Ebook: Experimental Robotics VI

This book presents the proceedings of the 6th International Symposium on Experimental Robotics held in Sydney in March 1999. The editors and contributors represent the leading robotics research efforts from around the world. Micro-machines, interplanetary exploration, minimally invasive surgery and emerging humanoid robots are among the most obvious attainments of leading robotics research teams reported in this volume. Less obvious but equally significant are the fundamental advances in robot map-building and methods of communication between humans and machines that are demonstrated through experimental results. This collection of papers will provide the reader with a concise report on the current achievements and future trends in robotics research across the world.

---

This book presents the proceedings of the 6th International Symposium on Experimental Robotics held in Sydney in March 1999. The editors and contributors represent the leading robotics research efforts from around the world. Micro-machines, interplanetary exploration, minimally invasive surgery and emerging humanoid robots are among the most obvious attainments of leading robotics research teams reported in this volume. Less obvious but equally significant are the fundamental advances in robot map-building and methods of communication between humans and machines that are demonstrated through experimental results. This collection of papers will provide the reader with a concise report on the current achievements and future trends in robotics research across the world.

---

This book presents the proceedings of the 6th International Symposium on Experimental Robotics held in Sydney in March 1999. The editors and contributors represent the leading robotics research efforts from around the world. Micro-machines, interplanetary exploration, minimally invasive surgery and emerging humanoid robots are among the most obvious attainments of leading robotics research teams reported in this volume. Less obvious but equally significant are the fundamental advances in robot map-building and methods of communication between humans and machines that are demonstrated through experimental results. This collection of papers will provide the reader with a concise report on the current achievements and future trends in robotics research across the world.
Content:
Front Matter....Pages -
From insects to robots....Pages 3-12
Control and coordination of multiple mobile robots in manipulation and material handling tasks....Pages 15-24
Experiments in constrained prehensile manipulation: Distributed manipulation with ropes....Pages 25-36
Experiments with desktop mobile manipulators....Pages 37-46
Experimental approach on grasping and manipulating multiple objects....Pages 47-55
Preliminary results on the use of stereo, color cameras and laser sensors in antarctica....Pages 59-68
Sensors for the object detection in environments with high heat radiation and photoresist or diffuse visibility conditions....Pages 69-78
New techniques for 3D modeling ... ... and for doing without....Pages 79-88
A mobile robot navigation by means of range data from ultra wide angle laser sensor and simple linguistic behavior instructions....Pages 89-97
Explicit incorporation of 2D constraints in vision based control of robot manipulators....Pages 99-108
Experiments with medium-level intelligent force control....Pages 111-120
Coordinated manipulation under distributed impedance control....Pages 121-130
Experiments and factory application of force control and contour following over visco-elastic surface....Pages 131-138
Coordinated control of a nonholonomic mobile manipulator....Pages 139-149
Exploiting redundancy for autonomous calibration of a planar robot....Pages 151-160
Models for automated earthmoving....Pages 163-172
Robot control in maxillofacial surgery....Pages 173-182
Experiments and experiences in developing a large robot mining system....Pages 183-192
Slope display on a locomotion interface....Pages 193-201
Control of contact forces in wheeled and legged off-road vehicles....Pages 205-214
Control of a gyroscopically stabilized robot....Pages 215-224
Localization and map building for a mobile robot....Pages 225-234
Construction and modelling of a carangiform robotic fish....Pages 235-242
Can an underactuated leg with a passive spring at the knee achieve a ballistic step?....Pages 243-252
Navigation of a martian rover in very rough terrain....Pages 255-264
An experimental and theoretical investigation into simultaneous localisation and map building....Pages 265-274
Continuous probabilistic mapping by autonomous robots....Pages 275-286
Sensor influence in the performance of simultaneous mobile robot localization and map building....Pages 287-296
Experimental analysis of adaptive concurrent mapping and localization using sonar....Pages 297-306
Quasi real-time walking control of a bipedal humanoid robot based on walking pattern synthesis....Pages 309-318
Experimental validation of physics-based planning and control algorithms for planetary robotic rovers....Pages 319-328
Elastic strips: A framework for integrated planning and execution....Pages 329-338
RoverBug: Long range navigation for mars rovers....Pages 339-348
Human skill transfer using haptic virtual reality technology....Pages 351-360
Experiments with web-based telerobots....Pages 361-367
A review of robot world cup soccer research issues RoboCup: Today and tomorrow....Pages 369-378
A portable programming framework....Pages 379-389
ACME, a telerobotic active measurement facility....Pages 391-400
A new computational model of friction applied to haptic rendering....Pages 403-412
Macro-micro control to improve bilateral force-reflecting teleoperation....Pages 413-422
Haptic surface exploration....Pages 423-432
Force and vision feedback for robotic manipulation of the microworld....Pages 433-442
Experiments on the control of flexible-link manipulators carrying large payloads....Pages 445-454
Identification of joint elasticity of industrial robots....Pages 455-464
Modelling friction in multi-loop linkages....Pages 465-474
Implementation of dual-arm cooperative control by exploiting actuator back-drivability....Pages 475-484
Towards human friendly robots: Vision-based interfaces and safe mechanisms....Pages 487-498
Development of a humanoid H4 with soft and distributed tactile sensor skin....Pages 499-507
Development of the torso robot — Design of the new shoulder mechanism ‘cybernetic shoulder’....Pages 509-518
Combination of several vision sensors for interpretation of human actions....Pages 519-528
Back Matter....Pages -

---

This book presents the proceedings of the 6th International Symposium on Experimental Robotics held in Sydney in March 1999. The editors and contributors represent the leading robotics research efforts from around the world. Micro-machines, interplanetary exploration, minimally invasive surgery and emerging humanoid robots are among the most obvious attainments of leading robotics research teams reported in this volume. Less obvious but equally significant are the fundamental advances in robot map-building and methods of communication between humans and machines that are demonstrated through experimental results. This collection of papers will provide the reader with a concise report on the current achievements and future trends in robotics research across the world.
Content:
Front Matter....Pages -
From insects to robots....Pages 3-12
Control and coordination of multiple mobile robots in manipulation and material handling tasks....Pages 15-24
Experiments in constrained prehensile manipulation: Distributed manipulation with ropes....Pages 25-36
Experiments with desktop mobile manipulators....Pages 37-46
Experimental approach on grasping and manipulating multiple objects....Pages 47-55
Preliminary results on the use of stereo, color cameras and laser sensors in antarctica....Pages 59-68
Sensors for the object detection in environments with high heat radiation and photoresist or diffuse visibility conditions....Pages 69-78
New techniques for 3D modeling ... ... and for doing without....Pages 79-88
A mobile robot navigation by means of range data from ultra wide angle laser sensor and simple linguistic behavior instructions....Pages 89-97
Explicit incorporation of 2D constraints in vision based control of robot manipulators....Pages 99-108
Experiments with medium-level intelligent force control....Pages 111-120
Coordinated manipulation under distributed impedance control....Pages 121-130
Experiments and factory application of force control and contour following over visco-elastic surface....Pages 131-138
Coordinated control of a nonholonomic mobile manipulator....Pages 139-149
Exploiting redundancy for autonomous calibration of a planar robot....Pages 151-160
Models for automated earthmoving....Pages 163-172
Robot control in maxillofacial surgery....Pages 173-182
Experiments and experiences in developing a large robot mining system....Pages 183-192
Slope display on a locomotion interface....Pages 193-201
Control of contact forces in wheeled and legged off-road vehicles....Pages 205-214
Control of a gyroscopically stabilized robot....Pages 215-224
Localization and map building for a mobile robot....Pages 225-234
Construction and modelling of a carangiform robotic fish....Pages 235-242
Can an underactuated leg with a passive spring at the knee achieve a ballistic step?....Pages 243-252
Navigation of a martian rover in very rough terrain....Pages 255-264
An experimental and theoretical investigation into simultaneous localisation and map building....Pages 265-274
Continuous probabilistic mapping by autonomous robots....Pages 275-286
Sensor influence in the performance of simultaneous mobile robot localization and map building....Pages 287-296
Experimental analysis of adaptive concurrent mapping and localization using sonar....Pages 297-306
Quasi real-time walking control of a bipedal humanoid robot based on walking pattern synthesis....Pages 309-318
Experimental validation of physics-based planning and control algorithms for planetary robotic rovers....Pages 319-328
Elastic strips: A framework for integrated planning and execution....Pages 329-338
RoverBug: Long range navigation for mars rovers....Pages 339-348
Human skill transfer using haptic virtual reality technology....Pages 351-360
Experiments with web-based telerobots....Pages 361-367
A review of robot world cup soccer research issues RoboCup: Today and tomorrow....Pages 369-378
A portable programming framework....Pages 379-389
ACME, a telerobotic active measurement facility....Pages 391-400
A new computational model of friction applied to haptic rendering....Pages 403-412
Macro-micro control to improve bilateral force-reflecting teleoperation....Pages 413-422
Haptic surface exploration....Pages 423-432
Force and vision feedback for robotic manipulation of the microworld....Pages 433-442
Experiments on the control of flexible-link manipulators carrying large payloads....Pages 445-454
Identification of joint elasticity of industrial robots....Pages 455-464
Modelling friction in multi-loop linkages....Pages 465-474
Implementation of dual-arm cooperative control by exploiting actuator back-drivability....Pages 475-484
Towards human friendly robots: Vision-based interfaces and safe mechanisms....Pages 487-498
Development of a humanoid H4 with soft and distributed tactile sensor skin....Pages 499-507
Development of the torso robot — Design of the new shoulder mechanism ‘cybernetic shoulder’....Pages 509-518
Combination of several vision sensors for interpretation of human actions....Pages 519-528
Back Matter....Pages -
....