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 TA1-1: Telerobotics I

Discrete-event-based planning and control of telerobotic part-mating process with communication delay and geometric uncertainty (Abstract)

T. Kotoku , Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Young-Jo Cho , Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
K. Tanie , Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
pp. 2001

Achieving transparency for teleoperator systems under position and rate control (Abstract)

M. Zhu , Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
S.E. Salcudean , Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
pp. 2007

Experiments in tele-handling and tele-machining at the macro and micro scales, using the Internet for operational environment transmission (Abstract)

B. Kramer , Fac. of Eng., Tokyo Univ., Japan
T. Hikita , Fac. of Eng., Tokyo Univ., Japan
H. Teratani , Fac. of Eng., Tokyo Univ., Japan
M. Mitsuishi , Fac. of Eng., Tokyo Univ., Japan
T. Hori , Fac. of Eng., Tokyo Univ., Japan
H. Nakanishi , Fac. of Eng., Tokyo Univ., Japan
T. Watanabe , Fac. of Eng., Tokyo Univ., Japan
pp. 2013

A cross-country teleprogramming experiment (Abstract)

E.D. Paljug , Dept. of Mech. & Mater. Eng., Wilkes Univ., Wilkes-Barre, PA, USA
R.P. Paul , Dept. of Mech. & Mater. Eng., Wilkes Univ., Wilkes-Barre, PA, USA
M.R. Stein , Dept. of Mech. & Mater. Eng., Wilkes Univ., Wilkes-Barre, PA, USA
P.S. Schenker , Dept. of Mech. & Mater. Eng., Wilkes Univ., Wilkes-Barre, PA, USA
pp. 2021
Session TA1-2: Mobile Robots and Path Planning I

Action observation in collision-free motion planning for mobile robots (Abstract)

L. Shan , Kyushu Univ., Fukuoka, Japan
T. Hasegawa , Kyushu Univ., Fukuoka, Japan
pp. 2027

Iterated forecast and planning algorithm to steer and drive a mobile robot in the presence of multiple moving objects (Abstract)

S. Arimoto , Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
S. Kuramochi , Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
T. Tsubouchi , Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
pp. 2033

Multiresolution rough terrain motion planning (Abstract)

L.-M. Reissell , Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
D.K. Pai , Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
pp. 2039

An experiment on opening-door-behavior by an autonomous mobile robot with a manipulator (Abstract)

S.I. Yuta , Intelligent Robot Lab., Tsukuba Univ., Japan
K. Nagatani , Intelligent Robot Lab., Tsukuba Univ., Japan
pp. 2045
Session TA1-3: Space Robotics

Adaptive-robust control for free-flying space robots using norm-bounded property of uncertainty (Abstract)

Ju-Jang Lee , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Jin-Ho Shin , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Woonchul Ham , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Il-Kwon Jeong , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
pp. 2059

On the interaction of flexible modes and on-off thrusters in space robotic systems (Abstract)

E. Martin , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
J. Angeles , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
E. Papadopoulos , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
pp. 2065

Inferred end-point control of long reach manipulators (Abstract)

S. Dubowsky , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
P. Rowe , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
C. Mavroidis , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 2071
Session TA1-4: Sensor-Based Manipulation

Assembly of flexible objects without analytical models (Abstract)

J. Miura , Dept. of Mech. Eng., Osaka Univ., Japan
K. Ikeuchi , Dept. of Mech. Eng., Osaka Univ., Japan
pp. 2077

Edge tracking using tactile servo (Abstract)

N. Chen , Alberta Univ., Edmonton, Alta., Canada
H. Zhang , Alberta Univ., Edmonton, Alta., Canada
R. Rink , Alberta Univ., Edmonton, Alta., Canada
pp. 2084

Fast stable contact transitions with a stiff manipulator using force and vision feedback (Abstract)

B.J. Nelson , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
J.D. Morrow , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
P.K. Khosla , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2090

Comparison of contact sensor localization abilities during manipulation (Abstract)

J.S. Son , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
R.D. Howe , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
M.R. Cutkosky , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
pp. 2096
Session TA2-1: Telerobotics II

Intelligent monitoring system for limited communication path: telerobotic task execution over Internet (Abstract)

S. Hirai , Electrotech. Lab., Ibaraki, Japan
Y. Wakita , Electrotech. Lab., Ibaraki, Japan
K. Machida , Electrotech. Lab., Ibaraki, Japan
pp. 2104

World modeling for a sensor-in-hand robot arm (Abstract)

G. Hirzinger , Inst. of Robotics & Syst. Dynamics, German Aerosp. Res. Establ., Wessling, Germany
A. Baader , Inst. of Robotics & Syst. Dynamics, German Aerosp. Res. Establ., Wessling, Germany
pp. 2110

The hot line work robot system "Phase II" and its human-robot interface "MOS" (Abstract)

M. Nakashima , Kyushu Electr. Power Co. Inc., Fukuoka, Japan
H. Yakabe , Kyushu Electr. Power Co. Inc., Fukuoka, Japan
Y. Maruyama , Kyushu Electr. Power Co. Inc., Fukuoka, Japan
K. Yano , Kyushu Electr. Power Co. Inc., Fukuoka, Japan
pp. 2116

Scaled telemanipulation system using semi-autonomous task-oriented virtual tool (Abstract)

K. Kosuge , Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
M. Otsuka , Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
T. Fukuda , Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
T. Itoh , Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
pp. 2124
Session TA2-2: Mobile Robots Path Planning II

Collision-free path planning for a manipulator using free form surface (Abstract)

K. Taguchi , Dept. of Mech. Syst. Eng., Kanagawa Inst. of Technol., Japan
N. Kawarazaki , Dept. of Mech. Syst. Eng., Kanagawa Inst. of Technol., Japan
pp. 2130

Fast path planning for robot manipulators by formation-posture decomposition (Abstract)

M. Tarokh , Dept. of Math. Sci., Robotics & Intelligent Syst. Lab., San Diego, CA, USA
pp. 2138

Large force-task planning for mobile and redundant robots (Abstract)

E. Papadopoulos , Dept. of Mech. Eng. & Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
Y. Gonthier , Dept. of Mech. Eng. & Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 2144

Navigation system based on ceiling landmark recognition for autonomous mobile robot-landmark detection based on fuzzy template matching (FTM) (Abstract)

S. Ito , Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
T. Fukuda , Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
Y. Abe , Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
F. Arai , Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
Y. Yokoyama , Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
Y. Tanaka , Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
K. Tanaka , Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
pp. 2150
Session TA2-3: Micro Mechanisms

Lorentz force actuation of flexible thin-film aluminum microstructures (Abstract)

R. Holzer , Tokyo Univ., Japan
I. Shimoyama , Tokyo Univ., Japan
H. Miura , Tokyo Univ., Japan
pp. 2156

The development of a robotic endoscope (Abstract)

W. Grundfest , Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
A.B. Slatkin , Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
J. Burdick , Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
pp. 2162

Micro active guide wire catheter system (Abstract)

M. Negoro , Dept. of Mech. Eng., Mie Univ., Tsu, Japan
T. Nakamura , Dept. of Mech. Eng., Mie Univ., Tsu, Japan
T. Fukuda , Dept. of Mech. Eng., Mie Univ., Tsu, Japan
S. Guo , Dept. of Mech. Eng., Mie Univ., Tsu, Japan
K. Oguro , Dept. of Mech. Eng., Mie Univ., Tsu, Japan
F. Arai , Dept. of Mech. Eng., Mie Univ., Tsu, Japan
pp. 2172

A tele-micro-surgery system across the Internet with a fixed viewpoint/operation-point (Abstract)

H. Nakanishi , Fac. of Sci., Tokyo Univ., Japan
M. Mitsuishi , Fac. of Sci., Tokyo Univ., Japan
T. Watanabe , Fac. of Sci., Tokyo Univ., Japan
B. Kramer , Fac. of Sci., Tokyo Univ., Japan
T. Hori , Fac. of Sci., Tokyo Univ., Japan
H. Watanabe , Fac. of Sci., Tokyo Univ., Japan
pp. 2178
Session TA2-4: Sensing for Dexterity

A successful multifingered hand design-the case of the raccoon (Abstract)

I.D. Walker , Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA
pp. 2186

Rolling with deformable fingertips (Abstract)

D.C. Chang , Centre for Design Res., Stanford Univ., CA, USA
M.R. Cutkosky , Centre for Design Res., Stanford Univ., CA, USA
pp. 2194

On the robustness of haptic object recognition based on polyhedral shape representations (Abstract)

C. Magnanini , Parma Univ., Italy
S. Casselli , Parma Univ., Italy
F. Zanichelli , Parma Univ., Italy
pp. 2200
Session TP1-1: Micro Robotics

Scaling in microrobots (Abstract)

I. Shimoyama , Dept. of Mechano-Inf., Tokyo Univ., Japan
pp. 2208

Survey of sticking effects for micro parts handling (Abstract)

R.S. Fearing , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 2212

Control of a micro tunneling unit under atomic force (Abstract)

D. Kobayashi , Inst. of Ind. Sci., Tokyo Univ., Japan
H. Fujita , Inst. of Ind. Sci., Tokyo Univ., Japan
pp. 2218

Kalman filter based calibration of precision motion control (Abstract)

S. Venema , Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA
B. Hannaford , Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA
pp. 2224

Aerodynamic behavior of microstructures (Abstract)

M. Shimada , Dept. of Mechano-Inf., Tokyo Univ., Japan
Y. Matsumoto , Dept. of Mechano-Inf., Tokyo Univ., Japan
I. Shimoyama , Dept. of Mechano-Inf., Tokyo Univ., Japan
H. Miura , Dept. of Mechano-Inf., Tokyo Univ., Japan
G. Getzan , Dept. of Mechano-Inf., Tokyo Univ., Japan
pp. 2230

Micro manipulation based on micro physics-strategy based on attractive force reduction and stress measurement (Abstract)

Y. Nonoda , Dept. of Micro Syst. Eng., Nagoya Univ., Japan
F. Arai , Dept. of Micro Syst. Eng., Nagoya Univ., Japan
T. Oota , Dept. of Micro Syst. Eng., Nagoya Univ., Japan
T. Fukuda , Dept. of Micro Syst. Eng., Nagoya Univ., Japan
D. Ando , Dept. of Micro Syst. Eng., Nagoya Univ., Japan
pp. 2236

Electrostatically driven micro elastic joints (Abstract)

T. Yasuda , Dept. of Mechano-Inf., Tokyo Univ., Japan
H. Miura , Dept. of Mechano-Inf., Tokyo Univ., Japan
I. Shimoyama , Dept. of Mechano-Inf., Tokyo Univ., Japan
pp. 2242
Session TP1-2: Multiple Mobile Robots

Management of a multi-robot system in a public environment (Abstract)

O. Causse , LIFIA, IMAG, CNRS, Grenoble, France
L.H. Pampagnin , LIFIA, IMAG, CNRS, Grenoble, France
pp. 2246

Planning multiple autonomous robots motion in space and time (Abstract)

C. Ferrari , Dipartimento di Elettronica e Inf., Padova Univ., Italy
J. Ota , Dipartimento di Elettronica e Inf., Padova Univ., Italy
T. Arai , Dipartimento di Elettronica e Inf., Padova Univ., Italy
E. Pagello , Dipartimento di Elettronica e Inf., Padova Univ., Italy
pp. 2253

Ten autonomous mobile robots (and even more) in a route network like environment (Abstract)

F. Ingrand , Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France
L. Aguilar , Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France
S. Fleury , Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France
F. Robert , Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France
R. Alami , Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France
M. Herrb , Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France
pp. 2260

Experiments in sensing and communication for robot convoy navigation (Abstract)

G. Dudek , Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
M. Jenkin , Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
D. Wilkes , Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
E. Milios , Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 2268

A design method of local communication range in multiple mobile robot system (Abstract)

D. Kurabayashi , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
J. Ota , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
E. Yoshida , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
M. Yamamoto , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
T. Arai , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
pp. 2274

Moving multiple tethered robots between arbitrary configurations (Abstract)

V. Lumelsky , Dept. of Comput. Sci., Wisconsin Univ., Madison, WI, USA
S. Hert , Dept. of Comput. Sci., Wisconsin Univ., Madison, WI, USA
pp. 2280

An algorithm of dividing a work area to multiple mobile robots (Abstract)

J. Ota , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
T. Arai , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
E. Yoshida , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
D. Kurabayashi , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
pp. 2286
Session TP1-3: Dynamics and Kinematics Issues in Robotics

Toward a dynamical pick and place (Abstract)

D.E. Koditschek , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
R.R. Burridge , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
A.A. Rizzi , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
pp. 2292

Dynamic simulation of assembly processes (Abstract)

T. Meitinger , Lehrstuhl B fur Mech., Tech. Univ. Munchen, Germany
F. Pfeiffer , Lehrstuhl B fur Mech., Tech. Univ. Munchen, Germany
pp. 2298

Fast dynamic simulation of rigid and deformable objects (Abstract)

C. Laugier , LIFIA, Grenoble, France
A. Joukhadar , LIFIA, Grenoble, France
pp. 2305

Dynamics and motion control of a two-link robot manipulator with a passive joint (Abstract)

H. Inooka , Dept. of Mech. Eng., Tohoku Univ., Sendai, Japan
T. Takahashi , Dept. of Mech. Eng., Tohoku Univ., Sendai, Japan
Kee-Ho Yu , Dept. of Mech. Eng., Tohoku Univ., Sendai, Japan
pp. 2311

Experimental study of an underactuated manipulator (Abstract)

M. Bergerman , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
C. Lee , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Yangsheng Xu , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2317

Analysis of the acceleration of non-redundant manipulators (Abstract)

O. Khatib , Dept. of Comput. Sci., Stanford Univ., CA, USA
A. Bowling , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 2323

Kinematic calibration of a Stewart platform using pose measurements obtained by a single theodolite (Abstract)

O. Masory , Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Hanqi Zhuang , Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Jiahua Yan , Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
pp. 2329
Session TP1-4: Representation and Recognition of Objects

CAD model acquisition using BSP trees (Abstract)

S. Abrams , Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
P.K. Allen , Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
M. Reed , Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
pp. 2335

Surface-based geometric modeling of general objects using teaching trees (Abstract)

T. Ogasawara , Div. of Intelligent Syst., Electrotech. Lab., Ibaraki, Japan
H. Tsukune , Div. of Intelligent Syst., Electrotech. Lab., Ibaraki, Japan
A. Nakamura , Div. of Intelligent Syst., Electrotech. Lab., Ibaraki, Japan
M. Oshima , Div. of Intelligent Syst., Electrotech. Lab., Ibaraki, Japan
pp. 2341

Reasoning simplified volumetric shapes for robotic grasping (Abstract)

Jae-Moon Chung , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
T. Nagata , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
pp. 2348

Three dimensional object recognition using invariants (Abstract)

S.W.E. Earles , Dept. of Mech. Eng., King's Coll., London, UK
L.D. Seneviratne , Dept. of Mech. Eng., King's Coll., London, UK
Y. Zhu , Dept. of Mech. Eng., King's Coll., London, UK
pp. 2354

Direct object recognition using no higher than second order statistics of the image (Abstract)

B.K.P. Horn , Multi-Media Syst. Res. Lab., Matsushita Electr. Ind. Co. Ltd., Tokyo, Japan
K. Nagao , Multi-Media Syst. Res. Lab., Matsushita Electr. Ind. Co. Ltd., Tokyo, Japan
pp. 2360

A constraint-satisfaction approach for 3D vision/touch-based object recognition (Abstract)

M. Boshra , Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
Hong Zhang , Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
pp. 2368

A quasi linear reconstruction method from multiple perspective views (Abstract)

S. Christy , LIFIA, Grenoble, France
R. Horaud , LIFIA, Grenoble, France
pp. 2374
Session TP2-1: Grasping and Coordinated Manipulation

Grasp stiffness matrix-fundamental properties in analysis of grasping and manipulation (Abstract)

Imin Kao , Dept. of Mech. Eng., State Univ. of New York, Stony Brook, NY, USA
Ji Li , Dept. of Mech. Eng., State Univ. of New York, Stony Brook, NY, USA
pp. 2381

Evaluation of calibration and localization methods for visually guided grasping (Abstract)

V. Garric , Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France
M. Devy , Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France
pp. 2387

Dynamic analysis of multi-arm systems manipulating large objects using grippers with multiple point contacts (Abstract)

S.Y. Ho , Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, Hong Kong
X. Shi , Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, Hong Kong
pp. 2394

Cooperative manipulations based on genetic algorithms using contact information (Abstract)

T. Nagata , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
K. Konishi , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
Hong-Bin Zha , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
pp. 2400

Active uncertainty reduction during gripping using range cameras-dual control (Abstract)

A. Wernersson , Robotics & Autonomous Mech. Syst., Linkoping Univ., Sweden
B. Nilsson , Robotics & Autonomous Mech. Syst., Linkoping Univ., Sweden
pp. 2406

Analysis of constrained elastic manipulations (Abstract)

M.M. Svinin , Dept. of Robotics, Darmstadt Univ. of Technol., Germany
C. von Albrichsfeld , Dept. of Robotics, Darmstadt Univ. of Technol., Germany
pp. 2414

Intelligent control of robotic manipulators: a multiple model based approach (Abstract)

K.S. Narendra , Center for Syst. Sci., Yale Univ., New Haven, CT, USA
M.K. Ciliz , Center for Syst. Sci., Yale Univ., New Haven, CT, USA
pp. 2422
Session TP2-2: Motion Planning I

Global trajectory planning for fault tolerant manipulators (Abstract)

C.J.J. Paredis , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
P.K. Khosla , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2428

Sensory based motion planning with global proofs (Abstract)

E. Rivlin , Dept. of Comput. Sci., Technion-Israel Inst. of Technol., Haifa, Israel
I. Kamon , Dept. of Comput. Sci., Technion-Israel Inst. of Technol., Haifa, Israel
pp. 2435

The jogger's problem: accounting for body dynamics in real-time motion planning (Abstract)

A.M. Shkel , Wisconsin Univ., Madison, WI, USA
V.J. Lumelsky , Wisconsin Univ., Madison, WI, USA
pp. 2441

Task planning experiment toward an autonomous robot system for the construction of overhead distribution lines (Abstract)

T. Yoshimi , Power Eng. Res. & Dev. Center, Tokyo Electr. Power Co., Yokohama, Japan
M. Mukaida , Power Eng. Res. & Dev. Center, Tokyo Electr. Power Co., Yokohama, Japan
Y. Tamura , Power Eng. Res. & Dev. Center, Tokyo Electr. Power Co., Yokohama, Japan
H. Sato , Power Eng. Res. & Dev. Center, Tokyo Electr. Power Co., Yokohama, Japan
Y. Asari , Power Eng. Res. & Dev. Center, Tokyo Electr. Power Co., Yokohama, Japan
pp. 2448

Dynamical path-planning algorithm of a mobile robot using chaotic neuron model (Abstract)

Changkyu Choi , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Il-Kwon Jeong , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Ju-Jang Lee , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Jin-Ho Shin , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Sun-Gi Hong , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
pp. 2456

A new sensor planning paradigm and its application to robot self-localization (Abstract)

Sukhan Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Xiaoming Zhao , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 2462

A sensor-based approach for motion in contact in task planning (Abstract)

E. Marta , Dept. of Comput. Sci., Jaume I Univ., Castello, Spain
M.A. Serna , Dept. of Comput. Sci., Jaume I Univ., Castello, Spain
A.P. del Pobil , Dept. of Comput. Sci., Jaume I Univ., Castello, Spain
E. Cervera , Dept. of Comput. Sci., Jaume I Univ., Castello, Spain
pp. 2468
Session TP2-3: Collision/Obstacle Avoidance

3-D path planning in a dynamic environment using an octree and an artificial potential field (Abstract)

F. Kishino , ATR Commun. Syst. Res. Labs., Kyoto, Japan
M. Yachida , ATR Commun. Syst. Res. Labs., Kyoto, Japan
T. Tanaka , ATR Commun. Syst. Res. Labs., Kyoto, Japan
Y. Kitamura , ATR Commun. Syst. Res. Labs., Kyoto, Japan
pp. 2474

An analytic approach to moving obstacle avoidance using an artificial potential field (Abstract)

Nak Yong Ko , Dept. of Control & Instrum. Eng., Seoul Nat. Univ., South Korea
Bum Hee Lee , Dept. of Control & Instrum. Eng., Seoul Nat. Univ., South Korea
Yun Seok Nam , Dept. of Control & Instrum. Eng., Seoul Nat. Univ., South Korea
pp. 2482

A hierarchical collision-free path planning algorithm for robotics (Abstract)

Woong Keun Hyun , Dept. of Electron. Eng., Honam Univ., Kwangju, South Korea
Il Hong Suh , Dept. of Electron. Eng., Honam Univ., Kwangju, South Korea
pp. 2488

An online bridge between model-based and sensor-based path-planning under some self-positioning error (Abstract)

T. Hamaguchi , Graduate Sch. of Eng., Osaka Electro-Commun. Univ., Japan
H. Noborio , Graduate Sch. of Eng., Osaka Electro-Commun. Univ., Japan
T. Yoshioka , Graduate Sch. of Eng., Osaka Electro-Commun. Univ., Japan
pp. 2496

Detection and localization of unmodeled manipulator collisions (Abstract)

S.K. Ralph , Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
D.K. Pai , Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
pp. 2504

Fuzzy collision avoidance for industrial robots (Abstract)

H. Hoyer , Chair of Process Control, Fern Univ., Hagen, Germany
M. Gerke , Chair of Process Control, Fern Univ., Hagen, Germany
pp. 2510

On motion planning of mobile robots which coexist and cooperate with human (Abstract)

S. Tadokoro , Dept. of Comput. & Syst. Eng., Kobe Univ., Japan
Y. Manabe , Dept. of Comput. & Syst. Eng., Kobe Univ., Japan
T. Takamori , Dept. of Comput. & Syst. Eng., Kobe Univ., Japan
M. Hayashi , Dept. of Comput. & Syst. Eng., Kobe Univ., Japan
Y. Nakami , Dept. of Comput. & Syst. Eng., Kobe Univ., Japan
pp. 2518
Session TP2-4: Sensing and Control for Mobile Robot

A new consideration on active antenna (Abstract)

M. Kaneko , Ind. & Syst. Eng., Hiroshima Univ., Japan
N. Kanayama , Ind. & Syst. Eng., Hiroshima Univ., Japan
T. Tsuji , Ind. & Syst. Eng., Hiroshima Univ., Japan
pp. 2524

Steering control of a mobile robot using insect antennae (Abstract)

Y. Kuwana , Dept. of Mechano-Inf., Tokyo Univ., Japan
H. Miura , Dept. of Mechano-Inf., Tokyo Univ., Japan
I. Shimoyama , Dept. of Mechano-Inf., Tokyo Univ., Japan
pp. 2530

A comparison of two methods for fusing information from a linear array of sonar sensors for obstacle localization (Abstract)

B. Arikan , Dept. of Electr. Eng., Bilkent Univ., Ankara, Turkey
B. Barshan , Dept. of Electr. Eng., Bilkent Univ., Ankara, Turkey
pp. 2536

Sensor-based local homing using Omnidirectional Range and Intensity Sensing System for indoor mobile robot navigation (Abstract)

Myung Jin Chung , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Seok Won Bang , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Wonpil Yu , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
pp. 2542

An algorithm for localization and positioning using linear combinations of model views (Abstract)

J.A. Yang , Inst. of Artificial Intelligence, Hefei Univ. of Technol., China
pp. 2549

Sensor selection: a geometrical approach (Abstract)

C. Giraud , Lab. d'Inf. Robotique Microelectron., Univ. des Sci. et Tech. du Languedoc, Montpellier, France
B. Jouvencel , Lab. d'Inf. Robotique Microelectron., Univ. des Sci. et Tech. du Languedoc, Montpellier, France
pp. 2555

A vision-based interactive system for underwater robots (Abstract)

T. Fujii , Inst. of Ind. Sci., Tokyo Univ., Japan
B.A.A.P. Balasuriya , Inst. of Ind. Sci., Tokyo Univ., Japan
T. Ura , Inst. of Ind. Sci., Tokyo Univ., Japan
pp. 2561

Multi-armed dexterous manipulator operation using glove/exoskeleton control and sensory feedback (Abstract)

U. Andersen , Dept. of Electron. Eng., Salford Univ., UK
O. Kocak , Dept. of Electron. Eng., Salford Univ., UK
D.G. Caldwell , Dept. of Electron. Eng., Salford Univ., UK
pp. 2567

Author Index (PDF)

pp. 2573
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