Experimental Robotics VII

by Rus, Daniela; Singh, Sanjiv

• ISBN13: 9783540421047
• ISBN10: 3540421041
• Format: Paperback
• Copyright: 2001-07-01
• Publisher: Springer Verlag

Summary

Collection of papers on the state of the art in experimental robotics. The papers were presented at the 2000 International Symposium on Experimental Robotics. Softcover.

Table of Contents

Humanoids and Human-Robot Interaction
Haptically Augmented Teleoperation	1	(10)
N. Turro
O. Khatib
Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay	11	(10)
Y. Yokokohji
T. Imaida
Y. Iida
T. Doi
M. Oda
T. Yoshikawa
Virtual Exoskeleton for Telemanipulation	21	(10)
J. Amat
M. Frigola
A. Casals
Design of Programmable Passive Compliance for Humanoid Shoulder	31	(10)
M. Okada
Y. Nakamura
S. Ban
Design, Implementation, and Remote Operation of the Humanoid H6	41	(10)
S. Kagami
K. Nishiwaki
J.J. Kuffner Jr.
T. Sugihara
M. Inaba
H. Inoue
Cooperative Human and Machine Perception in Teleoperated Assembly	51	(10)
T. Debus
J. Stoll
R.D. Howe
P. Dupont
Regulation and Entrainment in Human-Robot Interaction	61	(10)
C. Breazeal
Perception
Advancing Active Vision Systems by Improved Design and Control	71	(10)
O. Sutherland
H. Truong
S. Rougeaux
A. Zelinsky
S-NETS: Smart Sensor Networks	81	(10)
Y. Chen
T.C. Henderson
Six Degree of Freedom Sensing for Docking Using IR LED Emitters and Receivers	91	(10)
K. Roufas
Y. Zhang
D. Duff
M. Yim
Height Estimation for an Autonomous Helicopter	101	(10)
P. Corke
P. Sikka
J. Roberts
Ladar-Based Discrimination of Grass from Obstacles for Autonomous Navigation	111	(10)
J. Macedo
R. Manduchi
L. Matthies
Reality-Based Modeling with ACME: A Progress Report	121	(10)
D.K. Pai
J. Lang
J.E. Lloyd
J.L. Richmond
Assembly and Manipulation
Grasp Strategy Simplified by Detaching Assist Motion (DAM)	131	(10)
M. Kaneko
T. Shirai
K. Harado
T. Tsuji
Force-Based Interaction for Distributed Precision Assembly	141	(10)
R.T. DeLuca
A.A. Rizzi
R.L. Hollis
Design and Implementation of a New Discretely-Actuated Manipulator	151	(8)
J. Suthakorn
G.S. Chirikjian
Design and Experiments on a Novel Biomechatronic Hand	159	(10)
P. Dario
M.C. Carrozza
S. Micera
B. Massa
M. Zecca
Autonomous Injection of Biological Cells Using Visual Servoing	169	(10)
S. Yu
B.J. Nelson
Medical, Space, and Field Applications
An Active Tubular Polyarticulated Micro-System for Flexible Endoscope	179	(10)
J. Szewczyk
V. de Sars
Ph. Bidaud
G. Dumont
Towards Semi-autonomy in Laparoscopic Surgery through Vision and Force Feedback Control	189	(10)
A. Krupa
C. Doignon
J. Gangloff
M. de Mathelin
L. Soler
G. More
Optimized Port Placement for the Totally Endoscopic Coronary Artery Bypass Grafting Using the da Vinci Robotic System	199	(10)
E. Coste-Maniere
L. Adhami
R. Severac-Bastide
A. Lobontiu
J.K. Salisbury Jr.
J.-D. Boissonnat
N. Swarup
G. Guthart
E. Mousseaux
A. Carpentier
ETS-VII Flight Experiments for Space Robot Dynamics and Control; Theories on Laboratory Test Beds Ten Years Ago, Now in Orbit	209	(10)
K. Yoshida
Experimental Demonstrations for a New Design Paradigm in Space Robotics	219	(10)
M.D. Lichter
V.A. Sujan
S. Dubowsky
A First-Stage Experiment of Long Term Activity of Autonomous Mobile Robot-Result of Repetitive Base-Docking Over a Week	229	(10)
Y. Hada
S. Yuta
Locomotion
Comparing the Locomotion Dynamics of the Cockroach and a Shape Deposition Manufactured Biomimetic Hexapod	239	(10)
S.A. Bailey
J.G. Cham
M.R. Cutkosky
R.J. Full
Super Mechano-System: New Perspective for Versatile Robotic System	249	(10)
S. Hirose
Using Modular Self-Reconfiguring Robots for Locomotion	259	(12)
K. Kotay
D. Rus
M. Vona
Open-Loop Verification of Motion Planning for an Underwater Eel-Like Robot	271	(10)
K.A. McIsaac
J.P. Ostrowski
Quadruped Robot Running With a Bounding Gait	281	(1)
S. Talebi
I. Poulakakis
E. Papadopoulos
M. Buehler
Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot	281
R. Altendorfer
U. Saranli
H. Komsuoglu
D. Koditschek H.B. Brown Jr.
M. Buehler
N. Moore
D. McMordie
R. Full
Multi-robot Systems
A Framework and Architecture for Multirobot Coordination	203	(110)
R. Alur
A. Das
J. Esposito
R. Fierro
G. Grudic
Y. Hur
V. Kumar
I. Lee
J.P. Ostrowski
G. Pappas
B. Southall
J. Spletzer
C.J. Taylor
Motion Control of Distributed Robot Helpers Transporting a Single Object in Cooperation with a Human	313	(10)
Y. Hirata
K. Kosuge
H. Asama
H. Kaetsu
K. Kawabata
First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly	323	(10)
R. Simmons
S. Singh
D. Hershberger
J. Ramos
T. Smith
Towards A Team of Robots with Repair Capabilities: A Visual Docking System	333	(10)
C. Bererton
P.K. Khosla
Merging Gaussian Distributions for Object Localization in Multi-robot Systems	343	(10)
A.W. Stroupe
M.C. Martin
T. Balch
Principled Communication for Dynamic Multi-robot Task Allocation	353	(10)
B.P. Gerkey
M.J. Mataric
Progress in RoboCup Soccer Research in 2000	363	(10)
M. Asada
A. Birk
E. Pagello
M. Fujita
I. Noda
S. Tadokoro
D. Duhaut
P. Stone
M. Veloso
T. Balch
H. Kitano
B. Thomas
Modeling and Motion Planning
View Planning via C-Space Entropy for Efficient Exploration with Eye-in-Hand Systems	373	(12)
Y. Yu
K.K. Gupta
Motion Planning for a Self-Reconfigurable Modular Robot	385	(10)
E. Yoshida
S. Murata
A. Kamimura
K. Tomita
H. Kurokawa
S. Kokaji
Experimental Comparison of Techniques for Localization and Mapping Using a Bearing-Only Sensor	395	(10)
M. Deans
M. Herbert
Robot Navigation for Automatic Model Construction Using Safe Regions	405	(12)
H. Gonzalez-Banos
J.-C. Latombe
Simulation and Experimental Evaluation of Complete Sensor-Based Coverage in Rectilinear Environments	417	(10)
Z.J. Butler
A.A. Rizzi
R.L. Hollis
An Interactive Model of the Human Liver	427	(10)
F. Boux de Casson
D. d'Aulignac
C. Laugier
Control
The Biomechanical Fidelity of Slope Simulation on the Sarcos Treadport Using Whole-Body Force Feedback	437	(10)
R. Mills
J.M. Hollerbach
W.B. Thompson
A New Approach to the Control of a Hydraulic Stewart Platform	447	(14)
M.R. Sirouspour
S.E. Salcudean
Design of Life-Size Haptic Environments	461	(10)
Y. Matsuoka
B. Townsend
Micro Nafion Actuators for Cellular Motion Control and Underwater Manipulation	471	(10)
M.Y.F. Kwok
W. Zhou
W.J. Li
Y. Xu
Control of an Under Actuated Unstable Nonlinear Object	481	(10)
N.A. Andersen
L. Skovgaard
O. Ravn
Singularity Handling on Puma in Operational Space Formulation	491	(10)
D. Oetomo
M.H. Ang Jr.
S.Y. Lim
Navigation and Localization
Autonomous Rover Navigation on Unknown Terrains Functions and Integration	501	(10)
S. Lacroix
A. Mallet
D. Bonnafous
G. Bauzil
S. Fleury
M. Herrb
R. Chatila
Map Building and Localization for Underwater Navigation	511	(12)
S. Majumder
J. Rosenblatt
S. Scheding
H. Durrant-Whyte
Visually Realistic Mapping of a Planar Environment with Stereo	523	(10)
L. Iocchi
K. Konolige
M. Bajracharya
Incorporation of Delayed Decision Making into Stochastic Mapping	533	(10)
J.J. Leonard
R.J. Rikoski
Tele-Autonomous Watercraft Navigation	543	(8)
R. Jarvis
An Underwater Vehicle Monitoring System and its Sensors	551	(10)
S.K. Choi
O.T. Easterday
Real Time Obstacle Detection for AGV Navigation Using Multi-baseline Stereo	561	(8)
H. Wang
J. Xu
J.I. Guzman
R.A. Jarvis
T. Goh
C.W. Chan
A new Generationacle of Light-Weight Robot Arms and Multifingered Hands	569
G. Hirzinger
J. Butterfa
M. Fischer
M. Grebenstein
M. Hahnle
H. Liu
I. Schaefer
N. Sporer
M. Schedl
R. Koeppe