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 WA1-1: Telerobotics III

Function-based control sharing for robotic systems (Abstract)

Ning Xi , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Tzyh-Jong Tarn , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
A.K. Bejczy , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Chuanfan Guo , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
pp. 3001

Tactile gestures for human/robot interaction (Abstract)

R.M. Voyles, Jr. , Robotics Ph.D Program, Carnegie Mellon Univ., Pittsburgh, PA, USA
P.K. Khosla , Robotics Ph.D Program, Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3007

Action selection in teleautonomous systems (Abstract)

R. Volz , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
S. Graves , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
pp. 3014

A telerobotics construction set with integrated performance analysis (Abstract)

M. Skubic , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
S. Askew , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
G.V. Kondraske , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
R.A. Volz , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
J.D. Wise , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
G.J. Khoury , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
pp. 3020

Experiments in dexterous hybrid force and position control of a master/slave electrohydraulic manipulator (Abstract)

R.B. Greenway , Kansas Univ., Lawrence, KS, USA
T.N. Faddis , Kansas Univ., Lawrence, KS, USA
B. Bluethmann , Kansas Univ., Lawrence, KS, USA
S. Ananthakrishnan , Kansas Univ., Lawrence, KS, USA
J. Scheerer , Kansas Univ., Lawrence, KS, USA
pp. 3027
Session WA1-2: Motion Planning II

Planning conditional shortest paths through an unknown environment: a framed-quadtree approach (Abstract)

J.J. Uhran, Jr. , Dept. of Comput. Sci. & Eng., Notre Dame Univ., IN, USA
D.Z. Chen , Dept. of Comput. Sci. & Eng., Notre Dame Univ., IN, USA
R.J. Szczerba , Dept. of Comput. Sci. & Eng., Notre Dame Univ., IN, USA
pp. 3033

Toward an exact incremental geometric robot motion planner (Abstract)

M. Barbehenn , Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
S. Hutchinson , Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
pp. 3039

Motion planning of a redundant manipulator-modeling of criteria of skilled operators and global optimization of redundancy (Abstract)

K. Tanie , Mech. Eng. Lab., MITI, Japan
M. Nose , Mech. Eng. Lab., MITI, Japan
T. Shibata , Mech. Eng. Lab., MITI, Japan
T. Abe , Mech. Eng. Lab., MITI, Japan
pp. 3045

Specification and execution of multiagent missions (Abstract)

D.C. MacKenzie , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
J.M. Cameron , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
R.C. Arkin , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 3051

Identifying contact formations in the presence of uncertainty (Abstract)

B.S. Graves , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
J.C. Trinkle , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
A.O. Farahat , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
pp. 3059
Session WA1-3: Redundant Manipulators

Inverse kinematics of binary manipulators with applications to service robotics (Abstract)

D.S. Lees , Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
G.S. Chirikjian , Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
pp. 3065

Dynamic trajectory optimization in real time for moving obstacles avoidance by a ten degrees of freedom manipulator (Abstract)

M. Schlemmer , Inst. for Robotics & Syst. Dynamics, DLR Oberpfaffenhofen, Wessling, Germany
R. Finsterwalder , Inst. for Robotics & Syst. Dynamics, DLR Oberpfaffenhofen, Wessling, Germany
G. Grubel , Inst. for Robotics & Syst. Dynamics, DLR Oberpfaffenhofen, Wessling, Germany
pp. 3072

Escapability of singular configuration for redundant manipulators via self-motion (Abstract)

J. Seng , Tulsa Univ., OK, USA
K.A. O'Neil , Tulsa Univ., OK, USA
Y.C. Chen , Tulsa Univ., OK, USA
pp. 3078

Manipulator control at kinematic singularities: a dynamically consistent strategy (Abstract)

O. Khatib , Dept. of Comput. Sci., Stanford Univ., CA, USA
Kyong-Sok Chang , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 3084

Specification and control of motion for kinematically redundant manipulators (Abstract)

Youngil Youm , Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
Jonghoon Park , Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
Wan-Kyun Chung , Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
pp. 3089
Session WA1-4: Sensing Devices

Development of a video-rate stereo machine (Abstract)

A. Yoshida , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Kanade , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
H. Kano , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
K. Oda , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
S. Kimura , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3095

Magnetic and optical-fluorescence position sensing for planar linear motors (Abstract)

A.E. Brennemann , Res. Div., IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
R.L. Hollis , Res. Div., IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 3101

Moment filters for high precision computation of focus and stereo (Abstract)

S.A. Shafer , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Yalin Xiong , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3108

A tactile array sensor layered in an artificial skin (Abstract)

R. Lazzarini , Lab-Scuola Superiore S. Anna ARTS, Pisa, Italy
P. Dario , Lab-Scuola Superiore S. Anna ARTS, Pisa, Italy
R. Magni , Lab-Scuola Superiore S. Anna ARTS, Pisa, Italy
pp. 3114

A low-cost, composite sensor array combining ultrasonic and infrared proximity sensors (Abstract)

G. Ratti , Adv. Robotics Technol. & Syst. Lab., Scuola Superiore Sant' Anna, Pisa, Italy
V. Genovese , Adv. Robotics Technol. & Syst. Lab., Scuola Superiore Sant' Anna, Pisa, Italy
P. Dario , Adv. Robotics Technol. & Syst. Lab., Scuola Superiore Sant' Anna, Pisa, Italy
A. Mantuano , Adv. Robotics Technol. & Syst. Lab., Scuola Superiore Sant' Anna, Pisa, Italy
A.M. Sabatini , Adv. Robotics Technol. & Syst. Lab., Scuola Superiore Sant' Anna, Pisa, Italy
E. Guglielmelli , Adv. Robotics Technol. & Syst. Lab., Scuola Superiore Sant' Anna, Pisa, Italy
pp. 3120
Session WA2-1: Development and Applications of Haptic Devices

The virtual handle [force-reflecting mechanisms] (Abstract)

P. Gregorio , Canadian Space Agency, St-Hubert, Que., Canada
R. Hui , Canadian Space Agency, St-Hubert, Que., Canada
pp. 3127

Toward a seven axis haptic device (Abstract)

V. Hayward , Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 3133

Issues in the haptic display of tool use (Abstract)

J.M. Brown , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
M.C. Stanley , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
J.E. Colgate , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
pp. 3140

A constraint-based god-object method for haptic display (Abstract)

J.K. Salisbury , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
C.B. Zilles , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 3146
Session WA2-2: Legged Locomotion I

A control strategy for stable passive running (Abstract)

M. Ahmadi , Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
M. Buehler , Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 3152

Reflexive responses to slipping in bipedal running robots (Abstract)

G.N. Boone , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
J.K. Hodgins , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 3158

Dynamic quadruped walking stabilized with trunk motion (Abstract)

M. Iwata , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
A. Takanishi , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
J. Yamaguchi , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
pp. 3165

Two-stage adaptive impedance control applied to a legged robot (Abstract)

C. Tzafestas , Lab. de Robotique de Paris, Velizy, France
M. Guihard , Lab. de Robotique de Paris, Velizy, France
N.K. M'Sirdi , Lab. de Robotique de Paris, Velizy, France
pp. 3173
Session WA2-3: Assembly Strategies

A compliance control strategy for robot manipulators using a self-controlled stiffness function (Abstract)

Sang-Rok Oh , Div. of Electron. & Inf. Technol., Korea Inst. of Sci. & Technol., Seoul, South Korea
Bum-Jae You , Div. of Electron. & Inf. Technol., Korea Inst. of Sci. & Technol., Seoul, South Korea
Chong Won Lee , Div. of Electron. & Inf. Technol., Korea Inst. of Sci. & Technol., Seoul, South Korea
Il Hong Suh , Div. of Electron. & Inf. Technol., Korea Inst. of Sci. & Technol., Seoul, South Korea
Ho-Chan Kim , Div. of Electron. & Inf. Technol., Korea Inst. of Sci. & Technol., Seoul, South Korea
pp. 3179

A robot system for automated handling in micro-world (Abstract)

A. Codourey , Inst. of Robotics, Eidgenossische Tech. Hochschule, Zurich, Switzerland
R. Siegwart , Inst. of Robotics, Eidgenossische Tech. Hochschule, Zurich, Switzerland
W. Zesch , Inst. of Robotics, Eidgenossische Tech. Hochschule, Zurich, Switzerland
R. Buchi , Inst. of Robotics, Eidgenossische Tech. Hochschule, Zurich, Switzerland
pp. 3185

Properties of assembly Petri net (Abstract)

N. Nissanke , Dept. of Comput. Sci., Reading Univ., UK
J.P. Thomas , Dept. of Comput. Sci., Reading Univ., UK
pp. 3191

A machine learning approach to error detection and recovery in assembly (Abstract)

L. Seabra Lopes , Dept. de Engenharia Electrotecnica, Univ. Nova de Lisboa, Portugal
L.M. Camarinha-Matos , Dept. de Engenharia Electrotecnica, Univ. Nova de Lisboa, Portugal
pp. 3197
Session WA2-4: Pose Estimation

Pose estimation of quadratic surface using surface fitting technique (Abstract)

H. Hashimoto , Inst. of Ind. Sci., Tokyo Univ., Japan
J.B. Moore , Inst. of Ind. Sci., Tokyo Univ., Japan
Moonhong Baeg , Inst. of Ind. Sci., Tokyo Univ., Japan
F. Harashima , Inst. of Ind. Sci., Tokyo Univ., Japan
pp. 3204

Feature-based localization using fixed ultrasonic transducers (Abstract)

M. Mintz , Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
R. Mandelbaum , Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 3210

Strategy and fundamental algorithms of fusing range image and intensity image for object recognition (Abstract)

T. Arai , Fac. of Sci. & Eng., Chuo Univ., Tokyo, Japan
M. Tabuchi , Fac. of Sci. & Eng., Chuo Univ., Tokyo, Japan
K. Umeda , Fac. of Sci. & Eng., Chuo Univ., Tokyo, Japan
K. Ikushima , Fac. of Sci. & Eng., Chuo Univ., Tokyo, Japan
pp. 3216

Multi-sensor based planning and control for robotic manufacturing systems (Abstract)

Tzyh-Jong Tarn , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Ning Xi , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Zhenyu Yu , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
B.K. Ghosh , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
pp. 3222
Session WP1-1: Sensor-Referenced Planning and Control of Robotic Systems - Autonomous vs. Telerobotics

The automatic detection and visual tracking of moving objects by eye-in-hand robotic systems (Abstract)

C.A. Richards , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
N.P. Papanikolopoulos , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
pp. 3228

Vision and force driven sensorimotor primitives for robotic assembly skills (Abstract)

B.J. Nelson , Robotics Ph.D Program, Carnegie Mellon Univ., Pittsburgh, PA, USA
P.K. Khosla , Robotics Ph.D Program, Carnegie Mellon Univ., Pittsburgh, PA, USA
J.D. Morrow , Robotics Ph.D Program, Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3234

Sensor fusion in telerobotic task controls (Abstract)

A.K. Bejczy , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
W.S. Kim , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 3241

Kaa: an autonomous serpentine robot utilizes behavior control (Abstract)

R.S. Desai , IS Robotics Inc., Somerville, MA, USA
J.L. Jones , IS Robotics Inc., Somerville, MA, USA
C.J. Rosenberg , IS Robotics Inc., Somerville, MA, USA
pp. 250

Evaluation of assemblability based on statistical analysis of tolerance propagation (Abstract)

Sukhan Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Chunsik Yi , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 3256

Using sensor fusion and contextual information to perform event detection during a phase-based manipulation task (Abstract)

M.R. Tremblay , Center for Design Res., Stanford Univ., CA, USA
M.R. Cutkosky , Center for Design Res., Stanford Univ., CA, USA
pp. 3262

Development of a transfer supporting equipment (Abstract)

D. Takaoka , Mechatron. Res. Center, Sanyo Electr. Co. Ltd., Japan
T. Iwaki , Mechatron. Res. Center, Sanyo Electr. Co. Ltd., Japan
K. Kakutani , Mechatron. Res. Center, Sanyo Electr. Co. Ltd., Japan
K. Tsukamoto , Mechatron. Res. Center, Sanyo Electr. Co. Ltd., Japan
M. Yamada , Mechatron. Res. Center, Sanyo Electr. Co. Ltd., Japan
pp. 3268
Session WP1-2: Legged Locomotion II

Behavior-based gait execution for the Dante II walking robot (Abstract)

J. Bares , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
H. Pangels , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
D. Wettergreen , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3274

Locomotion configuration of a robust rappelling robot (PDF)

J. Bares , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
D. Apostolopoulos , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3280

Integration of parallel arm and legged mechanism (Abstract)

K. Homma , Mech. Eng. Lab., MITI, Japan
N. Koyachi , Mech. Eng. Lab., MITI, Japan
H. Adachi , Mech. Eng. Lab., MITI, Japan
T. Arai , Mech. Eng. Lab., MITI, Japan
pp. 3285

Geometric design of hexapod with integrated limb mechanism of leg and arm (Abstract)

T. Arai , Mech. Eng. Lab., Ibaraki, Japan
H. Adachi , Mech. Eng. Lab., Ibaraki, Japan
Y. Itoh , Mech. Eng. Lab., Ibaraki, Japan
K. Asami , Mech. Eng. Lab., Ibaraki, Japan
N. Koyachi , Mech. Eng. Lab., Ibaraki, Japan
pp. 3291

Two-armed bipedal robot that can walk, roll over and stand up (Abstract)

S. Kagami , Dept. of Mechano-Inf., Tokyo Univ., Japan
H. Inoue , Dept. of Mechano-Inf., Tokyo Univ., Japan
M. Inaba , Dept. of Mechano-Inf., Tokyo Univ., Japan
F. Kanehiro , Dept. of Mechano-Inf., Tokyo Univ., Japan
pp. 3297

Timing and kinematics of quadrupedal walking pattern (Abstract)

A. Kralj , Fac. of Electr. & Comput. Eng., Ljubljana Univ., Slovenia
M. Zefran , Fac. of Electr. & Comput. Eng., Ljubljana Univ., Slovenia
T. Bajd , Fac. of Electr. & Comput. Eng., Ljubljana Univ., Slovenia
pp. 3303

A study on the support pattern of a quadruped walking robot for aperiodic motion (Abstract)

Kyung-Min Jeong , Dept. of Mech. Design Eng., Sunmoon Univ., South Korea
Jun-Ho Oh , Dept. of Mech. Design Eng., Sunmoon Univ., South Korea
Tae-Seok Yang , Dept. of Mech. Design Eng., Sunmoon Univ., South Korea
pp. 3308
Session WP1-3: Neural Network Applications

Human skill transfer: neural networks as learners and teachers (Abstract)

Yangsheng Xu , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
M.C. Nechyba , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3314

Minimum energy driving a flexible link hammer using neural networks (Abstract)

T. Izumi , Dept. of Electr. Eng., Ube Tech. Coll., Yamaguchi, Japan
Y. Hitaka , Dept. of Electr. Eng., Ube Tech. Coll., Yamaguchi, Japan
pp. 3320

The problem of stability in the application of neural network to continuous-time dynamic systems (Abstract)

Kang-Bark Park , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Tae-Dok Eom , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Ju-Jang Lee , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Sung-Woo Kim , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
pp. 3326

Cooperative coaching in robot learning (Abstract)

J.G. Schneider , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
C.M. Brown , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3332

Sensor fusion for autonomous outdoor navigation using neural networks (Abstract)

I.L. Davis , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
A. Stentz , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3338

Vision-based neural network road and intersection detection and traversal (Abstract)

D.A. Pomerleau , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
T.M. Jochem , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
C.E. Thorpe , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3344

Intelligent control using a neuro-fuzzy network (Abstract)

M. Iskarous , Center for Intelligent Syst., Vanderbilt Univ., Nashville, TN, USA
K. Kawamura , Center for Intelligent Syst., Vanderbilt Univ., Nashville, TN, USA
pp. 3350
Session WP1-4: Sensing and Features

Image processing on an omni-directional view using a spherical hexagonal pyramid: vanishing points extraction and hexagonal chain coding (Abstract)

Y. Kimuro , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
T. Nagata , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
pp. 3356

Wrist-mounted laser rangefinder (Abstract)

T. Uchiyama , Space Syst. Lab., Fujitsu Labs. Ltd., Kawasaki, Japan
T. Maruyama , Space Syst. Lab., Fujitsu Labs. Ltd., Kawasaki, Japan
T. Morita , Space Syst. Lab., Fujitsu Labs. Ltd., Kawasaki, Japan
J. Wakitani , Space Syst. Lab., Fujitsu Labs. Ltd., Kawasaki, Japan
A. Mochizuki , Space Syst. Lab., Fujitsu Labs. Ltd., Kawasaki, Japan
pp. 3362

The ultrasonic range finder for outdoor mobile robots (Abstract)

S. Kotani , Dept. of Electr. Eng. & Comput. Sci., Yamanashi Univ., Kofu, Japan
H. Mori , Dept. of Electr. Eng. & Comput. Sci., Yamanashi Univ., Kofu, Japan
T. Tanzawa , Dept. of Electr. Eng. & Comput. Sci., Yamanashi Univ., Kofu, Japan
N. Kiyohiro , Dept. of Electr. Eng. & Comput. Sci., Yamanashi Univ., Kofu, Japan
pp. 3368

Maximum-likelihood depth-from-defocus for active vision (Abstract)

W.N. Klarquist , Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
A.C. Bovik , Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
W.S. Geisler , Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
pp. 3374

Real time 3-D scene analysis by fast features detection (Abstract)

Xiao-Di Li , Dept. of Electron. Eng., Chinese Univ. of Hong Kong, Shatin, Hong Kong
pp. 3380

Efficient edge detection from tactile data (Abstract)

Hong Zhang , Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada
Ning Chen , Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada
R. Rink , Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada
pp. 3386

Versatile robot vision based on features of objects: comparison of norm criterion and neural network (Abstract)

Y. Kawai , Dept. of Mech. Eng., Aoyama Gakuin Univ., Tokyo, Japan
N. Shouji , Dept. of Mech. Eng., Aoyama Gakuin Univ., Tokyo, Japan
K. Bunai , Dept. of Mech. Eng., Aoyama Gakuin Univ., Tokyo, Japan
K. Tomiyama , Dept. of Mech. Eng., Aoyama Gakuin Univ., Tokyo, Japan
pp. 3392
Session WP2-1: Dexterous Parts Handling

Parts manipulation on an intelligent motion surface (Abstract)

Wenheng Liu , Information Sci. Inst., Marina del Rey, CA, USA
P. Will , Information Sci. Inst., Marina del Rey, CA, USA
pp. 3399

Dynamic whole-arm dexterous manipulation in the plane (Abstract)

S.L. Yeap , Texas A&M Univ., College Station, TX, USA
J.C. Trinkle , Texas A&M Univ., College Station, TX, USA
pp. 3405

Stably supported rotations of a planar polygon with two frictionless contacts (Abstract)

M. Erdmann , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Abell , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3411

Some remarks on the geometry of contact formation cells (Abstract)

W.W. Lau , Texas A&M Univ., College Station, TX, USA
J.C. Trinkle , Texas A&M Univ., College Station, TX, USA
P.F. Stiller , Texas A&M Univ., College Station, TX, USA
pp. 3419

On computing optimal planar grasps (Abstract)

Yan-Bin Jia , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 3427

A handling system for randomly placed casting parts using plane fitting technique (Abstract)

M. Niwakawa , Dev. Dept., Meidensha Corp., Tokyo, Japan
H. Igura , Dev. Dept., Meidensha Corp., Tokyo, Japan
T. Onda , Dev. Dept., Meidensha Corp., Tokyo, Japan
pp. 3435

Strategy for unfolding a fabric piece by cooperative sensing of touch and vision (Abstract)

E. Ono , Dept. of Polymer Eng., Nat. Inst. of Mater., Tsukuba, Japan
N. Kita , Dept. of Polymer Eng., Nat. Inst. of Mater., Tsukuba, Japan
S. Sakane , Dept. of Polymer Eng., Nat. Inst. of Mater., Tsukuba, Japan
pp. 3441
Session WP2-2: Mobile Robots Control

Omnidirectional holonomic mobile robot using nonholonomic wheels (Abstract)

Y. Tominaga , Electron. Dev. Div., Fuji Electr. Corp. Res. & Dev. Ltd., Tokyo, Japan
S. Mori , Electron. Dev. Div., Fuji Electr. Corp. Res. & Dev. Ltd., Tokyo, Japan
M. Wada , Electron. Dev. Div., Fuji Electr. Corp. Res. & Dev. Ltd., Tokyo, Japan
pp. 3446

Wheel servo control based on feedforward compensation for an autonomous mobile robot (Abstract)

K.C. Koh , LG Ind. Syst., Kyongki, South Korea
H.S. Cho , LG Ind. Syst., Kyongki, South Korea
pp. 3454

Stability analysis of mobile robot path tracking (Abstract)

G. Heredia , Dept. Ingenieria de Sistemas y Automatica, Seville Univ., Spain
A. Ollero , Dept. Ingenieria de Sistemas y Automatica, Seville Univ., Spain
pp. 3461

Manipulator motion planning for stabilizing a mobile-manipulator (Abstract)

Qiang Huang , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
S. Sugano , Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
pp. 3467

Performance comparison of various control strategies for a mobile manipulator (Abstract)

A. Liegeois , CEMAGREF, Montpellier, France
F. Sevila , CEMAGREF, Montpellier, France
P. Thompson , CEMAGREF, Montpellier, France
F. Pierrot , CEMAGREF, Montpellier, France
G. Rabatel , CEMAGREF, Montpellier, France
pp. 3473

Approximate dynamic decoupling of multilimbed robotic systems (Abstract)

K. Kreutz-Delgado , Dept. of Electr. & Comput. Eng., California Univ., San Diego, La Jolla, CA, USA
D. Agahi , Dept. of Electr. & Comput. Eng., California Univ., San Diego, La Jolla, CA, USA
pp. 3480
Session WP2-3: Application of Neural Network, Fuzzy and Genetic Algorithms

Intelligent fuzzy motion control of mobile robot for service use (Abstract)

S.V. Ulyanov , Univ. of Electro-Commun., Tokyo, Japan
K. Yamafuji , Univ. of Electro-Commun., Tokyo, Japan
T. Tanaka , Univ. of Electro-Commun., Tokyo, Japan
K. Miyagawa , Univ. of Electro-Commun., Tokyo, Japan
T. Fukuda , Univ. of Electro-Commun., Tokyo, Japan
pp. 3486

Learning with a friendly interactive robot for service tasks in hospital environments (Abstract)

C. Rafflin , LIRMM, Univ. des Sci. et Tech. du Languedoc, Montpellier, France
A. Fournier , LIRMM, Univ. des Sci. et Tech. du Languedoc, Montpellier, France
pp. 3492

Detection of kinematic constraint from search motion of a robot using link weights of a neural network (Abstract)

K. Sasaki , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
M. Takano , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
H. Seki , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
pp. 3498

Global self-localization for autonomous mobile robots using self-organizing Kohonen neural networks (Abstract)

J.A. Janet , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
R.C. Luo , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
R. Gutierrez-Osuna , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
T.A. Chase , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
M. White , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
pp. 3504

A palletize-planning system for multiple kinds of loads using GA search and traditional search (Abstract)

S. Koide , Ishikawajima-Harima Heavy Ind. Co. Ltd., Japan
S. Degawa , Ishikawajima-Harima Heavy Ind. Co. Ltd., Japan
S. Suzuki , Ishikawajima-Harima Heavy Ind. Co. Ltd., Japan
pp. 3510

Behavior arbitration for autonomous mobile robots using emotion mechanisms (Abstract)

T. Mochida , Dept. of Inf. Electron., Nagoya Univ., Japan
T. Aoki , Dept. of Inf. Electron., Nagoya Univ., Japan
Y. Uchikawa , Dept. of Inf. Electron., Nagoya Univ., Japan
A. Ishiguro , Dept. of Inf. Electron., Nagoya Univ., Japan
pp. 3516

Learning control algorithms for robot contact task using feedforward neural networks (Abstract)

D. Katic , Robotics Dept., Mihailo Pupin Inst., Belgrade, Yugoslavia
M. Vukobratovic , Robotics Dept., Mihailo Pupin Inst., Belgrade, Yugoslavia
pp. 3522
Session WP2-4: Collective & Cooperative Robots

Group behaviors for systems with significant dynamics (Abstract)

J.K. Hodgins , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
D.C. Brogan , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 3528

Construction mechanism of group behavior with cooperation (Abstract)

T. Fukuda , Dept. of Micro Syst. Eng., Nagoya Univ., Japan
G. Iritani , Dept. of Micro Syst. Eng., Nagoya Univ., Japan
pp. 3535

Transferring and regrasping a large object by cooperation of multiple mobile robots (Abstract)

E. Yoshida , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
T. Arai , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
N. Miyata , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
J. Sasaki , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
D. Kurabatashi , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
J. Ota , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
pp. 3543

Cooperative control of two industrial robots with force control devices (Abstract)

T. Arai , Dept. of Prec. Mech., Chuo Univ., Tokyo, Japan
H. Osumi , Dept. of Prec. Mech., Chuo Univ., Tokyo, Japan
K. Moriyama , Dept. of Prec. Mech., Chuo Univ., Tokyo, Japan
T. Fukuoka , Dept. of Prec. Mech., Chuo Univ., Tokyo, Japan
H. Torii , Dept. of Prec. Mech., Chuo Univ., Tokyo, Japan
pp. 3550

Cooperative multi-robot box-pushing (Abstract)

K.T. Simsarin , Dept. of Comput. Sci., Brandeis Univ., Waltham, MA, USA
M. Nilsson , Dept. of Comput. Sci., Brandeis Univ., Waltham, MA, USA
M.J. Mataric , Dept. of Comput. Sci., Brandeis Univ., Waltham, MA, USA
pp. 3556

A pusher/steerer model for strongly cooperative mobile robot manipulation (Abstract)

J.S. Jennings , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
R.G. Brown , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 3562

Correction of systematic odometry errors in mobile robots (Abstract)

Liqiang Feng , Michigan Univ., MI, USA
J. Borenstein , Michigan Univ., MI, USA
pp. 3569

Author Index (PDF)

pp. 3575
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