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, S. E. Salcudean, Claude Reboulet, Shahram Tafazoli, K. 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, H. F. Machiel Van der Loos, Larry J. Leifer: 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, Tamio Arai: 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
S. E. Salcudean, K. 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, H. S. 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
K. T. Woo, Li-Xin Wang, Frank L. Lewis, Z. X. 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, Duncan Marsh: 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, Chong-Won Lee: 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, B. H. Park, W. 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, G. 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 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 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, Kai-Tarng Yang, Fan-Chu Kung, York-Yin Sun: 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, Erkan Zergeroglu, Marcio S. de Queiroz, Darren M. Dawson: 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 K. Gupta, Shahram Payandeh: Determining Polygon Orientation using Model Based Force Interpretation. 544-549
Ruiquan Zhang, Kamal K. Gupta: Automatic Orienting of Polyhedra through Step Devices. 550-556
Srinivas Akella, Matthew T. Mason: Parts Orienting with Partial Sensor Information. 557-564
Srinivas Akella, Matthew T. Mason: 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, Angel P. Del Pobil, Miguel Pérez-Francisco: 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, Begoña Martínez-Salvador: 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, Nozomu Yokoyama, Naruyuki Tomori: 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, S. 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, Michael A. Erdmann: 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, Rajnikant V. Patel, Khashayar Khorasani: 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, Guido Appenzeller, Hideki Hashimoto: 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
Annis 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 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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