Ebook: Experimental Robotics: The 12th International Symposium on Experimental Robotics

The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research.

This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 12^th ISER held on December 18-21, 2010 in New Delhi and Agra, India.This present twelfth edition of Experimental Robotics edited by Oussama Khatib, Vijay Kumar and Gaurav Sukhatme offers in its eight-chapter volume a collection of a broad range of topics in field and human-centered robotics.

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The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research.

This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 12^th ISER held on December 18-21, 2010 in New Delhi and Agra, India.This present twelfth edition of Experimental Robotics edited by Oussama Khatib, Vijay Kumar and Gaurav Sukhatme offers in its eight-chapter volume a collection of a broad range of topics in field and human-centered robotics.

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The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research.

This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 12^th ISER held on December 18-21, 2010 in New Delhi and Agra, India.This present twelfth edition of Experimental Robotics edited by Oussama Khatib, Vijay Kumar and Gaurav Sukhatme offers in its eight-chapter volume a collection of a broad range of topics in field and human-centered robotics.

Content:
Front Matter....Pages 1-22
An Optimization-Based Estimation and Adaptive Control Approach for Human-Robot Cooperation....Pages 1-15
Motion-Language Association Model for Human-Robot Communication....Pages 17-30
Grounding Verbs of Motion in Natural Language Commands to Robots....Pages 31-47
Mightability: A Multi-state Visuo-spatial Reasoning for Human-Robot Interaction....Pages 49-63
Learning from Demonstration: A Study of Visual and Auditory Communication and Influence Diagrams....Pages 65-79
Reducing Uncertainty in Human-Robot Interaction: A Cost Analysis Approach....Pages 81-95
Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System....Pages 97-113
A Novel Discretely Actuated Steerable Probe for Percutaneous Procedures....Pages 115-123
Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System....Pages 125-136
Automotive Safety Solutions through Technology and Human-Factors Innovation....Pages 137-147
Controlling Closed-Chain Robots with Compliant SMA Actuators: Algorithms and Experiments....Pages 149-163
Automatic Self-calibration of a Full Field-of-View 3D n-Laser Scanner....Pages 165-178
Unsupervised Calibration for Multi-beam Lasers....Pages 179-193
A General Framework for Temporal Calibration of Multiple Proprioceptive and Exteroceptive Sensors....Pages 195-209
Calibrating a Multi-arm Multi-sensor Robot: A Bundle Adjustment Approach....Pages 211-225
Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation....Pages 227-240
Towards Reliable Grasping and Manipulation in Household Environments....Pages 241-252
Using Near-Field Stereo Vision for Robotic Grasping in Cluttered Environments....Pages 253-267
Aerial Grasping from a Helicopter UAV Platform....Pages 269-283
Manipulation Capabilities with Simple Hands....Pages 285-299
Interactive Perception of Articulated Objects....Pages 301-315
MiniMag: A Hemispherical Electromagnetic System for 5-DOF Wireless Micromanipulation....Pages 317-329
Interaction Force, Impedance and Trajectory Adaptation: By Humans, for Robots....Pages 331-345
Experiments with Motor Primitives in Table Tennis....Pages 347-359
Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors....Pages 361-373
Improved Stability of Running over Unknown Rough Terrain via Prescribed Energy Removal....Pages 375-388
On the Comparative Analysis of Locomotory Systems with Vertical Travel....Pages 389-399
Planning and Control of a Humanoid Robot for Navigation on Uneven Multi-scale Terrain....Pages 401-415
On-Line Mobile Robot Model Identification Using Integrated Perturbative Dynamics....Pages 417-431
Effects of Sensory Precision on Mobile Robot Localization and Mapping....Pages 433-446
Motion-Aided Network SLAM....Pages 447-460
A Bayesian Approach to Learning 3D Representations of Dynamic Environments....Pages 461-475
RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments....Pages 477-491
Vision-Based Reacquisition for Task-Level Control....Pages 493-507
Cost-Effective Mapping Using Unmanned Aerial Vehicles in Ecology Monitoring Applications....Pages 509-523
Mapping Complex Marine Environments with Autonomous Surface Craft....Pages 525-539
Simultaneous Tracking and Sampling of Dynamic Oceanographic Features with Autonomous Underwater Vehicles and Lagrangian Drifters....Pages 541-555
An Experimental Validation of Robotic Tactile Mapping in Harsh Environments such as Deep Sea Oil Well Sites....Pages 557-570
Delay and Dropout Tolerant State Estimation for MAVs....Pages 571-584
A Pipeline for the Segmentation and Classification of 3D Point Clouds....Pages 585-600
Smooth Coordination and Navigation for Multiple Differential-Drive Robots....Pages 601-613
Top-Down vs. Bottom-Up Model-Based Methodologies for Distributed Control: A Comparative Experimental Study....Pages 615-629
An Experimental Study of Time Scales and Stability in Networked Multi-Robot Systems....Pages 631-643
Mechanics of Continuum Robots with External Loading and General Tendon Routing....Pages 645-654
Estimation of Thruster Configurations for Reconfigurable Modular Underwater Robots....Pages 655-666
Characterization of Dynamic Behaviors in a Hexapod Robot....Pages 667-684
HangBot: A Ceiling Mobile Robot with Robust Locomotion under a Large Payload....Pages 685-694
FLIRT: Interest Regions for 2D Range Data with Applications to Robot Navigation....Pages 695-710
Perception Quality Evaluation with Visual and Infrared Cameras in Challenging Environmental Conditions....Pages 711-725
Multi-task Learning of Visual Odometry Estimators....Pages 727-742
Any-Com Multi-robot Path-Planning with Dynamic Teams: Multi-robot Coordination under Communication Constraints....Pages 743-757
Compliant Leg Shape, Reduced-Order Models and Dynamic Running....Pages 759-773
Towards Fully Autonomous Bacterial Microrobots....Pages 775-784
Closed-Loop Actuated Surgical System Utilizing Real-Time In-Situ MRI Guidance....Pages 785-798
Fabrication of Highly Articulated Miniature Snake Robot Structures Using In-Mold Assembly of Compliant Joints....Pages 799-809
Control of an Omnidirectional Walking Simulator....Pages 811-822
Control of Robotic Manipulators with Input-Output Delays: An Experimental Verification....Pages 823-837
Model-Based Control and Estimation of Humanoid Robots via Orthogonal Decomposition....Pages 839-854
Enhancement of Multi-user Teleoperation Systems by Prediction of Dyadic Haptic Interaction....Pages 855-869
The Reconfigurable Omnidirectional Articulated Mobile Robot (ROAMeR)....Pages 871-882
Practical Motion Planning in Unknown and Unpredictable Environments....Pages 883-897
Experiments in Vision-Laser Fusion Using the Bayesian Occupancy Filter....Pages 899-907
Towards Experimental Analysis of Challenge Scenarios in Robotics....Pages 909-921
Sensitivity of Task Space Performance to Null Space Control in Presence of Model Uncertainties....Pages 923-934
Back Matter....Pages 935-937