Experimental Robotics IX

by Ang, Marcelo H., Jr.; Khatib, Oussama

• ISBN13: 9783540288169
• ISBN10: 3540288163
• Format: Hardcover
• Copyright: 2006-03-16
• Publisher: Springer-Verlag New York Inc

Summary

The International Symposium on Experimental Robotics (ISER) is a series of bi-annual 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.This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 9th ISER held in Singapore, June 2004.

Table of Contents

Autonomous navigation results from the Mars exploration rover (MER) mission	p. 3
SVM-based human action recognition and its remarkable motion features discovery algorithm	p. 15
fMRI compatible haptic interfaces to investigate human motor control	p. 25
Nonholonomic modeling of needle steering	p. 35
Microphone array for 2D sound localization and capture	p. 45
Experiments on adaptive control of robots with uncertain kinematics and dynamics	p. 57
Improving the speed of shape memory alloy actuators by faster electrical heating	p. 67
Adaptive friction compensation using a velocity observer	p. 77
Wave-shape pattern control of electroactive polymer gel robots	p. 87
Topological global localization and mapping with fingerprints and uncertainty	p. 99
Terrain aided localisation and mapping for marine environments	p. 111
The SDR experience : experiments with a large scale heterogeneous mobile robot team	p. 121
Centibots : very large scale distributed robotic teams	p. 131
Large-scale robotic 3D mapping of urban structures	p. 141
A force controlled laparoscopic surgical robot without distal force sensing	p. 153
Modeling and experiments on a legged microrobot locomoting in a tubular, compliant and slippery environment	p. 165
Quasi hands free interaction with a robot for online task correction	p. 175
Integration of manipulation and locomotion by a humanoid robot	p. 187
Design and modeling of a selective-actuation XYZ flexure parallel mechanism	p. 197
On contact transition for nonholonomic mobile manipulators	p. 207
Experimental study of dynamic task/posture decoupling in minimally invasive surgery motions	p. 217
A tele-operated humanoid operator	p. 229
Hand position oriented humanoid walking motion control system	p. 239
Body information acquisition system of redundant musculo-skeletal humanoid	p. 249
Coordinated task execution for humanoid robots	p. 259
Imitation learning based on visuo-somatic mapping	p. 269
Crawling and jumping by a deformable robot	p. 281
The Berkeley lower extremity exoskeleton project	p. 291
Toward self-replication of robot control circuitry by self-inspection	p. 303
Optimal mechanical/control design for safe and fast robotics	p. 311
Actuation, sensing, and fabrication for in vivo magnetic microrobots	p. 321
Deployment and connectivity repair of a sensor net with a flying robot	p. 333
Autonomous landing of an unmanned helicopter based on vision and inertial sensing	p. 343
Synergies in feature localization by air-ground robot teams	p. 353
Autonomous inverted helicopter flight via reinforcement learning	p. 363
Collective inspection of regular structures using a swarm of miniature robots	p. 375
Visual coordination of heterogeneous mobile manipulators	p. 387
Implementation of an indoor active sensor network	p. 397
An indoor experiment in decentralized coordinated search	p. 407
Synthesis and analysis of non-reactive controllers for multi-robot sequential task domains	p. 417
Adaptive walking of a quadruped robot in outdoor environment based on biological concepts	p. 429
Legged odometry from body pose in a hexapod robot	p. 439
Free-climbing with a multi-use robot	p. 449
Limbless conforming gaits with modular robots	p. 459
Vision-based navigational competencies for a car-like vehicle	p. 471
Comparison of temporal filters for optical flow estimation in continuous mobile robot navigation	p. 481
Experiments in robot control from uncalibrated overhead imagery	p. 491
Interactive multi-modal robot programming	p. 503
Dynamic virtual fences for controlling cows	p. 513
Design and control of a hyper-redundant haptic interface	p. 523
An experimental study of the limitations of mobile haptic interfaces	p. 533
Robust haptic teleoperation of a mobile manipulation platform	p. 543
Trajectory sonar perception in the Ligurian Sea	p. 557
Construction of a geometric 3-D model from sensor measurements collected during compliant motion	p. 571
Stiffness imager	p. 581
Towards high fidelity onboard attitude estimation for legged locomotion via a hybrid range and inertial approach	p. 589
Toward reliable off road autonomous vehicles operating in challenging environments	p. 599
Driving on a known sensori-motor trajectory with a car-like robot	p. 609
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