The Community for Technology Leaders
Intelligent Robots and Systems, IEEE/RSJ International Conference on (1995)
Pittsburgh, Pennsylvania, USA
Aug. 5, 1995 to Aug. 9, 1995
ISBN: 0-8186-7108-4
TABLE OF CONTENTS
Session MA1-1: Programming by Human Demonstration

Automatic learning of assembly tasks using a DataGlove system (Abstract)

A.C. Kak , Robot Vision Lab., Purdue Univ., West Lafayette, IN, USA
C.P. Tung , Robot Vision Lab., Purdue Univ., West Lafayette, IN, USA
pp. 1

Assembly motion teaching system using position/force simulator - extracting a sequence of contact state transition (Abstract)

K. Takase , Electrotech. Lab., Ibaraki, Japan
H. Onda , Electrotech. Lab., Ibaraki, Japan
H. Hirukawa , Electrotech. Lab., Ibaraki, Japan
pp. 9

Modelling planar assembly tasks: representation and recognition (Abstract)

G.V. Paul , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
K. Ikeuchi , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 17

Automatic generation of robot program codes from perception of human demonstration (Abstract)

K.P. Liu , Dept. of Manuf. Eng., City Univ. of Hong Kong, Hong Kong
S.K. Tso , Dept. of Manuf. Eng., City Univ. of Hong Kong, Hong Kong
pp. 23
Session MA1-2: Mobile Robots Navigation I

Trajectory generation for obstacle avoidance of uncalibrated stereo visual servoing without 3D reconstruction (Abstract)

K. Sakamoto , Fac. of Eng., Osaka Univ., Japan
M. Asada , Fac. of Eng., Osaka Univ., Japan
K. Hosoda , Fac. of Eng., Osaka Univ., Japan
pp. 29

ELVIS: Eigenvectors for Land Vehicle Image System (Abstract)

C. Thorpe , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
J. Hancock , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 35

Detecting and diagnosing navigational mistakes (Abstract)

E.R. Stuck , Inst. for Inf. Technol., Nat. Res. Council of Canada, Ottawa, Ont., Canada
pp. 41

Toward selecting and recognizing natural landmarks (Abstract)

E. Yeh , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
D.J. Kriegman , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 47
Session MA1-3: Multi-Arm Control

Cooperative control of dual-arm robots for reasonable motion distribution (Abstract)

H. Hanafusa , Dept. of Comput. Sci. & Syst. Eng., Ritsumeikan Univ., Shiga, Japan
K. Watanabe , Dept. of Comput. Sci. & Syst. Eng., Ritsumeikan Univ., Shiga, Japan
K. Nagai , Dept. of Comput. Sci. & Syst. Eng., Ritsumeikan Univ., Shiga, Japan
S. Iwasa , Dept. of Comput. Sci. & Syst. Eng., Ritsumeikan Univ., Shiga, Japan
pp. 54

Controlling the contact compliance via internal forces on objects held by dual-arm robots (Abstract)

M.A. Adli , RIKEN, Inst. of Phys. & Chem. Res., Nagoya, Japan
K. Ito , RIKEN, Inst. of Phys. & Chem. Res., Nagoya, Japan
H. Hanafusa , RIKEN, Inst. of Phys. & Chem. Res., Nagoya, Japan
pp. 62

Two-arm manipulation: what can we learn by studying humans? (Abstract)

E. Henis , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
J. Desai , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
V. Kumar , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
M. Zefran , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 70

Decentralized control of robots for dynamic coordination (Abstract)

K. Kosuge , Tohoku Univ., Sendai, Japan
M. Sakai , Tohoku Univ., Sendai, Japan
T. Fukuda , Tohoku Univ., Sendai, Japan
D. Taguchi , Tohoku Univ., Sendai, Japan
K. Kanitani , Tohoku Univ., Sendai, Japan
pp. 76
Session MA1-4: Active Sensing

Architecture for vision-based purposive behaviors (Abstract)

Y. Kuniyoshi , Intelligent Syst. Div., Electrotech. Lab., Ibaraki, Japan
J. Riekki , Intelligent Syst. Div., Electrotech. Lab., Ibaraki, Japan
pp. 82

Object classification from analysis of impact acoustics (Abstract)

E.P. Krotkov , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
R.S. Durst , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 90

Real time active visual reconstruction using the synchronous paradigm (Abstract)

E. Rutten , Rennes I Univ., France
F. Chaumette , Rennes I Univ., France
E. Marchand , Rennes I Univ., France
pp. 96

3-D object modeling and recognition for telerobotic manipulation (Abstract)

J. Osborn , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
M. Hebert , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
R. Hoffman , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
P. Leger , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
A. Johnson , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 103
Session MA2-1: Human Interface

Development of a virtual sports machine using a wire drive system-a trial of virtual tennis (Abstract)

T. Wada , Ritsumeikan Univ., Shiga, Japan
M. Ida , Ritsumeikan Univ., Shiga, Japan
Jing-Long Wu , Ritsumeikan Univ., Shiga, Japan
S. Kawamura , Ritsumeikan Univ., Shiga, Japan
pp. 111

Interacting with virtual environments using a magnetic levitation haptic interface (Abstract)

R.L. Hollis , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
S.E. Salcudean , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
P.J. Berkelman , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 117

Human-robot cooperation for automated viewing during teleoperation (Abstract)

P.S. Schenker , Dept. of Comput. Sci., Reading Univ., UK
G.T. McKee , Dept. of Comput. Sci., Reading Univ., UK
pp. 124
Session MA2-2: Mobile Robots Navigation II

Non-stop outdoor navigation of a mobile robot-retroactive positioning data fusion with a time consuming sensor system (Abstract)

A. Ohya , Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
S. Yuta , Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
S. Maeyama , Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
pp. 130

Combining multiple goals in a behavior-based architecture (Abstract)

C.E. Thorpe , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
J.K. Rosenblatt , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 136

A navigation system based upon panoramic representation (Abstract)

S. Tsuji , Fac. of Inf. Sci., Hiroshima City Univ., Japan
S. Nagata , Fac. of Inf. Sci., Hiroshima City Univ., Japan
Shigang Li , Fac. of Inf. Sci., Hiroshima City Univ., Japan
pp. 142

Sonar feature based exploration (Abstract)

R. Bauer , Corp. Res. & Dev., Siemens AG, Munich, Germany
W.D. Rencken , Corp. Res. & Dev., Siemens AG, Munich, Germany
pp. 148
Session MA2-3: Advanced Control

Nonlinear control of robot manipulators using adaptive fuzzy sliding mode control (Abstract)

Li-Chen Fu , Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Feng-Yih Hsu , Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
pp. 156

Neural adaptive control of excavators (Abstract)

A.J. Koivo , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
Bumjin Song , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 162
Session MA2-4: Visual Tracking I

Trajectory teaching and tracking control by a sequence of image feature points (Abstract)

K. Tanaka , NTT Human Interface Labs., Japan
N. Mukawa , NTT Human Interface Labs., Japan
M. Sano , NTT Human Interface Labs., Japan
K. Endo , NTT Human Interface Labs., Japan
pp. 168

Adaptive tracking and model registration across distinct aspects (Abstract)

J. Lim , Comput. Vision Res. Lab., Massachusetts Univ., Amherst, MA, USA
S. Ravela , Comput. Vision Res. Lab., Massachusetts Univ., Amherst, MA, USA
B. Draper , Comput. Vision Res. Lab., Massachusetts Univ., Amherst, MA, USA
R. Weiss , Comput. Vision Res. Lab., Massachusetts Univ., Amherst, MA, USA
pp. 174

Compensation of abrupt motion changes in target tracking by visual servoing (Abstract)

F. Chaumette , IRISA, Rennes, France
F. Bensalah , IRISA, Rennes, France
pp. 181

Prototype of a vision-based gaze-driven man-machine interface (Abstract)

P. Dario , ARTS Lab., Scuola Superiore Sant'Anna, Pisa, Italy
S. Andronico , ARTS Lab., Scuola Superiore Sant'Anna, Pisa, Italy
C. Colombo , ARTS Lab., Scuola Superiore Sant'Anna, Pisa, Italy
pp. 188
Session MP1-1: Human-Robot Interaction and Cooperative Robots

Motion planning for hand-over between human and robot (Abstract)

H. Inooka , Dept. of Mech. Aeronaut. Eng., Tohoku Univ., Sendai, Japan
S. Kajikawa , Dept. of Mech. Aeronaut. Eng., Tohoku Univ., Sendai, Japan
T. Okino , Dept. of Mech. Aeronaut. Eng., Tohoku Univ., Sendai, Japan
K. Ohba , Dept. of Mech. Aeronaut. Eng., Tohoku Univ., Sendai, Japan
pp. 193

Cooperative material handling by human and robotic agents: module development and system synthesis (Abstract)

M. Mintz , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
R. Paul , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
X. Yun , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
J.A. Adams , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
Y. Yamamoto , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
V. Kumar , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
R. Bajcsy , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
J. Kosecka , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
R. Mandelbaum , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
C. Wang , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 200

Cooperation between the human operator and the multi-agent robotic system: evaluation of agent monitoring methods for the human interface system (Abstract)

H. Kaetsu , Graduate Sch. of Sci. & Eng., Saitama Univ., Urawa, Japan
I. Endo , Graduate Sch. of Sci. & Eng., Saitama Univ., Urawa, Japan
H. Asama , Graduate Sch. of Sci. & Eng., Saitama Univ., Urawa, Japan
T. Suzuki , Graduate Sch. of Sci. & Eng., Saitama Univ., Urawa, Japan
K. Yokota , Graduate Sch. of Sci. & Eng., Saitama Univ., Urawa, Japan
pp. 206

The effect of action recognition and robot awareness in cooperative robotic teams (Abstract)

L.E. Parker , Center for Eng. Syst. Adv. Res., Oak Ridge Nat. Lab., TN, USA
pp. 212

An infra-red sensory system with local communication for cooperative multiple mobile robots (Abstract)

H. Asama , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
T. Fujita , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
S. Kotosaka , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
A. Uegaki , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
H. Kaetsu , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
I. Endo , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
S. Suzuki , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
A. Matsumoto , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
pp. 220

Cooperative mobile robotics: antecedents and directions (Abstract)

A.B. Kahng , Dept. of Comput. Sci., California Univ., Los Angeles, CA, USA
Y.U. Cao , Dept. of Comput. Sci., California Univ., Los Angeles, CA, USA
F. Meng , Dept. of Comput. Sci., California Univ., Los Angeles, CA, USA
A.S. Fukunaga , Dept. of Comput. Sci., California Univ., Los Angeles, CA, USA
pp. 226

Moving furniture with teams of autonomous robots (Abstract)

D. Rus , Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
B. Donald , Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
J. Jennings , Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
pp. 235
Session MP1-2: Mobile Robots Navigation III

AURORA: a vision-based roadway departure warning system (Abstract)

Mei Chen , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
D. Pomerleau , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Jochem , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 243

Planar projection stereopsis method for road extraction (Abstract)

M. Watanabe , Kansai Res. Labs., Toshiba Corp., Osaka, Japan
K. Onoguchi , Kansai Res. Labs., Toshiba Corp., Osaka, Japan
N. Takeda , Kansai Res. Labs., Toshiba Corp., Osaka, Japan
pp. 249

Mobile robot localization by remote viewing of a colored cylinder (Abstract)

T. Litwin , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
R. Volpe , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
L. Matthies , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 257

Detecting driveable floor regions (Abstract)

P. Jasiobedzki , Dept. of Comput. Sci., Toronto Univ., Ont., Canada
pp. 264

Position estimation for mobile robot using sensor fusion (Abstract)

H. Hashimoto , Inst. of Ind. Sci., Tokyo Univ., Japan
Daehee Kang , Inst. of Ind. Sci., Tokyo Univ., Japan
F. Harashima , Inst. of Ind. Sci., Tokyo Univ., Japan
pp. 271

Implementation of real time spatial mapping in robotic systems through self-organizing neural networks (Abstract)

V. Morellas , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
J. Minners , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
M. Donath , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 277

Space occupancy using multiple shadowimages (Abstract)

M.S. Langer , Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
S.W. Zucker , Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
G. Dudek , Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 285
Session MP1-3: Force and Impact Control

A theoretical analysis of dynamic interactions between systems (Abstract)

S. Hosogi , Fujitsu Labs. Ltd., Shizuoka, Japan
K. Takayama , Fujitsu Labs. Ltd., Shizuoka, Japan
H. Kano , Fujitsu Labs. Ltd., Shizuoka, Japan
pp. 291

Robust jump impact controller for manipulators (Abstract)

S. Lee , Dept. of EE-Systems & CS, Univ. of Southern California, Los Angeles, CA, USA
D. Chiu , Dept. of EE-Systems & CS, Univ. of Southern California, Los Angeles, CA, USA
pp. 299

System structure and description for tool manipulation (Abstract)

M. Mizukawa , Autonomous Robot Syst. Lab., NTT Human Interface Labs., Tokyo, Japan
Y. Kubota , Autonomous Robot Syst. Lab., NTT Human Interface Labs., Tokyo, Japan
E. Mitsuya , Autonomous Robot Syst. Lab., NTT Human Interface Labs., Tokyo, Japan
S. Matsuo , Autonomous Robot Syst. Lab., NTT Human Interface Labs., Tokyo, Japan
K. Shimokura , Autonomous Robot Syst. Lab., NTT Human Interface Labs., Tokyo, Japan
pp. 305

Tuned dither for friction suppression during force-guided robotic assembly (Abstract)

S.L. Ipri , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
H. Asada , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 310

Hybrid force/position robot control using an adaptive fuzzy control method (Abstract)

Dong Min Woo , Dept. of Control & Instrum. Eng., Soonchunhyang Univ., Chungnam, South Korea
Mignon Park , Dept. of Control & Instrum. Eng., Soonchunhyang Univ., Chungnam, South Korea
Heung Sik Noh , Dept. of Control & Instrum. Eng., Soonchunhyang Univ., Chungnam, South Korea
Seung Woo Kim , Dept. of Control & Instrum. Eng., Soonchunhyang Univ., Chungnam, South Korea
pp. 316

A stiffness control of a manipulator using a fuzzy model (Abstract)

Cheol Kwon , Dept. of Electron. Eng., Yonsei Univ., Seoul, South Korea
Moon Ju Kim , Dept. of Electron. Eng., Yonsei Univ., Seoul, South Korea
Mignon Park , Dept. of Electron. Eng., Yonsei Univ., Seoul, South Korea
Min Kee Park , Dept. of Electron. Eng., Yonsei Univ., Seoul, South Korea
pp. 322
Session MP1-4: Visual Tracking II

Grasping of static and moving objects using a vision-based control approach (Abstract)

N.P. Papanikolopoulos , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
C.E. Smith , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
pp. 329

Comparison of kinematic and visual servoing for fixation (Abstract)

J.L. Crowley , LIFIA/IMAG, Grenoble, France
F. Chaumette , LIFIA/IMAG, Grenoble, France
M. Mesrabi , LIFIA/IMAG, Grenoble, France
pp. 335

A Kalman filter based visual tracking algorithm for an object moving in 3D (Abstract)

Mun Sang Kim , Dept. of Autom. & Design Eng., Korea Adv. Energy Res. Inst., Seoul, South Korea
Joon Woong Lee , Dept. of Autom. & Design Eng., Korea Adv. Energy Res. Inst., Seoul, South Korea
In So Kweon , Dept. of Autom. & Design Eng., Korea Adv. Energy Res. Inst., Seoul, South Korea
pp. 342

A "robust" convergent visual servoing system (Abstract)

G.D. Hager , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
D. Kim , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
A.A. Rizzi , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
D.E. Zoditschek , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
pp. 348

Keeping your eye on the ball: tracking occluding contours of unfamiliar objects without distraction (Abstract)

K. Toyama , Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
G.D. Hager , Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
pp. 354

A color projection for fast generic target tracking (Abstract)

J. Crisman , Dept. of Electr. & Comput. Eng., Northeastern Univ., Boston, MA, USA
Yue Du , Dept. of Electr. & Comput. Eng., Northeastern Univ., Boston, MA, USA
pp. 360

Utilizing human vision and computer vision to direct a robot in a semi-structured environment via task-level commands (Abstract)

R.H. Cannon, Jr. , Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA
E.S. Miles , Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA
pp. 366
Session MP2-1: Actuators and Mechanisms

Control of rapid closing motion of a robot jaw using nonlinear spring mechanism (Abstract)

N. Kuchiki , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
A. Takanishi , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
H. Takanobu , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
pp. 372

Adaptive position control of antagonistic pneumatic muscle actuators (Abstract)

G.A. Medrano-Cerda , Dept. of Electron. & Electr. Eng., Salford Univ., UK
C.J. Bowler , Dept. of Electron. & Electr. Eng., Salford Univ., UK
D.G. Caldwell , Dept. of Electron. & Electr. Eng., Salford Univ., UK
pp. 378

Experimental validation of compliance models for LADD transmission kinematics (Abstract)

G. Mennitto , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
M. Buehler , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
pp. 385

Parallel coupled actuators for high performance force control: a micro-macro concept (Abstract)

J.K. Salisbury , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
J.B. Morrell , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 391

Series elastic actuators (Abstract)

G.A. Pratt , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
M.M. Williamson , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 399

Development of one-DOF robot arm equipped with mechanical impedance adjuster (Abstract)

T. Morita , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
S. Sugano , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
pp. 407
Session MP2-2: Mobile Robots Navigation IV

Multi-level navigation using active localization system (Abstract)

R. Zaccaria , Genoa Univ., Italy
F. Giuffrida , Genoa Univ., Italy
C. Massucco , Genoa Univ., Italy
G. Vercelli , Genoa Univ., Italy
P. Morasso , Genoa Univ., Italy
pp. 413

The Pemex-B autonomous demining robot: perception and navigation strategies (Abstract)

J.D. Nicoud , LAMI-EPFL, Swiss Federal Inst. of Technol., Lausanne, Switzerland
M.K. Habib , LAMI-EPFL, Swiss Federal Inst. of Technol., Lausanne, Switzerland
pp. 419

A complete navigation system for goal acquisition in unknown environments (Abstract)

M. Hebert , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
A. Stentz , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 425

Mars microrover navigation: performance evaluation and enhancement (Abstract)

R. Volpe , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
R. Harrison , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
L. Matthies , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
B. Wilcox , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
E. Gat , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
T. Litwin , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 433

Experience with rover navigation for lunar-like terrains (Abstract)

F. Cozman , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
R. Simmons , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
L. Chrisman , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Y. Shinoda , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
G. Krishnaswamy , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
M. Hebert , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
L. Katragadda , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
E. Krotkov , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
W. Whittaker , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
P. Klarer , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
R. Goodwin , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
S. Koenig , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 441

A locomotion performance learning of the mobile robot (Abstract)

H. Mori , Dept. of Electr. Eng. & Comput. Sci., Yamanashi Univ., Kofu, Japan
K. Nishikawa , Dept. of Electr. Eng. & Comput. Sci., Yamanashi Univ., Kofu, Japan
S. Kotani , Dept. of Electr. Eng. & Comput. Sci., Yamanashi Univ., Kofu, Japan
pp. 447

Multiple sensor processing for high-precision navigation and environmental modeling with a mobile robot (Abstract)

M. Elbs , Dept. of Comput. Sci., Karlsruhe Univ., Germany
R. Dillmann , Dept. of Comput. Sci., Karlsruhe Univ., Germany
P. Weckesser , Dept. of Comput. Sci., Karlsruhe Univ., Germany
S. Hampel , Dept. of Comput. Sci., Karlsruhe Univ., Germany
pp. 453
Session MP2-3: Moduler/Distributed Control System

A multi-agent based implementation of task coordinate servo for the DD manipulator: ETA3 (Abstract)

K. Kitagaki , Real World Comput. Partnership, Tsukuba, Japan
T. Suehiro , Real World Comput. Partnership, Tsukuba, Japan
pp. 459

Rapid development of robotic applications using component-based real-time software (Abstract)

P.K. Khosla , Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA
D.B. Stewart , Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA
pp. 465

LICAs: a modular architecture for intelligent control of mobile robots (Abstract)

P.J. Probert , Dept. of Eng. Sci., Oxford Univ., UK
J.M. Brady , Dept. of Eng. Sci., Oxford Univ., UK
H. Hu , Dept. of Eng. Sci., Oxford Univ., UK
J. Grothusen , Dept. of Eng. Sci., Oxford Univ., UK
F. Li , Dept. of Eng. Sci., Oxford Univ., UK
pp. 471

Heuristic networks for concurrent pursuit-evasion systems (Abstract)

B. Stilman , Dept. of Comput. Sci. & Eng., Colorado Univ., Denver, CO, USA
pp. 477

Peripheral cellular control: an eigen-frequency model and a case-study in self-organization (Abstract)

E.S. Tzafestas , LAFORIA-IBP, Univ. Pierre et Marie Curie, Paris, France
pp. 483

Adaptive distributed cooperation controller for multiple manipulators (Abstract)

K. Kitagaki , Chinese Univ. of Hong Kong, Shatin, Hong Kong
V. Parra-Vega , Chinese Univ. of Hong Kong, Shatin, Hong Kong
Yun-Hui Liu , Chinese Univ. of Hong Kong, Shatin, Hong Kong
S. Arimoto , Chinese Univ. of Hong Kong, Shatin, Hong Kong
pp. 489

An immunological approach to dynamic behavior control for autonomous mobile robots (Abstract)

A. Ishiguro , Sch. of Eng., Nagoya Univ., Japan
Y. Uchikawa , Sch. of Eng., Nagoya Univ., Japan
R. Watanabe , Sch. of Eng., Nagoya Univ., Japan
pp. 495
Session MP2-4: Calibration

An active technique for piecewise calibration of robot manipulators (Abstract)

A. Basu , Dept. of Chem. Eng., Alberta Univ., Edmonton, Alta., Canada
K. Ravi , Dept. of Chem. Eng., Alberta Univ., Edmonton, Alta., Canada
pp. 501

Camera-assisted calibration of SCARA arms (Abstract)

Wen-Chiang Wu , Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Z.S. Roth , Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Hanqi Zhuang , Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
pp. 507

Design of a structured light sensor for in situ calibration (Abstract)

F.W. DePiero , Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
R.L. Kress , Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
pp. 513

Modeling foreshortening in stereo vision using local spatial frequency (Abstract)

M.W. Maimone , Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
S.A. Shafer , Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 519

Human-robot interface using uncalibrated stereo vision (Abstract)

Y. Shirai , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
K.H. Jo , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
K. Hayashi , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
Y. Kuno , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
pp. 525

Towards vision assisted space robotics: some examples and experimental results (Abstract)

M. Seitz , Dept. of Control Syst. Theory & Robotics, Darmstadt Univ. of Technol., Germany
N. Hartwig , Dept. of Control Syst. Theory & Robotics, Darmstadt Univ. of Technol., Germany
J. Matthiesen , Dept. of Control Syst. Theory & Robotics, Darmstadt Univ. of Technol., Germany
pp. 532

Robust vibration suppression control for systems with harmonic excitation (Abstract)

S. Kawaji , Dept. of Electr. Eng. & Comput. Sci., Kumamoto Univ., Japan
I. Kanazawa , Dept. of Electr. Eng. & Comput. Sci., Kumamoto Univ., Japan
pp. 544

An anthropomorphic robot arm driven by artificial muscles using a variable structure control (Abstract)

M. Hamerlain , Lab. de Robotique et d'Intelligence Artificielle, Alger, Algeria
pp. 550

Author Index (PDF)

pp. 557
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