inc

Summary

This book constitutes the proceedings of the 15th Robot World Cup and Congress on Trends in Intelligent Robotics held in Bangalore, India, in September 15-19,2010.

Table of Contents

Autonomous Underwater Vehicles
Navigation of Autonomous Underwater Vehicle Using Extended Kalman Filter	p. 1
Safety Aspects for Underwater Vehicles	p. 10
Autonomous Vertical Profiler Data Management	p. 17
Navigation and Position Control of Underwater Vehicle ROSUB 6000	p. 25
Distributed Real Time Control Systems for Deep Water ROV (ROSUB 6000)	p. 33
Control Architecture for AUV-150: A Systems Approach	p. 41
Autonomous Underwater Vehicle for 150m Depth-Development Phases and Hurdles Faced	p. 49
Humanoid Robotics and Multi Legged Systems
SOPC Based Human Biped Motion Tracking Control for Human-Sized Biped Robot	p. 57
Walking Pattern Generator Using an Evolutionary Central Pattern Generator	p. 65
Analysis and Study of Human Joint Torque and Motion Energy during Walking on Various Grounds	p. 73
Applied Complex Motion Planning and Motion Control for Humanoid Robots in Vertical Motion Sceneries	p. 82
Stuctural Design of Walking and Mathematical Model of Humanoid Robot MC - 01	p. 90
Mechanical Design of Small-Size Humanoid Robot: TWNHR-VI	p. 98
Imitation Learning from Humanoids in a Heterogeneous Setting	p. 106
Here Comes the Robotic Brain!	p. 114
The Real-Time Embedded System for a Humanoid: Betty	p. 122
Design and Implementation of SOPC Based Motion Control for Human-Sized Biped Robot	p. 130
Dynamic Modeling of Energy Efficient Hexapod Robot's Locomotion over Gradient Terrains	p. 138
Dynamic Modeling and Optimal Foot Force Distribution of Quadruped Walking Robot	p. 146
Determination of Optimally Stable Posture for Force Actuator Based Articulated Suspension for Rough Terrain Mobility	p. 154
Multi-Agent / Robot Systems
Multi-Agent Rendezvous Algorithm with Rectilinear Decision Domain	p. 162
Task and Role Selection Strategy for Multi-robot Cooperation in Robot Soccer	p. 170
Positional Consensus of Multi-Agent Systems Using Linear Programming Based Decentralized Control with Rectilinear Decision Domain	p. 178
Tacit Navigation Method for Multi-agent System	p. 186
Q-Learning Policies for Multi-Agent Foraging Task	p. 194
Path Planning and Navigation
An Intelligent Algorithm for the Path Planning of Autonomous Mobile Robot for Dynamic Environment	p. 202
Rectilinear Path Following in 3D Space	p. 210
Design and Implementation of Autonomous Navigation System for Mobile Harbors	p. 218
Path Planning Algorithm Based on the Limit-Cycle Navigation Method Applied to the Edge of Obstacles	p. 226
An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners	p. 234
Ordering of Robotic Navigational Tasks in Home Environment	p. 242
Robotics and Education
Attracting Students to Engineering: Using Intuitive HRIs for Educational Purposes	p. 250
Robots as a Tool for Teaching Differential Equations	p. 258
A Course Programme in Mobile Robotics with Integrated Hands-on Exercises and Competitions	p. 266
RoboWaiter Competition: Linking Robotics Education to Social Responsibility	p. 274
Pattern Analysis and Classification
A Comparison between Growing and Variably Dense Self Organizing Maps for Incremental Learning in Hubel Weisel Models of Concept Representation	p. 282
Hand Posture Recognition Using Neuro-Biologically Inspired Features	p. 290
Wavelet Based Medical Image Fusion Using Filter Masks	p. 298
Boosting Based Fuzzy-Rough Pattern Classifier	p. 306
Face Detector Design for an Expression Robot	p. 314
Control and Sensing
Fuzzy-PI Force Control for Industrial Robotics	p. 322
PSO-Optimized Fuzzy Logic Controller for a Single Wheel Robot	p. 330
Neural Network Control of Nonlinear Time-Delay System with Unknown Dead-Zone and Its Application to a Robotic Servo System	p. 338
The Computational Accuracy of Cover Time for Circular Sensing Range	p. 346
Frontier Based Multiple Goal Search in Unknown Environments	p. 353
Multiple Sensor Based Autonomous Monitoring and Control for Energy Efficiency	p. 361
Author Index	p. 369
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