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ICRA 1993: Atlanta, Georgia, USA
- Proceedings of the 1993 IEEE International Conference on Robotics and Automation, Atlanta, Georgia, USA, May 1993. IEEE Computer Society Press 1993, ISBN 0-8186-3450-2
Mobile Robots
- Yoshio Yamamoto, Xiaoping Yun:
Control of Mobile Manipulators Following a Moving Surface. 1-6 - Johann Borenstein:
Multi-Layered Control of a Four-Degree-of-Freedom Mobile Robot with Compliant Linkage. 7-12 - Yutaka Kanayama, David MacPherson, Gary Krahn:
Two Dimensional Transformations and Its Application to Vehicle Motion Control and Analysis. 13-18
Obstacle Avoidance
- Jen-Hui Chuang:
Potential-Based Modeling of Three Dimensional Workspace for Obstacle Avoidance. 19-24 - Steven Ratering, Maria L. Gini:
Robot Navigation in a Known Environment with Unknown Moving Obstacles. 25-30 - Thomas S. Wikman, Michael S. Branicky, Wyatt S. Newman:
Reflexive Collision Avoidance: A Generalized Approach. 31-36 - Benoit Dacre-Wright, Thierry Siméon:
Free Space Representation for a Mobile Robot Moving on a Rough Terrain. 37-43
Design of Manufacturing Systems
- Christoph Woenckhaus, Joachim Milberg:
Planning of Three-Dimensional Layouts Using Numerical Optimization Methods. 44-49 - G. G. Rogers:
Modular Production Systems: A Concurrent Manufacturing Philosophy. 50-55 - Jean-Michel Henrioud, Viorel Mînzu
:
Systematic Method for the Design of Flexible Assembly Systems. 56-62 - Luis M. Camarinha-Matos, H. J. Pinheiro-Pita:
Interactive Planning in CIM-CASE. 63-70
Manageing Dynamic Changes in manufacturing Systems
- Debra J. Hoitomt, Peter B. Luh:
Scheduling the Dynamic Job Shop. 71-76 - Da-Yin Liao, Shi-Chung Chang, Shou-Ren Yen, Cheng-Chung Chien:
Daily Scheduling for R&D Semiconductor Fabrication. 77-82 - Douglas A. Bodner, Suyanne Dilley-Schneider, S. Narayanan, Uday Sreekanth, T. Govindaraj, Leon F. McGinnis, Christine M. Mitchell:
Object-Oriented Modeling and Simulation of Automated Control in Manufacturing. 83-88 - Nukala Viswanadham, Krishna R. Pattipati, V. Gopalakrishna:
Composite Perormance-Dependability Analysis of Manufacturing Systems Producing Multiple Part Types Using Markov Reward Models. 89-94
Redundant Mannipulators I
- Bruno Siciliano
Closed-Loop Inverse Kinematics Algorithms for Redundant Spacecraft/Manipulator Systems. 95-100 - Joel W. Burdick, Jim Radford, Gregory S. Chirikjian:
A "Sidewinding" Locomotion Gait for Hyper-Redundant Robots. 101-106 - Gregory S. Chirikjian:
A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics. 107-112 - Gregory S. Chirikjian, Joel W. Burdick:
Design and Experiments with a 30 DOF Robot. 113-119
3-D Scene Analysis
- Chi-Yin Lee, David B. Cooper:
Structure from Motion: A Region Based Approach Using Afflne Transformations and Moment Invanants. 120-127 - Keiichi Kemmotsu, Takeo Kanade:
Uncertainty in Object Pose Determination with Three Light-Stripe Range Measurements. 128-134 - José Neira, Luis Montano, Juan D. Tardós:
Constraint-Based Object Recognition in Multisensor Systems. 135-142 - Philippe Ballard, François Vacherand:
The Manhattan Method: A Fast Cartesian Elevation Map Reconstruction from Range Data. 143-148
Robot Controller Architecutre
- Yoshichika Fujioka, Michitaka Kameyama:
2400-MFLOPS Reconfigurable Parallel VLSI Processor for Robot Control. 149-154 - Raymond Hui, Nenad Kircanski, Andrew A. Goldenberg, Chin Zhou, Pawel Kuzan, Jacek Wiercienski, David Gershon, P. Sinha:
Design of the IRIS Facility - A Modular, Reconfigurable and Expandable Robot Test Bed. 155-160 - Aleksandar Timcenko, Alec J. Cameion, Frank C. Guida:
Distributed General-Purpose Robot Controller. 161-166 - Tsuyoshi Ueyama, Toshio Fukuda:
Knowledge Acquisition and Distributed Decision Making - Cellular Robotics Approach Using Genetic Algorithm. 167-172
Fine Motion Planning and Grasping
- Wolfgang Paetsch, Georg von Wichert:
Solving Insertion Tasks with a Multifingered Gripper by Fumbling. 173-179 - Nak Young Chong, Donghoon Choi, Il Hong Suh:
A Finite Motion Planning Strategy for Multifingered Robotic Hands Considering Sliding and Rolling Contacts. 180-187 - Yu-Che Chen, Ian D. Walker:
An Analysis of Squeezing and Twisting for Multi-fingered Grasping. 188-195 - P. Baiardi, Giorgio Cannata, Giuseppe Casalino, P. Pagano:
Modelling Contact Phenomena Within the Dynamic Simulation of Advanced Robotic Structures. 196-203
Dexperiments in Control of Flexible LinkManipulators
- Stefano Panzieri, Giovanni Ulivi:
Design and Implementation of a State Observer for a Flexible Robot. 204-209 - Tsuneo Yoshikawa, Koh Hosoda, Toshitsugu Doi, Hiroki Murakami:
Quasi-Static Trajectory Tracking Control of flexible Manipulator by Macro-Micro Manipulator System. 210-215 - Vincent Drapeau, David Wang:
Verification of a Closed-Loop Shaped-Input Controller for a Five-Bar-Linkage Manipulator. 216-221 - Farshad Khorrami, Issam Zeinoun, Eric Tome:
Experimental Results on Active Control of Flexible-Link Manipulators with Embedded Piezoceramics. 222-227
Mobile Robots 4
- Jonathan M. Cameron, Douglas C. MacKenzie, Keith R. Ward, Ronald C. Arkin, Wayne J. Book:
Reactive Control for Mobile Manipulation. 228-235 - Kung Chris Wu:
A Sensor-Based Direct Search Algorithm for Autonomous Path Planning on 3-D Terrain Surfaces. 236-242 - Sjur J. Vestli, Nadine N. Tschichold-Gürman, Martin Adams, Sandra Sulzberger:
Integration of Path Planning, Sensing and Control in Mobile Robotics. 243-248 - Jean-Yves Tigli, Michel Occello, Marie-Claude Thomas:
Toward a New Intelligent Reactive Controller for Autonomous Mobile Robots. 249-254
Obstacle Computation and Avoidance
- Lydia E. Kavraki:
Computation of Configuration-Space Obstacles Using the Fast Fourier Transform. 255-261 - Fan-Tien Cheng
Obstacle Avoidance for Redundant Manipulators Using the Compact QP Method. 262-269 - Guy Bessonnet, Jean-Paul Lallemand:
Planning of Optimal Free Paths of Robotic Manipulators with Bounds on Dynamic Forces. 270-275 - Bruce Randall Donald:
Information Invariants in Robotics: Part I - State, Communication, and Side-Effects. 276-283 - Bruce Randall Donald:
Information Invariants in Robotics: Part II - Sensors and Computation. 284-290
Produt/Process Design
- Howard B. Olsen, John J. Craig:
Automated Composite Tape Lay-Up Using Robotic Devices. 291-297 - Cheng-Hua Wang, Robert H. Sturges:
Concurrent Product/Process Design with Multiple Representations of Parts. 298-304 - Y. L. Xiong:
The Theory and Methodology for Concurrent Design and Planning of Reconfiguration Fixture. 305-311 - Gerard Jounghyun Kim, George A. Bekey:
Constructing Design Plans for DFA Redesign. 312-318
Integration of Intelligent Robots with Manufacturing System
- Sukhan Lee, Gerard Jounghyun Kim, George A. Bekey:
Combining Assembly Planning with Redesign: An Approach for More Effective DFA. 319-325 - Qin Chen, J. Y. S. Luh:
Task Level Optimum Scheduling by Truncated Petri Nets Applied to Operation of Multi-Robot Workcells. 326-331 - Li-Chen Fu, Jane Yung-jen Hsu:
Fully Automated Two-Robot Flexible Assembly Cell. 332-338 - Sheng Liu, Haruhiko Asada:
Teaching and Learning of Deburring Robots Using Neural Networks. 339-345
Legged Robots
- Ho Cheung Wong, David E. Orin:
Dynamic Control of a Quaduped Standing Jump. 346-351 - Friedrich Pfeiffer, Hans-Jürgen Weidemann, Jürgen Eltze:
Leg Design Based on Biological Principles. 352-358 - Patti M. Koenig, George A. Bekey:
Generation and Control of Gait Patterns in a Simulated Horse. 359-366 - Ben-Sheng Lin, Shin-Min Song:
Dynamic Modeling, Stability and Energy Efficiency of a Quadrupedal Walking Machine. 367-373
Redundant Manupulators 2
- Yu-Che Chen, Ian D. Walker:
A Consistent Null-Space Based Approach to Inverse Kinematics of Redundant Robots. 374-381 - C. L. Boddy, J. D. Taylor:
Whole-Arm Reactive Collision Avoidance Control of Kinematically Redundant Manipulators. 382-387 - Arati S. Deo, Ian D. Walker:
Minimum Infinity-Norm Inverse Kinematic Solution For Redundant Manipulators. 388-394 - Tan Fung Chan, Rajiv V. Dubey:
A Weighted Least-Norm Solution Based Scheme for Avoiding Joint Limits for Redundant Manipulators. 395-402
Tracking
- Daryl T. Lawton, Warren F. Gardner, Junhoy Kim:
An Interactive Model Based Vison System for Vehicle Tracking. 403-409 - Albert J. Wavering, John C. Fiala, Karen J. Roberts, Ronald Lumia:
TRICLOPS: A High-Performance Trinocular Active Vision System. 410-417 - Bradley J. Nelson, Pradeep K. Khosla:
Increasing the Tracking Region of an Eye-In-Hand System by Singularity and Joint Limit Avoidance. 418-423 - James M. Manyika, Hugh F. Durrant-Whyte:
A Tracking Sonar Sensor For Vehicle Guidance. 424-429
Friction Modeling and Compensation
- Mark E. Dohring, Eunjeong Lee, Wyatt S. Newman:
A Load-Dependent Transmission Friction Model: Theory and Experiments. 430-436 - W. Stamps Howard, Vijay Kumar:
A Minimum Principle for the Dynamic Analysis of Systems with Frictional Contacts. 437-442 - Joseph M. Schimmels, Michael A. Peshkin:
The Space of Admittance Control Laws that Guarantee Force-Assembly with Friction. 443-448 - Lilong Cai, Gangbing Song:
A Smooth Robust Nonlinear Controller for Robot Manipulators with Joint Stick-Slip Friction. 449-454
Part Orientation and Grasping
- Dukhyun Kang, Kenneth Y. Goldberg:
Grasp Recognition Strategies from Empirical Models. 455-460 - Anil S. Rao, Kenneth Y. Goldberg:
On the Relation Between Friction and Part Shape in Parallel-Jaw Grasping. 461-466 - Mike Brokowski, Michael A. Peshkin, Kenneth Y. Goldberg:
Curved Fences for Part Alignment. 467-473 - Louis J. Everett, James C. Colson:
Automatic Reteach of Manipulators for Manufacturing Multiple Product Lines. 474-477
Control of Flexible Link Manipuators 1
- W. Beres, J. Z. Sasiadek, G. S. Vukovich:
Control and Dyanamic Analysis of a Multilink flexible Manipulator. 478-483 - T. Singh, Glenn R. Heppler:
Shaped Inputs for a Multimode System. 484-489 - Fei-Yue Wang, Jeffery L. Russell:
Minimum-Weight Robot Arm for a Specified Fundamental Frequency. 490-495 - B. J. Rhody, Glenn R. Heppler:
Controlling the Dynamics of Mass Capture by a Single Flexible Link. 496-501
Telrobotics and Teleoperation
- Kristin A. Farry, Ian D. Walker:
Myoelectric Teleoperation of a Complex Robotic Hand. 502-509 - Yasuyoshi Yokokohji, Akira Ogawa, Hitoshi Hasunuma, Tsuneo Yoshikawa:
Operation Modes for Cooperating with Autonomous Functions in Intelligent Teleoperation Systems. 510-515 - Yuichi Sato, Mitsunori Hirata, Fumio Nagashima, Tsugito Maruyama, Takashi Uchiyama:
Reducing Attitude Disturbances While Teleoperating a Space Manipulator. 516-523 - Paul G. Backes, Mark K. Long, Robert D. Steele:
The Modular Telerobot Task Execution System for Space Telerobotics. 524-530
Probabilistic Modeling and Planning
- Aleksandar Timcenko, Peter K. Allen:
Modeling Dynamics Uncertainty in Robot Motions. 531-536 - Aleksandar Timcenko, Peter K. Allen:
Planning Velocity Profiles from Task-Level Constraints and Environment Uncertainties. 537-542 - Michael Spreng:
A Probabilistic Method to Analyze Ambiguous Contact Situations. 543-548 - Randy C. Brost, Alan D. Christiansen:
Probabilistic Analysis of Manipulation Tasks: A Research Agenda. 549-556
Petri Nets 2
- Joaquin Ezpeleta, Javier Martínez:
Synthesis of Live Models for a Class of FMS Systems. 557-563 - Chengche Feng, Alan A. Desrochers:
Sensitivity Analysis of a EMS by a Petri Net-based Perturbation Method. 564-569 - Qin Chen, J. Y. S. Luh:
An Effective Approach to Solving Complex Scheduling Problem. 570-575 - Christoph Lindemann, Gianfranco Ciardo
Performabilty Modeling of an Automated Manufacturing System with Deterministic and Stochastic Petri Nets. 576-581
Multi-Agent and Distributed Robotics Systems 1
- Lynne E. Parker:
Designing Control Laws for Cooperative Agent Teams. 582-587 - Elizabeth Nitz, Ronald C. Arkin, Tucker R. Balch:
Communication of Behavioral State in Multi-agent Retrieval Tasks. 588-594 - Tsuyoshi Ueyama, Toshio Fukuda:
Self-Organization of Celluar Robots Using Random Walk with Simple Rules. 595-600 - Lawrence E. Pfeffer, Robert H. Cannon Jr.:
Experiments with a Dual-Armed, Cooperative, Flexible-Drivetrain Robot System. 601-608
Space manipulators
- Abhinandan Jain, Guillermo Rodríguez:
Decoupled Dynamics of Space Manipulators. 609-614 - Yangsheng Xu:
The Measure of Dynamic Coupling of Space Robot Systems. 615-620 - Daniel T. Wick, Nagy M. Shehad, Ankur R. Hajare:
An Automated Test Facility for Space Robots. 621-625
Redundant Manupulators
- Carol E. Lück, Sukhan Lee:
Self-Motion Topology for Redundant Manipulators with Joint Limits. 626-631 - Charles A. Klein, Caroline Chu-Jenq, Shamim Ahmed:
Use of an Extended Jacobian Method to Map Algorithmic Singularities. 632-637 - Paul G. Backes, Mark K. Long:
Merging Concurrent Behaviors On a Redundant Manipulator. 638-645 - A. Ait Mohamed, Christine Chevallereau:
Resolution of Robot Redundancy in the Cartesian Space By Criteria Optimization. 646-651
Sensing and Position Estimation
- Y. D. Chen, J. Ni, S. M. Wu:
Dynamic Calibration and Compensation of a 3D Laser Radar Scanning System. 652-658 - Nick E. Pears, Penelope Probert:
An Optical Range Sensor for Mobile Robot Guidance. 659-664 - Hong Xu, Xiaochen Chi:
Calibration and Parameter Identification for Laser Scanning Sensor. 665-670 - Gunnar Lindstedt, Gustaf Olsson:
Using Ultrasonics for Sensing in a Robotic Environment. 671-676
Robotic System Design and Control
- Anton C. Pil, Haruhiko Asada:
A Computer Integrated Development System for High Speed Robot Design Incorporating Structural Reconfiguration. 677-683 - Yung Ting, Sabri Tosunoglu, Delbert Tesar:
A Control Structure for Fault-Tolerant Operation of Robotic Manipulators. 684-690 - Kam S. Tso, Myron Hecht, Neville I. Marzwell:
Fault-Tolerant Robotic System for Critical Applications. 691-696 - Stephen J. Grotzinger, Jehuda Ish-Shalom:
Task Independent Relationship of System to Actuator Performance via Scaling. 697-704
Robot Hands
- M. S. Ali, Kostas J. Kyriakopoulos, Harry E. Stephanou:
The Kinematics of the Anthrobot-2 Dextrous Hand. 705-710 - Paul Michelman, Peter K. Allen:
Compliant Manipulation with a Dextrous Robot Hand. 711-716 - Wen-Yeuan Chung, Kenneth J. Waldron:
Force Distribution by Optimizing Friction Angles for Multifinger System. 717-722 - Nancy S. Pollard:
Planning Grasps for a Robot Hand in the Presence of Obstacles. 723-728
Control of Flexible Link Manipulations 2
- Frank L. Lewis, M. W. Vandegrift:
Flexible Robot Arm Control by a Feedback Linearization/Singular Perturbation Approach. 729-736 - Yannick Aoustin, Christine Chevallereau:
The Singular Perturbation Control of a Two-Flexible-Link Robot. 737-742 - Fengfeng Xi, A. G. Fenton:
A Sequential Integration Method for Inverse Dynamic Analysis of Flexible Link Manipulators. 743-748 - Declan Hughes, John T. Wen:
Passivity Motivated Controller Design for Flexible Structures. 749-754
Teleoperation
- Koichi Funaya, Nobuaki Takanasi:
Predictive Bilateral Master-Slave Manipulation with Statistical Environment Model. 755-760 - Won S. Kim:
Graphical Operator Interface for Space Telerobotics. 761-768 - Robert Rohling, John M. Hollerbach:
Optimlzed Fingertip Mapping for Teleoperation of Dextrous Robot Hands. 769-775 - C. Andrew Lawn, Blake Hannaford:
Performance Testing of Passive Communication and Control in Teleoperation with Time Delay. 776-783
Planning and Control Under Constraints
- David J. Cannon, Collin Wang:
A Virtual End-Effector Pointing System in Point-and-Direct Robotics for Inspection of Surface Flaws Using a Neural Network Based Skeleton Transform. 784-789 - Ole Jakob Sørdalen, Morten Dalsmo, Olav Egeland:
An Exponentially Convergent Control Law for a Nonholonomic Underwater Vehicle. 790-795 - Zvi Shiller, William Serate, Minh Hua:
Trajectory Planning of Tracked Vehicles. 796-801 - Ranjan Mukherjee, David P. Anderson:
Nonholonomic Motion Planning Using Stoke's Theorem. 802-809
Manufacturing Scheduling
- Luis Rabelo, Yuehwern Yih, Albert T. Jones, Jay-Shinn Tsai:
Intelligent Scheduling for Flexible Manufacturing Systems. 810-815 - Federico Della Croce, Roberto Tadei, Paolo Baracco, Raffaele Di Tullio:
On Minimizing the Weighted Sum Of Quadratic Completion Times on a Single Machine. 816-820 - Antonio Ramírez-Treviño, Javier Campos
On Optimal Scheduling in DEDS. 821-826 - Doo Yong Lee, Frank DiCesare:
Integrated Models for Scheduling Flexible Manufacturing Systems. 827-832
Multil-Agent and Distributed Robotic Systems 2
- Yoshio Kawauchi, Makoto Inaba, Toshio Fukuda:
A Principle of Distributed Decision Making of Celluar Robotic System (CEBOT). 833-838 - Toru Ishida:
Towards Organizational Problem Solving. 839-845 - Giovanni Lucarini, Marco Varoli, Riccardo Cerutti, Giulio Sandini:
Celluar Robotics: Simulation and HW Implementation. 846-852 - Jing Wang:
Establish a Globally Consistent Order of Discrete Events in Distributed Robotic Systems. 853-858
Robot Applications 2
- T. A. Lash, B. Ravani:
Path Planning for Robotic Applications in Roadway Crack Sealing. 859-866 - Jin-Oh Kim, Pradeep K. Khosla:
Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design. 867-874 - Samad Hayati, J. Bob Balaram, Homayoun Seraji, Won S. Kim, Kam S. Tso, K. Venkatesh Prasad:
Remote Surface Inspection System. 875-882 - K. Venkatesh Prasad, J. Bob Balaram:
Automated Inspection for Remote Telerobotic Operations. 883-888
Redundant Manipulators 4
- Dan Reznik, Vladimir J. Lumelsky:
Sensor-Based Motion Planning for Highly Redundant Kinematic Structures: II. The Case of a Snake Arm Manipulator. 889-894 - Manja V. Kircanski:
Symbolical Singular Value Decomposition for a 7-DOF Manipulator and Its Application to Robot Control. 895-900 - Philippe Wenger, Patrick Chedmail, Fabienne Reynier:
A Global Analysis of Following Trajectories by Redundant Manipulators in the Presence of Obstacles. 901-906 - C. Presse, Maxime Gautier:
New Criteria of Exciting Trajectories for Robot Indentification. 907-912
Juggling
- Stefan Schaal, Christopher G. Atkeson:
Open Loop Stable Control Strategies for Robot Juggling. 913-918 - Alfred A. Rizzi, Daniel E. Koditschek:
Further Progress in Robot Juggling: The Spatial Two-Juggle. 919-924 - Takeshi Sakaguchi, Masahiro Fujita, Hiroshi Watanabe, Fumio Miyazaki:
Motion Planning and Control for a Robot Performer. 925-931 - Giorgio C. Buttazzo, Benedetto Allotta, Felice P. Fanizza:
Mousebuster: A Robot System for Catching Fast Moving Objects by Vision. 932-937
Control Application for Robotic Systems
- D. Ben-Dov, Septimiu E. Salcudean:
A Force-Controlled Pneumatic Actuator for Use in Teleoperation Masters. 938-943 - Robert G. Bonitz, Tien C. Hsia:
Internal Force-Based Impedance Control for Cooperating Manipulators. 944-949 - Yoshimi Takeuchi, Dongfang Ge, Naoki Asakawa:
Automated Polishing Process with a Human-Like Dextrous Robot. 950-956 - Ridha Souissi, Antti J. Koivo:
Modelling and Control of Two Co-Operating Planar Cranes. 957-962
Grasping ad Manipulation
- Yu-Che Chen, Jeffrey C. Trinkle:
On the Form-Closure of Polygonal Objects with Frictional and Frictionless Contact Models. 963-970 - Gongliang Guo, William A. Gruver:
Optimal Distribution of Fingertip Force Functions in Dynamic Grasping. 971-977 - Nilanjan Sarkar, Xiaoping Yun, Vijay Kumar:
Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation. 978-983
Control of Flexible Joint Manipulators
- Jung-Hua Yang, Li-Chen Fu:
Analysis and Control for Manipulators with Both Joint and Link Flexibility. 984-989 - Leonardo Lanari
Stability Analysis for Feedforward Approximations in the Control of Flexible Joint Robots. 990-995 - Krzysztof P. Jankowski, Hoda A. ElMaraghy, Waguih H. ElMaraghy:
Inverse Dynamics Control of Multiple Robot Arms with Flexible Joints. 996-1003 - Zhihua Qu:
Globally Stable I/0 Robust Control of Flexible Joint Robots. 1004-1010
Poster Papers
- Minglun Fang, Limin Li, Tao Yu:
A Threshold Algorithm Based on the Local Information. 1012 - Gouli Wang, Guizhang Lu:
Integrated Structure/Trajectory-Tracking-Control Design of Flexible Robot Arms. 1013 - Tien C. Hsia, Ziqiang Mao:
Obstacle Avoidance Inverse Kinematics Solution of Redundant Manipulators by Neural Networks. 1014 - Nak Yong Ko, Bum Hee Lee:
Motion Planning of an Articulated Robot Manipulator Avoiding Time-Varying Obstacles. 1015 - Yongcheng Li, Bo Zhang, Xiuwen Liu:
A Robust Motion Planner for Assembly Robots. 1016 - Tarek M. Sobh
A Discrete Event Framework for Intelligent Inspection. 1017 - Yugeng Xi, Wenhong Zhu, Xianguang Han, Zhongjun Zhang:
Posture Analysis of the Cross-Country Autonomous Land Vehicle. 1018-1033
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