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ICRA 1998: Leuven, Belgium
- Proceedings of the IEEE International Conference on Robotics and Automation, ICRA-98, Leuven, Belgium, May 16-20, 1998. IEEE Computer Society 1998, ISBN 0-7803-4301-8
Motion Planning I
- Oliver Brock, Oussama Khatib:
Executing Motion Plans for Robots with Many Degrees of Freedom in Dynamic Environments. 1-6 - D. Um, B. Stankovich, K. Giles, T. Hammond, Vladimir J. Lumelsky:
A Modularized Sensitive Skin for Motion Planning in Uncertain Environments. 7-12 - Hun-ok Lim, Kazuhito Yokoi, Qiang Huang, Sang-Rok Oh
, Atsuo Takanishi, Kazuo Tanie:
Collision-Tolerant Control Algorithm for Mobile Manipulator with Viscoelastic Passive Trunk. 13-20 - Christopher Holleman, Lydia E. Kavraki, Joe D. Warren:
Planning Paths for a Flexible Surface Patch. 21-26
Car-Like Robots Planing and Control
- Thierry Fraichard, R. Mermond:
Path Planning with Uncertainty for Car-Like Robots. 27-32 - Jean-Paul Laumond, Carole Nissoux, Marilena Vendittelli
Obstacle Distances and Visibility for Car-Like Robots Moving Forward. 33-39 - Bogdan Kreczmer
Path Planning System for Car-Like Robot. 40-45 - Thierry Siméon, Stéphane Leroy, Jean-Paul Laumond:
A Collision Checker for Car-Like Robots Coordination. 46-51
VR Simulators
- Simon P. DiMaio, Septimiu E. Salcudean, Claude Reboulet, Shahram Tafazoli, Keyvan Hashtrudi-Zaad:
A Virtual Excavator for Controller Development and Evaluation. 52-58 - Dan O. Popa, Sunil K. Singh:
Creating Realistic Force Sensations in a Virtual Environment: Experimental System, Fundamental Issues and Results. 59-64 - Kevin Brady, Tzyh Jong Tarn:
Internet-Based Remote Teleoperation. 65-70 - Woon-Sung Lee, Jung Ha Kim, Jun-Hee Cho:
A Driving Simulator as a Virtual Reality Tool. 71-76
Service Robots
- Jun Ota
Adaptive Motion Generation with Exploring Behavior for Service Robots. 77-82 - A. Bicknell, G. Hardey:
Factory Automation Adapted for the Decommissioning of Nuclear Reprocessing Facilities. 83-88 - Chatchai Wattanasin, Yasumichi Aiyama, Daisuke Kurabayashi, Jun Ota
A Hybrid Technique to Supply Indoor Service Robots. 89-94
Redundant Manipulations
- Pasquale Chiacchio, Mariano Concilio:
The Dynamic Manipulability Ellipsoid for Redundant Manipulators. 95-100 - Miroslaw Galicki:
The Structure of Time-Optimal Controls for Kinematically Redundant Manipulators with End-Effector Path Constraints. 101-106 - Ki Cheol Park, Pyung Hun Chang, Seung Ho Kim:
The Enhanced Compact QP Method for Redundant Manipulators Using Practical Inequality Constraints. 107-114 - Luya Li, William A. Gruver, Qixian Zhang, Weihai Chen:
Real-Time Control of Redundant Robots Subject to Multiple Criteria. 115-120
Outdoor Applications
- Sanjiv Singh, Howard Cannon:
Multi-Resolution Planning for Earthmoving. 121-126 - Yves Gonthier, Evangelos Papadopoulos:
On the Development of a Real-Time Simulator for an Electro-hydraulic Forestry Machine. 127-132 - Septimiu E. Salcudean, Keyvan Hashtrudi-Zaad, Shahram Tafazoli, Simon P. DiMaio, Claude Reboulet:
Bilateral Matched Impedance Teleoperation with Application to Excavator Control. 133-139 - A. L. Kemurdjian:
Planet Rover as an Object of the Engineering Design Work. 140-145
Walking Machines
- Satoshi Kagami, Mitsutaka Kabasawa, Kei Okada, Takeshi Matsuki, Yoshio Matsumoto, Atsushi Konno, Masayuki Inaba, Hirochika Inoue:
Design and Development of a Legged Robot Research Platform JROB-1. 146-151 - W. C. Flannigan, Gabriel M. Nelson, Roger D. Quinn:
Locomotion Controller for a Crab-Like Robot. 152-156 - Gabriel M. Nelson, Roger D. Quinn:
Posture Control of a Cockroach-Like Robot. 157-162 - V. V. Zhoga:
Computation of Walking Robots Movement Energy Expenditure. 163-168
Friction and Backlash
- J. I. Song, Y. H. Choi, J. H. Shim, Dong-Soo Kwon, Hyung Suck Cho:
Nonlinear Friction Compensation Methods for an In-Parallel Actuated 6-DOF Manipulator. 169-174 - Woo Sok Chang, Kamal Youcef-Toumi
Modeling of an Omni-Directional High Precision Friction Drive Positioning Stage. 175-180 - Tim K. T. Woo, Li-Xin Wang, Frank L. Lewis, Zexiang Li:
A Fuzzy System Compensator for Backlash. 181-186 - Hermann Henrichfreise, Christian Witte:
Experimental Results with Observer-Based Nonlinear Compensation of Friction in a Positioning System. 187-193
Operation and Control
- Colin G. Johnson
A Robot Programming Environment Based on Free-Form CAD Modeling. 194-199 - P. Bizzantino, M. De Bartolomei, GianAntonio Magnani, Gianfranco Visentin:
Space Robot Autonomy Based on Distance Sensors. 200-205 - Young-Jo Cho, Jung Min Park, Jaehyun Park, Sang-Rok Oh
A Control Architecture to Achieve Manipulation Task Goals for a Humanoid Robot. 206-212 - Dragoljub Surdilovic:
Synthesis of Impedance Control Laws at Higher Control Levels: Algorithms and Experiments. 213-218
Assembly Planning
- R. Mantripragada, Daniel E. Whitney:
Modeling and Controlling Variation in Mechanical Assemblies using State Transition Models. 219-226 - S. H. Lee, T. H. Park, B. H. Lee, Wook Hyun Kwon, W. Kwon:
A Dynamic Programming Approach to a Reel Assignment Problem of a Surface Mounting Machine in Printed Circuit Board Assembly. 227-232 - Heiko Mosemann, Frank Röhrdanz, Friedrich M. Wahl:
Assembly Stability as a Constraint for Assembly Sequence Planning. 233-238 - S. K. Gupta, Christiaan J. J. Paredis, P. F. Brown:
Micro Planning for Mechanical Assembly Operations. 239-246
Design Tools and Environment
- Raj Subbu, Cem Hocaoglu, Arthur C. Sanderson:
A Virtual Design Environment using Evolutionary Agents. 247-253 - Tong Fang, Izzat Bakhadyrov, Mohsen A. Jafari, Gülgün Alpan
On-Line Detection of Defects in Layered Manufacturing. 254-259 - Saifallah Benjaafar:
Design of Manufacturing Plant Layouts with Queuing Effects. 260-265 - Lionel Lefort, T. Kesavadas:
Interactive Virtual Factory for Design of a Shopfloor Using Single Cluster Analysis. 266-271
Mars Rovers
- Clark F. Olson, Larry H. Matthies:
Maximum Likelihood Rover Localization by Matching Range Maps. 272-277 - Shane Farritor, Hervé Hacot, Steven Dubowsky:
Physics-Based Planning for Planetary Exploration. 278-283 - Paul G. Backes, Kam S. Tso, Gregory K. Tharp:
Mars Pathfinder Mission Internet-Based Operations Using WITS. 284-291 - Sharon L. Laubach, Joel W. Burdick, Larry H. Matthies:
An Autonomous Path Planner Implemented on the Rocky7 Prototype Microrover. 292-297
Virtual Manufacturing and Rapid Prototying
- Darwin G. Caldwell, C. Favede, Nikolaos G. Tsagarakis:
Dextrous Exploration of a Virtual World for Improved Prototyping. 298-303 - Ming-Hung Lin, Li-Chen Fu:
Systematic Creation and Application of Virtual Factory with Object Oriented Concept. 304-309 - Shuang Liu, Zhiyan Wang:
Concurrent Intelligent Rapid Prototyping System Framework. 310-313 - Zhiyan Wang, Xinlong Wang, Shuang Liu:
Research on Improving Rapid Prototyping. 314-317
Motion Planning II
- Cem Hocaoglu, Arthur C. Sanderson:
Evolutionary Path Planning Using Multi-Resolution Path Representation. 318-323 - Joe Pitt-Francis, Roy Featherstone:
Automatic Generation of Sphere Hierachies from CAD Data. 324-329 - Dominik Henrich, Christian Wurll, Heinz Wörn:
6 DOE Path Planning in Dynamic Environments: A Parallel On-Line Approach. 330-335 - K. Hamilton, G. Dodds:
Reactive Planning of Robot Arms in Single and Cooperative Tasks. 336-341
Mobile Robot Path Planning with SensorsI
- Keiji Nagatani, Howie Choset, Sebastian Thrun:
Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph. 342-348 - Rajko Mahkovic, Tomaz Slivnik:
Generalized Local Voronoi Diagram of Visible Region. 349-355 - L. Shmoulian, Elon Rimon
A*DFS: an Algorithm for Minimizing Search Effort in Sensor Based Mobile Robot Navigation. 356-362 - Nikos A. Vlassis, Panayotis Tsanakas:
A Sensory Uncertainty Field Model for Unknown and Non-Stationary Mobile Robot Environments. 363-368
Haptic Devices I
- Manuel Moreyra, Blake Hannaford:
A Practical Measure of Dynamic Response of Haptic Devices. 369-374 - Ali Nahvi, Donald D. Nelson, John M. Hollerbach, David E. Johnson:
Haptic Manipulation of Virtual Mechanisms from Mechanical CAD Designs. 375-380 - Roger A. Baumann, Reymond Clavel:
Haptic Interface for Virtual Reality Based Minimally Invasive Surgery Simulation. 381-386
Health Care and Welfare Technology
- Boo-Ho Yang, Sokwoo Rhee, Haruhiko Asada:
A Twenty-Four Hour Tele-Nursing System Using a Ring Sensor. 387-392 - Sandro Fioretti, Tommaso Leo, Sauro Longhi
Navigation Systems for Increasing the Autonomy and Security of Mobile Bases for Disabled People. 393-398 - Stephen A. Mascaro, H. Harry Asada:
Docking Control of Holonomic Omnidirectional Vehicles with Applications to a Hybrid Wheelchair/Bed System. 399-405 - Emerico Natonek:
Fast Range Image Segmentation for Servicing Robots. 406-411
Modular Robots
- Martin Nilsson
Why Snake Robots Need Torsion-Free Joints and How to Design Them. 412-417 - Gianluca Poi, Carol Scarabeo, Benedetto Allotta:
Traveling Wave Locomotion Hyper-Redundant Mobile Robot. 418-423 - Keith Kotay, Daniela Rus, Marsette Vona, Craig D. McGray:
The Self-Reconfiguring Robotic Molecule. 424-431 - Satoshi Murata, Haruhisa Kurokawa, Eiichi Yoshida, Kohji Tomita, Shigeru Kokaji:
A 3-D Self-Reconfigurable Structure. 432-439
Underwater Robots
- Paul M. Newman, Hugh F. Durrant-Whyte:
Using Sonar in Terrain-Aided Underwater Navigation. 440-445 - Naomi Kato, Tadahiko Inaba:
Guidance and Control of Fish Robot with Apparatus of Pectoral Fin Motion. 446-451 - Carlos Canudas de Wit, Ernesto Olguín Díaz, Michel Perrier:
Robust Nonlinear Control of an Underwater Vehicle/Manipulator System with Composite Dynamics. 452-457 - Keisuke Watanabe, Hideyuki Suzuki, Qi Tao, Koichiro Yoshida:
Basic Research on Underwater Docking of Elexible Structures. 458-463
Control of Multilegged Robots
- Scott McMillan, David E. Orin:
Forward Dynamics of Multilegged Vehicles using the Composite Rigid Body Method. 464-470 - Jeng-Shi Chen, Fan-Tien Cheng
Solving the Optimal Force Distribution Problem in Multilegged Vehicles. 471-476 - Duane W. Marhefka, David E. Orin:
Quadratic Optimization of Force Distribution in Walking Machines. 477-483 - Bill Goodwine, Joel W. Burdick:
Gait Controllability for Legged Robots. 484-489
Elastic-Joint Manipulators
- Jing-Xin Shi, Alin Albu-Schäffer, Gerd Hirzinger:
Key Issues in the Dynamic Control of Lightweight Robots for Space and Terrestrial Applications. 490-497 - Warren E. Dixon
Global Output Feedback Tracking Control for Rigid-Link Flexible-Joint Robots. 498-503 - Alessandro De Luca, Pasquale Lucibello:
A General Algorithm for Dynamic Feedback Linearization of Robots with Elastic Joints. 504-510 - C. J. B. Macnab, Gabriele M. T. D'Eleuterio:
Stable, On-Line Learning using CMACs for Neuroadaptive Tracking Control of Flexible-Joint Manipulators. 511-517
Robot Programming
- Jason Chen, Brenan J. McCarragher:
Robot Programming by Demonstration-Selecting Optimal Event Paths. 518-523 - Juan A. Fernandez, Javier Gonzalez:
NEXUS: A Flexible, Efficient Robust Framework for Integrating Software Components of a Robotic System. 524-529 - Masayuki Tsuda, Hiroyuki Ogata, Yoshito Nanjo:
Programming Groups of Local Models from Human Demonstration to Create a Model for Robotic Assembly. 530-537 - Holger Friedrich, J. Holle, Rüdiger Dillmann:
Interactive Generation of Flexible Robot Programs. 538-543
Parts Orientation
- Shawn Rusaw, Kamal Gupta, Shahram Payandeh:
Determining Polygon Orientation using Model Based Force Interpretation. 544-549 - Ruiquan Zhang, Kamal Gupta:
Automatic Orienting of Polyhedra through Step Devices. 550-556 - Srinivas Akella
Parts Orienting with Partial Sensor Information. 557-564 - Srinivas Akella
Parts Orienting with Shape Uncertainty. 565-572
Shop Floor Flexible Automation
- Spyros A. Reveliotis:
Accommodating FMS Operational Contingencies through Routing Flexibility. 573-579 - P. Kumar, K. Kothandaraman, P. Ferreira:
Scalable and Maximally-Permissive Deadlock Avoidance for FMS. 580-585 - Jeffrey S. Smith, Brett A. Peters:
Simulation as a Decision-Making Tool for Real-time Control of Flexible Manufacturing Systems. 586-590 - Mark A. Lawley:
Flexible Routing and Deadlock Avoidance in Automated Manufacturing Systems. 591-596
Planetary Rovers
- Deepak Bapna, Eric Rollins, John Murphy, Mark W. Maimone, William Whittaker, David Wettergreen
The Atacama Desert Trek: Outcomes. 597-604 - Malik Ghallab, J. Gout:
A Task Planner for the Computer-Aided Design of a Space-Lander Robot. 605-610 - Eric Rollins, Jonathan E. Luntz, Alex Foessel, Benjamin Shamah, William Whittaker:
NOMAD: A Demonstration of the Transforming Chassis. 611-617 - Liam Pedersen:
Robotic Deployment of Electro-Magnetic Sensors for Meteorite Search. 618-623
Path Planning I
- Begoña Martínez-Salvador
Very Fast Collision Detection for Practical Motion Planning. Part I: The Spatial Representation. 624-629 - Nancy M. Amato, O. Burçhan Bayazit, Lucia K. Dale, Christopher Jones, Daniel Vallejo:
Choosing Good Distance Metrics and Local Planners for Probabilistic Roadmap Methods. 630-637 - Hong Zhang, Vijay Kumar, James P. Ostrowski:
Motion Planning with Uncertainty. 638-643 - Miguel Pérez-Francisco, Angel P. del Pobil
Very Fast Collision Detection for Practical Motion Planning. Part II: The Parallel Algorithm. 644-649
Mobile Robot Path Planning with Sensors II
- Alex Yahja, Anthony Stentz, Sanjiv Singh, Barry Brumitt:
Framed-Quadtree Path Planning for Mobile Robots Operating in Sparse Environments. 650-655 - Juan A. Fernandez, Javier Gonzalez:
Hierarchical Graph Search for Mobile Robot Path Planning. 656-661 - Eckhard Kruse, Friedrich M. Wahl:
Camera-based Observation of Obstacle Motions to Derive Statistical Data for Mobile Robot Motion Planning. 662-667 - Koren Ward, Alexander Zelinsky:
Acquiring Mobile Robot Behaviors by Learning Trajectory Velocities with Multiple FAM Matrices. 668-673
Tactile and Haptic Interfaces
- Allison M. Okamura, Stanford Dennerlein, Robert D. Howe:
Vibration Feedback Models for Virtual Environments. 674-679 - Hiroyuki Shinoda
Tactile Feeling Display Based on Selective Stimulation to Skin Mechanoreceptors. 680-686 - Han-Pang Huang, Ya-Fu Wei:
Control of Dexterous Hand Master with Force Feedback. 687-692 - Jing-Long Wu, Hideto Sasaki, Sadao Kawamura:
A Tactile Display Using Human Characteristic of Sensory Fusion. 693-698
Medical Robotics
- Terence J. Gilhuly, Septimiu E. Salcudean, K. Ashe, Samuel Victor Lichtenstein, Peter D. Lawrence:
Stabilizer and Surgical Arm Design for Cardiac Surgery. 699-704 - Vassilis G. Kaburlasos, Vassilios Petridis, Peter N. Brett, Dave A. Baker:
Learning a Linear Association of Drilling Profiles in Stapedotomy Surgery. 705-710 - Valentina Colla, Benedetto Allotta:
Wavelet-Based Control of Penetration in a Mechatronic Drill for Orthopaedic Surgery. 711-716 - Peter Aigner, Brenan J. McCarragher:
Shared Control Framework Applied to a Robotic Aid for the Blind. 717-722
Nonlinear Mechanical Systems
- Yan-Bin Jia
Observing Pose and Motion Through Contact. 723-729 - Li Han, Jeffrey C. Trinkle:
Dextrous Manipulation by Rolling and Finger Gaiting. 730-735 - Nadeem Faiz, Sunil Kumar Agrawal:
Optimal Planning of an Under-Actuated Planar Body Using Higher-Order Method. 736-741 - Gregory S. Chirikjian, Imme Ebert-Uphoff
Discretely Actuated Manipulator Workspace Generation using Numerical Convolution on the Euclidean Group. 742-749
Control of Underwater Vehicles
- Wonchang Lee, Geuntaek Kang:
A Fuzzy Model-Based Controller of an Underwater Robotic Vehicle Under the Influence of Thruster Dynamics. 750-755 - Kazuo Ishii, Teruo Fujii, Tamaki Ura:
Neural Network System for On-line Controller Adaptation and its Application to Underwater Robot. 756-761 - Timothy W. McLain, Randal W. Beard:
Successive Galerkin Approximations to the Nonlinear Optimal Control of an Underwater Robotic Vehicle. 762-767 - Gianluca Antonelli, Stefano Chiaverini
Task-Priority Redundancy Resolution for Underwater Vehicle-Manipulator Systems. 768-773
Special Mobile Mechansms and Control
- Masayoshi Wada, Haruhiko Asada:
A Holonomic Omnidirectional Vehicle with a Reconfigurable Footprint Mechanism and Its Application to Wheelchairs. 774-780 - Ben Brown, Garth Zeglin:
The Bow Leg Hopping Robot. 781-786 - Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek:
Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot. 787-792 - Ben Brown, Garth Zeglin:
Control of a Bow Leg Hopping Robot. 793-798
Flexible Link Manipulators I
- Alessandro De Luca, Stefano Panzieri, Giovanni Ulivi:
Stable Inversion Control for Flexible Link Manipulators. 799-805 - Heidar A. Talebi
Inverse Dynamics Control of Flexible-Link Manipulators using Neural Networks. 806-811 - Bumjin Song, Antti J. Koivo:
Neural Network Model Based Control of a Flexible Link Manipulator. 812-817 - I-Ching Lin, Li-Chen Fu:
Adaptive Hybrid Force/Position Control of a Flexible Manipulator for Automated Deburring with On-line Cutting Trajectory Modification. 818-825
Programming and Control
- Kungchul Kang, Munsang Kim, Chong-Won Lee, Kyo-Il Lee:
A Target Approachable Force-Guided Control for Complex Assembly. 826-831 - Alfred A. Rizzi:
Hybrid Control as a Method for Robot Motion Programming. 832-837 - Joo-Ho Lee
Physical Agent for Sensored Networked and Thinking Space. 838-843 - Christopher Lee, Yangsheng Xu:
Message-Based Evaluation for High-Level Robot Control. 844-849
Part Pushing/Feeding
- S. Su, I. Uzmay:
Dynamic Model for High-Speed Pushing as a Manipulator Operation. 850-855 - Murilo G. Coutinho, Peter M. Will:
A General Theory for Positioning and Orienting 2D Polygonal or Curved Parts using Intelligent Motion Surfaces. 856-862 - Andon Salvarinov, Shahram Payandeh:
Flexible Part Feeder: Manipulating Parts on Conveyer Belt by Active Fence. 863-868 - Dan Reznik, John F. Canny:
The Coulomb Pump: a Novel Parts Feeding Method Using a Horizontally-Vibrating Surface. 869-874
Modelling, Planning and Inspecting in Industrial Plants
- Jason P. Luck, Charles Q. Little, Randy S. Roberts:
A Human Supervisory Approach to Modeling Industrial Scenes Using Geometric Primitives. 875-880 - Moëz Cherif, Marc Vidal:
Planning Handling Operations in Changing Industrial Plants. 881-886 - Anis Limaiem, Hoda A. ElMaraghy:
Automatic Path Planning for Coordinate Measuring Machines. 887-892 - Yueh-Jaw Lin, Prabakar Murugappan:
A New Algorithm for CAD-directed CMM Dimensional Inspection. 893-898
Space Robots
- Homayoun Seraji, Robert D. Steele:
Nonlinear Contact Control for Space Station Dexterous Arms. 899-906 - Hiroaki Hirai, Yasuhiro Masutani, Fumio Miyazaki:
Motion Estimation of an Unknown Rigid Body Rotating Freely in Zero Gravity Based on Complex Spectrum of Position of a Point on the Body. 907-912 - Dragomir N. Nenchev, Kazuya Yoshida
Impact Analysis and Post-Impact Motion Control Issues of a Free-Floating Space Robot Contacting a Tumbling Object. 913-919 - Masahiro Nohmi, Dragomir N. Nenchev, Masaru Uchiyama:
Momentum Control of a Tethered Space Robot through Tether Tension Control. 920-925
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