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Proceedings. 1988 IEEE International Conference on Robotics and Automation (1988)
Philadelphia, PA, USA
April 24, 1988 to April 29, 1988
ISBN: 0-8186-0852-8
TABLE OF CONTENTS

A multistage-approach to the dynamics and control of elastic robots (PDF)

F. Pfeiffer , Dept. of Mech. Eng., Tech. Univ., Munich, West Germany
B. Gebler , Dept. of Mech. Eng., Tech. Univ., Munich, West Germany
pp. 2-8

Control of a single-link flexible beam using a Hankel-norm-based reduced order model (PDF)

H. Krishnan , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
M. Vidyasagar , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
pp. 9-14

Dynamic modeling and optimal control of flexible robotic manipulators (PDF)

S.K. Biswas , Dept. of Electr. Eng., Temple Univ., Philadelphia, PA, USA
R.D. Klafter , Dept. of Electr. Eng., Temple Univ., Philadelphia, PA, USA
pp. 15-20

Modelling of a 5-bar-linkage manipulator with one flexible link (PDF)

D. Wang , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
M. Vidyasagar , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
pp. 21-26

An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist (PDF)

R.V. Dubey , Dept. of Mech. & Aerosp. Eng., Tennessee Univ., Knoxville, TN, USA
J.A. Euler , Dept. of Mech. & Aerosp. Eng., Tennessee Univ., Knoxville, TN, USA
pp. 28-36

A new method for the solution of the inverse kinematics of redundant robots (PDF)

C. Chevallereau , Lab. d'Autom de Nantes, France
W. Khalil , Lab. d'Autom de Nantes, France
pp. 37-42

Inverse kinematic algorithms for redundant systems (PDF)

H. Das , Man-Machine Syst. Lab., MIT, Cambridge, MA, USA
J.-E. Slotine , Man-Machine Syst. Lab., MIT, Cambridge, MA, USA
T.B. Sheridan , Man-Machine Syst. Lab., MIT, Cambridge, MA, USA
pp. 43-48

A singularities avoidance approach for the optimal local path generation of redundant manipulators (PDF)

R.V. Mayorga , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
A.K.C. Wong , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
pp. 49-54

Bounded deviation trajectory interpolation for robot manipulators (PDF)

B. Paden , Dept. of Mech. & Environ. Eng., California Univ., Santa Barbara, CA, USA
K. Sullivan , Dept. of Mech. & Environ. Eng., California Univ., Santa Barbara, CA, USA
pp. 56-61

On-line Cartesian path trajectory planning for robot manipulators (PDF)

Y. Chang , Chung-Cheng Inst. Tech., Tao-Yung, Taiwan
pp. 62-67

Cartesian trajectory planning for 3-DOF spherical wrists (PDF)

J. Angeles , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
R. Akhras , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
pp. 68-74

Least cost paths with algebraic cost functions. Part 1 (PDF)

Y. Kanayama , Dept. of Comput. Sci., California Univ., Santa Barbara, CA, USA
pp. 75-80

Knowledge-based prehension: capturing human dexterity (PDF)

T. Iberall , Sch. of Eng. & Sci., Hartford Graduate Center, CT, USA
J. Jackson , Sch. of Eng. & Sci., Hartford Graduate Center, CT, USA
L. Labbe , Sch. of Eng. & Sci., Hartford Graduate Center, CT, USA
R. Zampano , Sch. of Eng. & Sci., Hartford Graduate Center, CT, USA
pp. 82-87

Grasp acquisition using liftability regions (PDF)

J.C. Trinkle , Dept. of Mech. Eng., Wollongong Univ., NSW, Australia
pp. 88-93

Chopstick manipulation with an articulated hand-a qualitative analysis (PDF)

G. Wang , Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA, USA
H.E. Stephanou , Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA, USA
pp. 94-99

On the stability of grasping: three fingers and a planar polygon (PDF)

C.M. Bastuscheck , Courant Inst., New York Univ., NY, USA
pp. 100-102

The sliding of robot fingers under combined torsion and shear loading (PDF)

R.D. Howe , Mech. Eng. Dept., Stanford Univ., CA, USA
I. Kao , Mech. Eng. Dept., Stanford Univ., CA, USA
M.R. Cutkosky , Mech. Eng. Dept., Stanford Univ., CA, USA
pp. 103-105

End effector actuation with a solid state motor (PDF)

J.S. Schoenwald , Rockwell Int. Corp., Fullerton, CA, USA
P.M. Beckham , Rockwell Int. Corp., Fullerton, CA, USA
P.M. Rattner , Rockwell Int. Corp., Fullerton, CA, USA
B. Vanderlip , Rockwell Int. Corp., Fullerton, CA, USA
pp. 108-113

Force distribution in closed kinematic chains (PDF)

V. Kumar , Dept of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
pp. 114-119

The dynamic RCC hand for high-speed assembly (PDF)

H. Asada , Dept. of Appl. Syst. Sci., Kyoto Univ., Japan
Y. Kakumoto , Dept. of Appl. Syst. Sci., Kyoto Univ., Japan
pp. 120-125

High bandwidth force regulation and inertia reduction using a macro/micro manipulator system (PDF)

A. Sharon , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
N. Hogan , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
D.E. Hardt , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 126-132

Neutral networks for tactile perception (PDF)

Y.C. Pati , Syst. Res. Center, Maryland Univ., College Park, MD, USA
pp. 134-139

Neuromorphic architectures for fast adaptive robot control (PDF)

A. Guez , Drexel Univ., Philadelphia, PA, USA
J. Eilbert , Drexel Univ., Philadelphia, PA, USA
M. Kam , Drexel Univ., Philadelphia, PA, USA
pp. 145-149

Dynamic control of robots with joint elasticity (PDF)

A. De Luca , Dipartmento di Inf. e Sistemistica, Roma Univ., Italy
pp. 152-158

Robust control of a flexible manipulator arm (PDF)

V.V. Korolov , Div. of Eng. Technol., Wayne State Univ., Detroit, MI, USA
pp. 159-164

Modeling robot flexibility for endpoint force control (PDF)

S.D. Eppinger , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
W.P. Seering , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 165-170

Optimal control of a single link flexible manipulator (PDF)

S. Pal , Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA, USA
H.E. Stephanou , Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA, USA
G. Cook , Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA, USA
pp. 171-175

Feasibility evaluation of dynamically linearized kinematically redundant planar manipulators (PDF)

R.S. Gompertz , California Univ., Los Angeles, CA, USA
D.C.H. Yang , California Univ., Los Angeles, CA, USA
pp. 178-182

Dynamic control of redundant manipulators (Abstract)

P. Hsu , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
J. Hauser , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
S. Sastry , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 183-187 vol.1

Aggressive trajectory generator for a robotic ping-pong player (PDF)

R.L. Andersson , AT&T Bell Lab., Holmdel, NJ, USA
pp. 188-193

Dynamics and control for redundant robots (PDF)

Y.-L. Gu , Sch. of Eng. & Comput. Sci., Oakland Univ., Rochester, MI, USA
pp. 194-199

Optimal trajectory planning for planar n-link revolute manipulators in the presence of obstacles (PDF)

Y.-C. Chen , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
M. Vidyasagar , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
pp. 202-208

On-line generation of collision-free trajectories for multiple robots (PDF)

Y.P. Chien , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
A.J. Koivo , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 209-214

A probabilistic approach to collision-free robot path planning (PDF)

S. Jun , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
K.G. Shin , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
pp. 220-225

Kinematics and control of multifingered hands with rolling contact (PDF)

A. Cole , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
J. Hauser , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
S. Sastry , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 228-233

Inverse kinematics for a multifingered hand (PDF)

T. Koehler , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
M. Donath , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 234-239

Modelling the manipulation of rigid objects as a singular system (PDF)

R.C. Hui , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 240-244

Enhancing the dexterity of a robot hand using controlled slip (PDF)

D.L. Brock , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 249-251

Preliminary design of a whole-arm manipulation system (WAMS) (PDF)

K. Salisbury , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
W. Townsend , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
B. Ebrman , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 254-260

A magnetically levitated fine motion wrist: kinematics, dynamics and control (PDF)

S. Salcudean , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
R.L. Hollis , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 261-266

Development of a spherical stepper wrist motor (PDF)

K.-M. Lee , George Inst. of Technol., Atlanta, GA, USA
G. Vachtsevanos , George Inst. of Technol., Atlanta, GA, USA
C. Kwan , George Inst. of Technol., Atlanta, GA, USA
pp. 267-272

Algorithms for design and motion synthesis of a planar closed-loop robot (PDF)

A.H. Shirkhodaie , Dept. of Mech. Eng., Cincinnati Univ., OH, USA
A.H. Soni , Dept. of Mech. Eng., Cincinnati Univ., OH, USA
pp. 273-275

Design of compliance in robots (PDF)

G.B. Andeen , SRI Int., Menlo Park, CA, USA
R. Kombluh , SRI Int., Menlo Park, CA, USA
pp. 276-281

SPARTA: multiple signal processors for high-performance robotic control (PDF)

J. Ish-halom , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 284-290

A comparative analysis of the hardware requirements for the Lagrange-Euler and Newton-Euler dynamics formulations (PDF)

P.K. Khosla , Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
S. Ramos , Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 291-296

Residue arithmetic VLSI array architecture for manipulator pseudo-inverse Jacobian computation (PDF)

P.R. Chang , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
C.S.G. Lee , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 297-302

Perturbation methods in control of flexible link manipulators (PDF)

F. Khorrami , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
U. Ozguner , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 310-315

Computed torque for the position control of open-chain flexible robots (PDF)

E. Bayo , Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA
pp. 316-321

Acceleration feedback control for a flexible manipulator arm (PDF)

P.T. Kotnik , Battelle Memorial Inst., Columbus, OH, USA
pp. 322-323

Robust control and parameter estimation of robots with flexible joints (PDF)

C.C. De Wit , CNRS, St. Martin d'Heres, France
O. Lys , CNRS, St. Martin d'Heres, France
pp. 324-329

Dynamic coordination of dual-arm robotic systems with joint flexibility (PDF)

S. Ahmad , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
H. Guo , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 332-337

On the asymptotic stability of the hybrid position/force control scheme for robot manipulators (PDF)

T. Yabuta , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
A.J. Chona , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
G. Beni , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
pp. 338-343

Optimal load distribution for two industrial robots handling a single object (PDF)

Y.F. Zheng , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
J.Y.S. Luh , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
pp. 344-349

A symmetric hybrid position/force control scheme for the coordination of two robots (PDF)

M. Uchiyama , Dept. of Precision Eng., Tohoku Univ., Sendai, Japan
pp. 350-356

Near minimum-time control of robotic manipulator with obstacles in the workspace (PDF)

A.H. Eltimsahy , Dept. of Electr. Eng., Toledo Univ., OH, USA
W.S. Yang , Dept. of Electr. Eng., Toledo Univ., OH, USA
pp. 358-363

Minimum jerk path generation (PDF)

K.J. Kyriakopoulos , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
G.N. Saridis , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 364-369

Global time optimal motions of robotic manipulators in the presence of obstacles (PDF)

Z. Shiller , Dept. of Mech. Aerosp. & Nucl. Eng., California Univ., Los Angeles, CA, USA
pp. 370-375

Trajectory generation for manipulators using linear quadratic optimal tracking (PDF)

O. Egeland , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
E. Lunde , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
pp. 376-381

On grasping and coordinated manipulation by a multifingered robot hand (PDF)

P. Hsu , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Z. Li , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
S. Sastry , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 384-389

Theoretical and experimental studies using a multifinger planar manipulator (PDF)

J. Demmel , Courant Inst., New York Univ., NY, USA
G. Lafferriere , Courant Inst., New York Univ., NY, USA
J. Schwartz , Courant Inst., New York Univ., NY, USA
M. Sharir , Courant Inst., New York Univ., NY, USA
pp. 390-395

Automatic discovery of robotic grasp configurations (PDF)

G.B. Dunn , AT&T Bell Lab., Holmdel, NJ, USA
J. Segen , AT&T Bell Lab., Holmdel, NJ, USA
pp. 396-401

Analysis of a two-fingered manufacturing robotic hand for fine automation processes (PDF)

M. Shahinpoor , Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
A. Tootoonchi , Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
pp. 402-406

Robot hand-eye coordination: shape description and grasping (PDF)

K. Rao , Dept. of Electr. Eng. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
G. Medioni , Dept. of Electr. Eng. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
H. Liu , Dept. of Electr. Eng. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
G.A. Bekey , Dept. of Electr. Eng. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
pp. 407-411

The mechanical efficiency and kinematics of pantograph type manipulators (PDF)

S.-M. Song , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
J.-K. Lee , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
pp. 414-420

Minimization of energy in quasistatic manipulation (PDF)

M.A. Peshkin , Robotics Inst., Carnegie-Mellon Inst., Pittsburgh, PA, USA
A.C. Sanderson , Robotics Inst., Carnegie-Mellon Inst., Pittsburgh, PA, USA
pp. 421-426

Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope (PDF)

K. Ikuta , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
pp. 427-430

Electrostatic grippers for fabric handling (PDF)

P.M. Taylor , Dept. of Electron. Eng., Hull Univ., UK
G.J. Monkman , Dept. of Electron. Eng., Hull Univ., UK
G.E. Taylor , Dept. of Electron. Eng., Hull Univ., UK
pp. 431-433

A medium-complexity compliant end effector (PDF)

N. Ulrich , Pennsylvania Univ., Philadelphia, PA, USA
R. Paul , Pennsylvania Univ., Philadelphia, PA, USA
R. Bajcsy , Pennsylvania Univ., Philadelphia, PA, USA
pp. 434-436

The GEC Tetrabot-a new serial-parallel assembly robot (PDF)

G.S. Thornton , GEC Marconi Res. Centre, Chelmsford, UK
pp. 437-439

A new architecture for direct drive robots (PDF)

H. Kazerooni , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
S. Kim , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 442-445

Condor: a revised architecture for controlling the Utah-MIT hand (PDF)

S. Narasimhan , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
D.M. Siegel , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
J.M. Hollerbach , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 446-449

Networking for real-time control of integrated manufacturing processes (PDF)

A. Ray , Dept. of Mech. Eng., Pennsylvania State Univ., University Park, PA, USA
A. Ayyagari , Dept. of Mech. Eng., Pennsylvania State Univ., University Park, PA, USA
pp. 450-452

Computer architecture design for robotics (PDF)

S.S. Leung , Dept. of Electr. Eng., Michigan State Univ., East Lansing, MI, USA
M.A. Shanblatt , Dept. of Electr. Eng., Michigan State Univ., East Lansing, MI, USA
pp. 453-456

R-shell: a UNIX-based development environment for robotics (PDF)

M.I. Vuskovic , Dept. of Math. Sci., San Diego State Univ., CA, USA
pp. 457-460

A conceptual framework for designing robotic computational hardware with ASIC technology (PDF)

S.S. Leung , Dept. of Electr. Eng., Michigan State Univ., East Lansing, MI, USA
M.A. Shanblatt , Dept. of Electr. Eng., Michigan State Univ., East Lansing, MI, USA
pp. 461-464

Extending the RCCL programming environment to multiple robots and processors (PDF)

J. Lloyd , Res. Center for Intelligent Machines, McGill Univ., Que., Canada
M. Parker , Res. Center for Intelligent Machines, McGill Univ., Que., Canada
pp. 465-469

Design and simulation of RIPS: an advanced robot control system (PDF)

S. Butner , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
Y. Wang , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
A. Mangaser , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
S. Jordan , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
pp. 470-474

Dynamic model of a one-link robot manipulator with both structural and joint flexibility (PDF)

G.-B. Yang , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
M. Donath , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 476-481

Deflection prediction for serial manipulators (PDF)

D.A. Fresonke , AT&T Bell Lab., Orlando, FL, USA
pp. 482-487

Dynamic modeling and payload-adaptive control of a flexible manipulator (PDF)

C.H. Menq , Dept. of Mech. Eng., Ohio State Univ., Columbus, OH, USA
J.-S. Chen , Dept. of Mech. Eng., Ohio State Univ., Columbus, OH, USA
pp. 488-493

Simulation of a high-speed lightweight arm (PDF)

K. Oosting , Arthur Anderson & Co., Chicago, IL, USA
pp. 494-496

Adaptive load-sharing force control for two-arm manipulators (PDF)

M.E. Pittelkau , Center for Manuf. Res. & Technol. Utilization, Tennessee Technol. Univ., Cookeville, TN, USA
pp. 498-503

Coordination of dual robot arms using kinematic redundancy (PDF)

I.H. Suh , Dept. of Electron. Eng., Hanyang Univ., Seoul, South Korea
pp. 504-509

Compliance control and unstructured modeling of cooperating robots (PDF)

H. Kazerooni , Dept. of Mech. Eng., Minnesota, Univ., Minneapolis, MN, USA
T.I. Tsay , Dept. of Mech. Eng., Minnesota, Univ., Minneapolis, MN, USA
pp. 510-515

An approach to controlling multi-arm robotic manipulation of a single body (PDF)

F.L. Swern , Dept. of Mech. Eng., Stevens Inst. of Technol., Hoboken, NJ, USA
S.J. Tricamo , Dept. of Mech. Eng., Stevens Inst. of Technol., Hoboken, NJ, USA
pp. 516-521

On the inconsistency of rigid-body frictional planar mechanics (PDF)

M.T. Mason , Carnegie-Mellon Univ., Pittsburgh, PA, USA
Y. Wang , Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 524-528

Motion planning for an autonomous vehicle (PDF)

G.T. Wilfong , AT&T Bell Lab., Murray Hill, NJ, USA
pp. 529-533

On the computer control of movement (PDF)

R.W. Brockett , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
pp. 534-540

Point-to-point motion control of two-arm manipulators (PDF)

E. Tabarah , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
B. Benhabib , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
G. Zak , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 541-546

Adaptive control of cooperating sensors: focus and stereo ranging with an agile camera system (PDF)

E. Krotkov , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
pp. 548-553

Real time versatile robotics hand/eye calibration using 3D machine vision (PDF)

R.Y. Tsai , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
R.K. Lenz , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 554-561

An adaptive robotic tracking system using optical flow (PDF)

R.C. Luo , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
R.E. Mullen , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
D.E. Wessell , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
pp. 568-573

Telerobotic operation of conventional robot manipulators (PDF)

P.T. Boissiere , New Mexico Univ., Albuquerque, NM, USA
pp. 576-583

Computer aided teleoperation: from arm to vehicle control (PDF)

G. Clement , CEA-CEN/FAR, Fontenay-aux-Roses, France
R. Fournier , CEA-CEN/FAR, Fontenay-aux-Roses, France
P. Gravez , CEA-CEN/FAR, Fontenay-aux-Roses, France
J. Morillon , CEA-CEN/FAR, Fontenay-aux-Roses, France
pp. 590-592

Cooperative control in telerobotics (PDF)

L.W. Stark , Telerobotics Unit, California Univ., Berkeley, CA, USA
W.S. Kim , Telerobotics Unit, California Univ., Berkeley, CA, USA
F. Tendick , Telerobotics Unit, California Univ., Berkeley, CA, USA
pp. 593-595

The Karlsruhe autonomous mobile assembly robot (PDF)

I.U. Rembold , Inst. for Realtime Comput. Syst. & Robotics, Karlsruhe Univ., West Germany
pp. 598-603

A report on the NATO workshop on mobile robot implementation (PDF)

S.Y. Harmon , Robot Intelligence Int., San Diego, CA, USA
pp. 604-610

MIT mobile robots-what's next? (PDF)

A.M. Flynn , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
R.A. Brooks , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 611-617

Overview of the multiple autonomous underwater vehicles (MAUV) project (PDF)

M. Herman , NBS, Gaithersburg, MD, USA
J.S. Albus , NBS, Gaithersburg, MD, USA
pp. 618-620

The development of an intelligent nuclear maintenance robot (PDF)

R.C. Mann , Oak Ridge Nat. Lab., TN, USA
W.R. Hamel , Oak Ridge Nat. Lab., TN, USA
C.R. Weisbin , Oak Ridge Nat. Lab., TN, USA
pp. 621-623

An algorithm to compute the reachable workspace for 2R and 3R planar pair mechanical arms (PDF)

L. Sciavicco , Dept. of Inf. & Syst., Naples Univ., Italy
B. Siciliano , Dept. of Inf. & Syst., Naples Univ., Italy
pp. 628-629

A flexible high performance robot arm controller (PDF)

M. Kabuka , Dept. of Electr. & Comput. Eng., Miami Univ., Coral Galbes, FL, USA
P. Glaskowski , Dept. of Electr. & Comput. Eng., Miami Univ., Coral Galbes, FL, USA
J. Miranda , Dept. of Electr. & Comput. Eng., Miami Univ., Coral Galbes, FL, USA
pp. 630-632

Motion planning in constraint space (PDF)

K.L. Muck , Dept. of Mech. Eng., Imperial Coll., London, UK
pp. 633-635

Cartesian stiffness control of the JPL/Stanford/Salisbury hand (PDF)

G.P. Starr , Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
pp. 636-637

Collision detection for planning collision-free motion of two robot arms (PDF)

R.A. Basta , Comput. Sci. & Eng. Dept., South Florida Univ., Tampa, FL, USA
R. Mehrotra , Comput. Sci. & Eng. Dept., South Florida Univ., Tampa, FL, USA
M.R. Varanasi , Comput. Sci. & Eng. Dept., South Florida Univ., Tampa, FL, USA
pp. 638-640

Nonplanar curve and surface estimation in 3-space (PDF)

G. Taubin , Brown Univ., Providence, RI, USA
pp. 644-645

Obstacle avoidance path planning of a manipulator (PDF)

K. Xia , Autom. Dept., Tsing-hua Univ., Beijing, China
S. Jiang , Autom. Dept., Tsing-hua Univ., Beijing, China
L. Lu , Autom. Dept., Tsing-hua Univ., Beijing, China
pp. 646-647

Path planning using a potential field representation (PDF)

Y.K. Hwang , Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
N. Ahuja , Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
pp. 648-649

Time optimal navigation via slack time sets (PDF)

S.C. Zaharakis , Dept. of Electr. Eng., Drexel Univ., Philadelphia, PA, USA
A. Guez , Dept. of Electr. Eng., Drexel Univ., Philadelphia, PA, USA
pp. 650-651

The design of an assembly cell task supervisor (PDF)

M.C. Moed , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
R.B. Kelley , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 652-653

Quaternions approach to solve the kinematic equation of rotation, A/sub a/A/sub x/=A/sub x/A/sub b/, of a sensor-mounted robotic manipulator (PDF)

J.C.K. Chou , Inst. of Comput. Res., Waterloo Univ., Ont., Canada
M. Kamel , Inst. of Comput. Res., Waterloo Univ., Ont., Canada
pp. 656-662

Automatic generation of kinematics for a reconfigurable modular manipulator system (PDF)

L. Kelmar , Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
P.K. Khosla , Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 663-668

Manipulator inverse kinematics based on joint functions (PDF)

J.K. Poon , Dept. of Electr. Eng., British Columbia Univ., BC, Canada
P.D. Lawrence , Dept. of Electr. Eng., British Columbia Univ., BC, Canada
pp. 669-674

A discrete-time robotic command generator (PDF)

S.D. Hill , Dept. of Electr. Eng., Rhode Island Univ., Kingston, RI, USA
R.J. Vaccaro , Dept. of Electr. Eng., Rhode Island Univ., Kingston, RI, USA
pp. 675-680

An efficient algorithm for the adaptive control of a manipulator (PDF)

M.W. Walker , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
pp. 682-690

Automatic parameter tuning and its implementation for robot arms (PDF)

Y. Chen , Gen. Motors Res. Lab., Warren, MI, USA
pp. 691-698

Adaptive control of robot manipulators: an input-output approach (PDF)

R. Kelly , Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
pp. 699-703

Indirect adaptive robot control (PDF)

W. Li , Nonlinear Syst. Lab., MIT, Cambridge, MA, USA
J.-J.E. Slotine , Nonlinear Syst. Lab., MIT, Cambridge, MA, USA
pp. 704-709

A control paradigm for general purpose manipulation systems (PDF)

R.A. Grupen , Dept. of Comput. Sci., Utah Univ., Salt Lake City, UT, USA
T.C. Henderson , Dept. of Comput. Sci., Utah Univ., Salt Lake City, UT, USA
pp. 710-715

Autonomous cross-country navigation with the ALV (PDF)

M. Daily , Hughes Artificial Intelligence Center, Calabasas, CA, USA
J. Harris , Hughes Artificial Intelligence Center, Calabasas, CA, USA
D. Keirsey , Hughes Artificial Intelligence Center, Calabasas, CA, USA
D. Olin , Hughes Artificial Intelligence Center, Calabasas, CA, USA
D. Payton , Hughes Artificial Intelligence Center, Calabasas, CA, USA
K. Reiser , Hughes Artificial Intelligence Center, Calabasas, CA, USA
J. Rosenblatt , Hughes Artificial Intelligence Center, Calabasas, CA, USA
D. Tseng , Hughes Artificial Intelligence Center, Calabasas, CA, USA
V. Wong , Hughes Artificial Intelligence Center, Calabasas, CA, USA
pp. 718-726

Integration of sonar and stereo range data using a grid-based representation (PDF)

L. Matthies , Carnegie-Mellon Univ., Pittsburgh, PA, USA
A. Elfes , Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 727-733

A paradigm for incorporating vision in the robot navigation function (PDF)

V. Lumelsky , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
T. Skewis , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 734-739

Motion planning for robot arm manipulators with proximity sensing (PDF)

E. Cheung , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
V. Lumelsky , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 740-745

Generic models for robot navigation (PDF)

D.J. Kriegman , Dept. of Comput. Sci., Stanford Univ., CA, USA
T.O. Binford , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 746-751

Experimental investigation of a tactile sensor based on bending losses in fiber optics (PDF)

J.G. Winger , Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
K.-M. Lee , Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 754-759

A compact high resolution piezoresistive digital tactile sensor (PDF)

B. Tise , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 760-764

Using a cylindrical tactile sensor for determining curvature (PDF)

R.S. Fearing , Dept. of Comput. Sci., Stanford Univ., CA, USA
T.O. Binford , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 765-771

Design of robot accuracy compensator after calibration (PDF)

C.-H. Wu , Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA
J. Ho , Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA
K.-Y. Young , Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA
pp. 780-785

Calibration procedure for an industrial robot (PDF)

B.W. Mooring , Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
pp. 786-791

Kinematic calibration of manipulators with closed loop actuated joints (PDF)

L.J. Everett , Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
C.Y. Lin , Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
pp. 792-797

A study of kinematic models for forward calibration of manipulators (PDF)

L.J. Everett , Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
A.H. Suryohadiprojo , Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
pp. 798-800

Fully automated obstacle-crossing gaits for walking machines (PDF)

B.S. Choi , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
S.-M. Song , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
pp. 802-807

Reflex control of the prototype leg during contact and slippage (PDF)

H.C. Wong , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
D.E. Orin , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 808-813

A motion control scheme for a biped robot to climb sloping surfaces (PDF)

Y.F. Zheng , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
J. Shen , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
F.R. Sias , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
pp. 814-816

Analysis of a simplified hopping robot (PDF)

M. Buhler , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
D.E. Koditschek , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 817-819

Trajectory planning and control of a 3-link biped robot (PDF)

T.-T. Lee , Dept. of Electr. Eng., Kentucky Univ., Lexington, KY, USA
pp. 820-823

Legged robots on rough terrain: experiments in adjusting step length (PDF)

J. Hodgins , Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 824-826

Kinematic characterization of manipulators: an approach to defining optimality (PDF)

S.L. Chiu , Rockwell Int. Sci. Center, Thousand Oaks, CA, USA
pp. 828-833

General inverse kinematics with the error damped pseudoinverse (PDF)

S.K. Chan , Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
P.D. Lawrence , Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
pp. 834-839

Analysis of kinematic singularities for robot manipulators in Cartesian coordinate parameters (PDF)

S. Ahmad , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
S. Luo , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 840-845

Adaptive independent joint control of manipulators: theory and experiment (PDF)

H. Seraji , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 854-861

Adaptive learning control for robots (PDF)

F. Pourboghrat , Dept. of Electr. Eng., Southern Illinois Univ., Carbondale, IL, USA
pp. 862-866

A new adaptive control algorithm of robot manipulators (PDF)

Z. Feng , Syst. Eng. Inst., Xi'an Jiaotong Univ., China
B. Hu , Syst. Eng. Inst., Xi'an Jiaotong Univ., China
pp. 867-872

Analysis of orientation representations by Lie algebra in robotics (PDF)

Y.L. Gu , Sch. of Eng. & Comput. Sci., Oakland Univ., Rochester, MI, USA
pp. 874-879

ROBMOD: a geometry engine for robotics (PDF)

S. Cameron , Dept. of Eng. Sci., Oxford Univ., UK
J. Aylett , Dept. of Eng. Sci., Oxford Univ., UK
pp. 880-885

A comparison of transforms and quaternions in robotics (PDF)

J. Funda , Pennsylvania Univ., Philadelphia, PA, USA
R.P. Paul , Pennsylvania Univ., Philadelphia, PA, USA
pp. 886-891

Planning multistep error detection and recovery strategies (PDF)

B.R. Donald , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 892-897

Model-based synthesis of sensor location (PDF)

C.K. Cowan , SRI Int., Menlo Park, CA, USA
pp. 900-905

Bayesian estimation of 3D surfaces from a sequence of images (PDF)

Y.-P. Hung , Div. of Eng., Brown Univ., Providence, RI, USA
pp. 906-911

Building a 3D world model for mobile robot from sensory data (PDF)

M. Asada , Center for Autom. Res., Maryland Univ., College Park, MD, USA
pp. 918-923

Statistical measure and characterization of robot errors (PDF)

C.-H. Menq , Dept. of Mech. Eng., Ohio State Univ., Columbus, OH, USA
J.-H. Borm , Dept. of Mech. Eng., Ohio State Univ., Columbus, OH, USA
pp. 926-931

Basic considerations for robot calibration (PDF)

J. Ziegert , Mech. Eng. & Appl. Mech., Rhode Island Univ., Kingston, RI, USA
pp. 932-938

Statistical performance evaluation of the S-model arm signature identification technique (PDF)

H.W. Stone , Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
A.C. Sanderson , Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 939-946

Robot geometry calibration (PDF)

S. Hayati , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
K. Tso , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
G. Roston , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 947-951

Calibration of theodolites (PDF)

J.F. Jarvis , AT&T Bell Lab., Holmdel, NJ, USA
pp. 952-954

Oscillation damped movement of suspended objects (PDF)

J.F. Jones , Sandia Nat. Lab., Albuquerque, NM, USA
B.J. Petterson , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 956-962

Coordinated motion control of multiple robotic devices for welding and redundancy coordination through constrained optimization in Cartesian space (PDF)

S. Ahmad , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
S. Luo , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 963-968

Multiprocessing control of robotic systems (PDF)

F. Naghdy , Dept. of Electr. & Electron. Eng., Portsmouth Polytech., UK
C.K. Wai , Dept. of Electr. & Electron. Eng., Portsmouth Polytech., UK
G. Naghdy , Dept. of Electr. & Electron. Eng., Portsmouth Polytech., UK
pp. 975-977

Blanche: an autonomous robot vehicle for structured environments (PDF)

J.J. Cox , AT&T Bell Lab., Murray Hill, NJ, USA
pp. 978-982

A survey of legs of insects and spiders from a kinematic perspective (PDF)

E.F. Fitcher , Oregan State Univ., Corvallis, OR, USA
B.L. Fichter , Oregan State Univ., Corvallis, OR, USA
pp. 984-986

Solving for manipulator joint rates in singular positions (PDF)

Z.S. Tumeh , Sch. of Electr. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
C.O. Alford , Sch. of Electr. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 987-992

Symbolic computation of robot manipulator kinematics (PDF)

L.G. Herrera-Bendezu , Dept. of Electr. Eng., Pittsburgh Univ., PA, USA
E. Mu , Dept. of Electr. Eng., Pittsburgh Univ., PA, USA
J.T. Cain , Dept. of Electr. Eng., Pittsburgh Univ., PA, USA
pp. 993-998

Efficient Jacobian inversion for the control of simple robot manipulators (PDF)

A. Fijany , Jet Propulsion Lab., California Inst. of Technol., CA, USA
A.K. Bejczy , Jet Propulsion Lab., California Inst. of Technol., CA, USA
pp. 999-1007

Robust control of unconstrained maneuver and collision for a robot manipulator with bounded parameter uncertainty (PDF)

L. Cai , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 1010-1015

Decentralized adaptive control (robot) (PDF)

B.J. Oh , Dept. of Electr. & Comput. Eng., New Mexico Univ., Albuquerque, NM, USA
M. Jamshidi , Dept. of Electr. & Comput. Eng., New Mexico Univ., Albuquerque, NM, USA
pp. 1016-1021

Decentralized adaptive control experiments with the PUMA robot arm (PDF)

D.T. Gavel , Robotics Res. Lab., California Univ., Davis, CA, USA
T.C. Hsia , Robotics Res. Lab., California Univ., Davis, CA, USA
pp. 1022-1027

Synthesis of adaptive controllers for robot manipulators using a passive feedback systems approach (PDF)

I.D. Landau , Lab. d' Autom. de Grenoble, ENSIEG, St. Martin D'Heres, France
pp. 1028-1033

On the spatial motion of a rigid body with line contact (PDF)

C. Cai , Dept. of Mech. Eng., Stanford Univ., CA, USA
B. Roth , Dept. of Mech. Eng., Stanford Univ., CA, USA
pp. 1036-1041

Robust stability design framework for robot manipulator control (PDF)

W.M. Grimm , Duisburg Univ., West Germany
N. Becker , Duisburg Univ., West Germany
P.M. Frank , Duisburg Univ., West Germany
pp. 1042-1047

Dynamics based control of vertically articulated manipulators (PDF)

M.B. Leahy , Dept. of Electr. & Comput. Eng., US Air Force Inst. of Technol., OH, USA
pp. 1048-1053

Minimum ratio-locked profile times for robot trajectories (PDF)

W.D. Fisher , Hewlett-Packard Lab., Palo Alto, CA, USA
M.S. Mujtaba , Hewlett-Packard Lab., Palo Alto, CA, USA
pp. 1054-1060

Touch and motion (tactile sensor) (PDF)

A. Cameron , Dept. of Eng. Sci., Oxford Univ., UK
R. Daniel , Dept. of Eng. Sci., Oxford Univ., UK
H. Durrant-Whyte , Dept. of Eng. Sci., Oxford Univ., UK
pp. 1062-1067

Planning sensing strategies in a robot work cell with multi-sensor capabilities (PDF)

S.A. Hutchinson , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
R.L. Cromwell , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
A.C. Kak , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1068-1075

Robot multi-sensor fusion and integration: optimum estimation of fused sensor data (PDF)

R.C. Luo , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
M.-H. Lin , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
pp. 1076-1081

A general framework for robot hand-eye coordination (PDF)

P. Liang , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
J. Feng , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
S. Hackwood , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
pp. 1082-1087

Representing generic objects for exploration and recognition (PDF)

S.A. Stansfield , Grasp Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 1090-1095

Using characteristic invariants to infer new spatial relationships from old (PDF)

R. Popplestone , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
R. Weiss , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
Y. Liu , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
pp. 1107-1112

Real time control of multilevel manufacturing systems using colored Petri nets (PDF)

E. Kasturia , Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
F. DiCesare , Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
A. Desrochers , Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1114-1119

A hierarchical knowledge-based/analytical approach to fault-tolerant control in flexible manufacturing (PDF)

A. Villa , Dipartimento Tecnologia e Sistemi di Produzione, Politecnico di Torino, Italy
pp. 1120-1125

Building expert system for diagnosis and maintenance in FMS (PDF)

V.R. Milacic , Dept. of Production Eng., Beograd Univ., Yugoslavia
V.D. Majstorovic , Dept. of Production Eng., Beograd Univ., Yugoslavia
I.Z. Race , Dept. of Production Eng., Beograd Univ., Yugoslavia
pp. 1126-1129

Optimal control rules for scheduling job shops (PDF)

S.X.C. Lou , MIT, Cambridge, MA, USA
pp. 1130-1132

A control structure for multi-tasking workstations (PDF)

R.J. Norcross , NBS, Gaithersburg, MD, USA
pp. 1133-1135

Non-kinematic errors in robot manipulators (PDF)

H. Zhang , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
R.P. Paul , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
pp. 1138-1139

A parallel solution to robot inverse kinematics (PDF)

H. Zhang , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
R.P. Paul , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
pp. 1140-1145

Efficient scheduling algorithms for robot inverse dynamics computation on a multiprocessor system (PDF)

C.L. Chen , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
C.S.G. Lee , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
E.S.H. Hou , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1146-1151

The application of bit-serial CORDIC computational units to the design of inverse kinematics processors (PDF)

R.G. Harber , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
X. Hu , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1152-1157

Efficient parallel algorithms and VLSI architectures for manipulator Jacobian computation (PDF)

T.B. Yeung , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
C.S.G. Lee , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1158-1163

Stability criteria for robot compliant maneuvers (PDF)

H. Kazerooni , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
T.I. Tsay , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 1166-1172

On position compensation and force control stability of a robot with a compliant wrist (PDF)

Y. Xu , Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
R.P. Paul , Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
pp. 1173-1178

Globally stable compliant motion control for robotic assembly (PDF)

W.E. Hamilton , Gen. Motors Res. Lab., Warren, MI, USA
pp. 1179-1184

Impedance control stability properties in common implementations (PDF)

D.A. Lawrence , Martin Marietta, Denver, CO, USA
pp. 1185-1190

A control scheme for trajectory tracking of robot manipulators (PDF)

M. Tarokh , California Space Inst., California Univ., San Diego, La Jolla, CA, USA
pp. 1192-1197

Decentralized control of robot manipulators via state and proportional-integral feedback (PDF)

F. Khorrami , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
U. Ozguner , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 1198-1203

Nonlinear robust control of robot manipulators (PDF)

S.-P.T. Wang , Intel Corp., Chandler, AZ, USA
pp. 1204-1209

Time-optimal control of two-degree of freedom robot arms (PDF)

Y. Chen , Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
A.A. Desrochers , Dept. of Electr., Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1210-1215

Landmark recognition for autonomous mobile robots (PDF)

H. Nasr , Honeywell Syst. & Res. Center, Minneapolis, MN, USA
B. Bhanu , Honeywell Syst. & Res. Center, Minneapolis, MN, USA
pp. 1218-1223

A 'retraction' method for terrain model acquisition (PDF)

N.S.V. Rao , Dept. of Comput. Sci., Louisiana State Univ., Baton Rouge, LA, USA
pp. 1224-1229

Location estimation and uncertainty analysis for mobile robots (PDF)

C.M. Wang , Gen. Motors Res. Lab., Warren, MI, USA
pp. 1231-1235

Infra-red location system for navigation of autonomous vehicles (PDF)

C.D. McGillem , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1236-1238

Robust fusion of location information (PDF)

R. McKendall , Pennsylvania Univ., Philadelphia, PA, USA
M. Mintz , Pennsylvania Univ., Philadelphia, PA, USA
pp. 1239-1244

A dynamic approach to high-precision parts mating (PDF)

S.N. Gottschlich , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
A.C. Kak , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1246-1253

A rule-based algorithm to predict the dynamic behavior of mechanical part orienting operations (PDF)

B.J. Gilmore , Dept. of Mech. Eng., Pennsylvania State Univ., University Park, PA, USA
D.A. Streit , Dept. of Mech. Eng., Pennsylvania State Univ., University Park, PA, USA
pp. 1254-1259

Design and motion constraints of part-mating planning in the presence of uncertainties (PDF)

J. Xiao , Center for Res. on Integrated Manuf., Michigan Univ., MI, USA
R.A. Voltz , Center for Res. on Integrated Manuf., Michigan Univ., MI, USA
pp. 1260-1268

The direct teaching of tool manipulation skills via the impedance identification of human motions (PDF)

H. Asada , Dept. of Appl. Syst. Sci., Kyoto Univ., Japan
Y. Asari , Dept. of Appl. Syst. Sci., Kyoto Univ., Japan
pp. 1269-1274

The analysis and optimization of repetition within robot workcell sequencing problems (PDF)

P. Freedman , McGill Res. Centre for Intelligent Machines, Montreal, Que., Canada
A. Malowany , McGill Res. Centre for Intelligent Machines, Montreal, Que., Canada
pp. 1276-1281

SROMA: an adaptive scheduler for robotic assembly systems (PDF)

X. Xia , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
G.A. Bekey , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
pp. 1281-1287

Dynamic task distribution for multiple cooperating robot manipulators (PDF)

I.D. Walker , Texas Univ., Austin, TX, USA
R.A. Freeman , Texas Univ., Austin, TX, USA
S.I. Marcus , Texas Univ., Austin, TX, USA
pp. 1288-1290

A knowledge-based system linking simulation to real-time control for manufacturing cells (PDF)

P. Rogers , Dept. of Eng., Cambridge Univ., UK
D.J. Williams , Dept. of Eng., Cambridge Univ., UK
pp. 1291-1293

Automatic process pre-planning in manufacturing environments (PDF)

M. Liou , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
P. Sheu , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1294-1296

An intelligent system for integrating process planning and design (PDF)

R.L. Kashyap , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
H.J. Smit , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
C. Tsatsoulis , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
L.K. Wiggins , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1297-1299

Solid state water vapor sensor for robotics applications (PDF)

J.S. Kim , Dept. of Metall, Eng. & Mater. Sci., Kentucky Univ., Lexington, KY, USA
P.J. Reucroft , Dept. of Metall, Eng. & Mater. Sci., Kentucky Univ., Lexington, KY, USA
pp. 1302-1303

Constraint-based interference of assembly configurations (PDF)

F. Thomas , Inst. de Cibernetica, Barcelona, Spain
C. Torras , Inst. de Cibernetica, Barcelona, Spain
pp. 1304-1305

Thermal and visual information fusion for outdoor scene perception (PDF)

N. Nandhakumar , Coll. of Eng., Texas Univ., Austin, TX, USA
J.K. Aggarwal , Coll. of Eng., Texas Univ., Austin, TX, USA
pp. 1306-1308

Task-level robot learning (PDF)

E.W. Aboaf , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
C.G. Atkeson , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
D.J. Reinkensmeyer , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 1309-1310

A new tactile sensing system (PDF)

C.S. Vaidyanathan , Dept. of Electr. Eng., Saskatchewan Univ., Sask., Canada
H.C. Wood , Dept. of Electr. Eng., Saskatchewan Univ., Sask., Canada
pp. 1311-1312

A self tuning navigation algorithm (PDF)

L.E. Banta , Dept. of Mech. & Aerosp. Eng., West Virginia Univ., Morgantown, WV, USA
pp. 1313-1314

A locomotion control method for autonomous vehicles (PDF)

Y. Kanayama , California Univ., Santa Barbara, CA, USA
A. Nilipour , California Univ., Santa Barbara, CA, USA
C.A. Lelm , California Univ., Santa Barbara, CA, USA
pp. 1315-1317

A least-commitment approach to intelligent robotic assembly (PDF)

L. Basanez , Inst. de Cibernetica, Univ. Politecnica de Catdelunyad, Barcelona, Spain
pp. 1318-1319

Real-time object determination for space robotics (PDF)

G.T. Uber , Lockheed Palo Alto Res. Lab., CA, USA
M.F. Doherty , Lockheed Palo Alto Res. Lab., CA, USA
pp. 1320-1321

A decentralised variable structure model following controller for robot manipulators (PDF)

S.R. Pandian , Dept. of Electr. Eng., Indian Inst. of Technol., New Delhi, India
M. Hanmandlu , Dept. of Electr. Eng., Indian Inst. of Technol., New Delhi, India
M. Gopal , Dept. of Electr. Eng., Indian Inst. of Technol., New Delhi, India
pp. 1324-1328

Robust independent robot joint control: design and experimentation (PDF)

T.C. Hsia , Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
T.A. Lasky , Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
Z.Y. Guo , Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
pp. 1329-1334

Discrete time repetitive control for robot manipulators (PDF)

M.C. Tsai , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
G. Anwar , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
M. Tomizuka , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
pp. 1341-1346

A Cartesian tensor approach for fast computation of manipulator dynamics (PDF)

C.A. Balafoutis , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
P. Misra , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
R.V. Patel , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
pp. 1348-1353

A computational scheme of closed link robot dynamics derived by D'Alembert principle (PDF)

Y. Nakamura , California Univ., Santa Barbara, CA, USA
M. Ghodoussi , California Univ., Santa Barbara, CA, USA
pp. 1354-1360

An alternative method for manipulator kinetic analysis-the D'Alembert method (PDF)

S.-M. Song , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
Y.J. Kin , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
pp. 1361-1366

Base parameters of manipulator dynamic models (PDF)

H. Mayeda , Dept. of Control Eng., Osaka Univ., Japan
K. Yoshida , Dept. of Control Eng., Osaka Univ., Japan
pp. 1367-1372

Model-based control of a direct drive arm. I. Building models (PDF)

C.H. An , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 1374-1379

Some experimental results on model-based control schemes (PDF)

P.K. Khosla , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 1380-1385

Model-based control of a direct drive arm. II. Control (PDF)

C.H. An , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 1386-1391

Rotation and scale invariant texture classification (PDF)

F.S. Cohen , Dept. of Electr. & Comput. Eng., Drexel Univ., Philadelphia, PA, USA
pp. 1394-1399

Matching 3-D objects using surface descriptions (PDF)

T.J. Fan , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
G. Medioni , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
R. Nevatia , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 1400-1406

On recognition of 3-D objects from 2-D images (PDF)

Y. Lamdan , Robotics Res. Lab., Courant Inst. of Math. Sci., New York, NY, USA
J.T. Schwatrtz , Robotics Res. Lab., Courant Inst. of Math. Sci., New York, NY, USA
H.J. Wolfson , Robotics Res. Lab., Courant Inst. of Math. Sci., New York, NY, USA
pp. 1407-1413

On the recognition of curved objects (PDF)

W.E.L. Grimson , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 1414-1420

Friction: experimental determination, modeling and compensation (PDF)

B. Armstrong , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 1422-1427

Controlling velocity-limited systems to reduce residual vibration (PDF)

P.H. Meckl , Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1428-1433

Using acausal shaping techniques to reduce robot vibration (PDF)

N.C. Singer , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1434-1439

Coulomb friction effects on the dynamics of bearings and transmissions in precision robot mechanisms (PDF)

A. Gogoussis , Minnesota Univ., Minneapolis, MN, USA
M. Donath , Minnesota Univ., Minneapolis, MN, USA
pp. 1440-1446

Singulation of irregular mailpieces by adaptive robotics (PDF)

B. Frederick , GE Adv. Technol. Lab., Moorestown, NJ, USA
R.M. Carrell , GE Adv. Technol. Lab., Moorestown, NJ, USA
E. Alexander , GE Adv. Technol. Lab., Moorestown, NJ, USA
G. VanSant , GE Adv. Technol. Lab., Moorestown, NJ, USA
pp. 1448-1454

A micro-manipulator vision in IC Manufacturing (PDF)

R.V. Dantu , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
N.J. Dimopoulos , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
R.V. Patel , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
A.J. Al-Khalili , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
pp. 1455-1460

A vision system for safe robot operation (PDF)

P.-S. Yeh , Martin Marietta Lab., Baltimore, MD, USA
S. Barash , Martin Marietta Lab., Baltimore, MD, USA
E. Wysocki , Martin Marietta Lab., Baltimore, MD, USA
pp. 1461-1465

Using range data for inspecting printed wiring boards (PDF)

V.V. Badami , Gen. Electr. Corp. Res. & Dev., Schenectady, NY, USA
N.R. Corby , Gen. Electr. Corp. Res. & Dev., Schenectady, NY, USA
N.H. Irwin , Gen. Electr. Corp. Res. & Dev., Schenectady, NY, USA
K.J. Overton , Gen. Electr. Corp. Res. & Dev., Schenectady, NY, USA
pp. 1466-1468

Robot runaway protection system (PDF)

B. Bennekers , Martin Marietta Manned Space Syst., New Orleans, LA, USA
H. Teal , Martin Marietta Manned Space Syst., New Orleans, LA, USA
pp. 1474-1476

Dynamic and adaptive force controllers for robotic manipulators (PDF)

M.-H. Liu , Dept. of Autom. Control, Changsha Inst. of Technol., China
W.-S. Chang , Dept. of Autom. Control, Changsha Inst. of Technol., China
L.-Q. Zhang , Dept. of Autom. Control, Changsha Inst. of Technol., China
pp. 1478-1483

Force-feedback control of parallel manipulators (PDF)

J.-P. Merlet , INRIA, Valbonne, France
pp. 1484-1489

Force control of a multi-arm robot system (PDF)

T.E. Alberts , Old Dominion Univ., Norfolk, VA, USA
pp. 1490-1496

Improved force control laws for advanced tracking applications (PDF)

J. De Schutter , Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
pp. 1497-1502

Local path control for an autonomous vehicle (PDF)

W.L. Nelson , AT&T Bell Lab., Murray Hill, NJ, USA
I.J. Cox , AT&T Bell Lab., Murray Hill, NJ, USA
pp. 1504-1510

A knowledge based control strategy for a biped (PDF)

N. Wagner , Appl. Res. Center, Portland Univ., OR, USA
M.C. Mulder , Appl. Res. Center, Portland Univ., OR, USA
M.S. Hsu , Appl. Res. Center, Portland Univ., OR, USA
pp. 1520-1524

A symbolic manipulation package for modeling of rigid or flexible manipulators (PDF)

A.P. Tzes , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
S. Yurkovich , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 1526-1531

Modelling and simulation of an industrial robot (PDF)

G. Magnani , FIAR SpA, Milan, Italy
P. Bologna , FIAR SpA, Milan, Italy
G. Rizzi , FIAR SpA, Milan, Italy
G. Lovati , FIAR SpA, Milan, Italy
pp. 1532-1538

Computer simulation of elastic chains using a recursive formulation (PDF)

I. Sharf , Inst. for Aerosp. Studies, Toronto Univ., Downsview, Ont., Canada
G.M.T. D'Eleuterio , Inst. for Aerosp. Studies, Toronto Univ., Downsview, Ont., Canada
pp. 1539-1545

Dynamic modeling of multibody robotic mechanisms: incorporating closed-chains, friction, higher-pair joints, and unactuated and unsensed joints (PDF)

P.F. Muir , Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
C.P. Neuman , Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 1546-1551

Real-time multi-spectral visual processor (PDF)

I. Masaki , Gen. Motors Res. Lab., Warren, MI, USA
pp. 1554-1559

Computing the aspect graph for line drawings of polyhedral objects (PDF)

Z. Gigus , Div. of Comput. Sci., California Univ., Berkeley, CA, USA
J. Malik , Div. of Comput. Sci., California Univ., Berkeley, CA, USA
pp. 1560-1566

Enhancements of the split-and-merge algorithm for image segmentation (PDF)

Y.-T. Liow , Dept. of Electr. Eng., State Univ. of New York, Stony Brook, NY, USA
T. Pavlidis , Dept. of Electr. Eng., State Univ. of New York, Stony Brook, NY, USA
pp. 1567-1572

On the application of a new method for fast and robust position control of industrial robots (PDF)

H.-B. Kuntze , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, West Germany
A. Jacubasch , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, West Germany
U. Hirsch , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, West Germany
pp. 1574-1580

Dynamically reconfigurable robotic system (PDF)

T. Fukuda , Dept. of Mech. Eng., Sci. Univ. of Tokyo, Japan
S. Nakagawa , Dept. of Mech. Eng., Sci. Univ. of Tokyo, Japan
pp. 1581-1586

Timix: a distributed real-time kernel for multi-sensor robots (PDF)

I. Lee , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
R. King , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
pp. 1587-1589

The unified formulation of constrained robot systems (PDF)

H.-P. Huang , Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan
pp. 1590-1592

FLAIR-robotic printed circuit board assembly workcell (PDF)

S. Liebes , Hewlett-Packard Labs., Palo Alto, CA, USA
W. Gong , Hewlett-Packard Labs., Palo Alto, CA, USA
A. Gray , Hewlett-Packard Labs., Palo Alto, CA, USA
H. Martins , Hewlett-Packard Labs., Palo Alto, CA, USA
B. Modesitt , Hewlett-Packard Labs., Palo Alto, CA, USA
R. Tella , Hewlett-Packard Labs., Palo Alto, CA, USA
pp. 1594-1600

A knowledge base network for connector assembly specifications (PDF)

W.J. McClay , Boeing Comput. Services, Seattle, WA, USA
P.J. MacVicar-Whelan , Boeing Comput. Services, Seattle, WA, USA
pp. 1601-1605

Sensors for robotic assembly (PDF)

A.E. Brennemann , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
R.L. Hollis , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
M.A. Lavin , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
B.L. Musits , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 1606-1610

Vision guided robots for automated assembly (PDF)

F.G. King , Ford Motor Co., Dearborn, MI, USA
G.V. Puskorius , Ford Motor Co., Dearborn, MI, USA
F. Yuan , Ford Motor Co., Dearborn, MI, USA
R.C. Meier , Ford Motor Co., Dearborn, MI, USA
V. Jeyabalan , Ford Motor Co., Dearborn, MI, USA
L.A. Feldkamp , Ford Motor Co., Dearborn, MI, USA
pp. 1611-1616

Robot arm force control through system linearization by nonlinear feedback (PDF)

T.J. Tarn , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
pp. 1618-1625

Implementation of force and impedance control in robot manipulators (PDF)

A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 1626-1632

Experimental comparison of master/slave and hybrid two arm position/force control (PDF)

C.D. Kopf , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
T. Yabuta , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
pp. 1633-1637

An experiment in hybrid position/force control of a six DOF revolute manipulator (PDF)

D.L. Wedel , Rensselaer Polytech. Inst., Troy, NY, USA
G.N. Saridis , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1638-1642

Planning collision-free trajectories in time-varying environments: a two-level hierarchy (PDF)

K. Kant , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
pp. 1644-1649

The visit problem: visibility graph-based solution (PDF)

N.S.V. Rao , Dept. of Comput. Sci., Louisiana State Univ., Baton Rouge, LA, USA
S.S. Iyengar , Dept. of Comput. Sci., Louisiana State Univ., Baton Rouge, LA, USA
pp. 1650-1655

A practical exact motion planning algorithm for polygonal objects amidst polygonal obstacles (PDF)

F. Avnaim , INRIA, Valbonne, France
J.D. Boissonnat , INRIA, Valbonne, France
B. Faverjon , INRIA, Valbonne, France
pp. 1656-1661

Path planning among moving obstacles using spatial indexing (PDF)

K. Fujimura , Dept. of Comput. Sci., Maryland Univ., College Park, MD, USA
H. Samet , Dept. of Comput. Sci., Maryland Univ., College Park, MD, USA
pp. 1662-1667

Modeling and control of the Merlin 6200 industrial robot (PDF)

A. El-Itaoui , Dept. of Electr. Eng., Toledo Univ., OH, USA
A. Eltimsahy , Dept. of Electr. Eng., Toledo Univ., OH, USA
pp. 1670-1675

Euler parameters in robot Cartesian control (PDF)

S.-K. Lin , Lehrstuhl fur Fertigungsautomatisierung und Produktionssyst., Erlangen-Nurnberg Univ., West Germany
pp. 1676-1681

A direct determination of minimum inertial parameters of robots (PDF)

M. Gautier , CNRS, Nantes, France
W. Khalil , CNRS, Nantes, France
pp. 1682-1687

The inverse kinematics solution, closed-form dynamics and simulation of AdeptOne robot (PDF)

P.K. Goel , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
pp. 1688-1693

A maximum likelihood approach to segmenting range data (PDF)

F.S. Cohen , Dept. of Electr. & Comput. Eng., Drexel Univ., Philadelphia, PA, USA
pp. 1696-1701

Laser triangulation range finder available under direct sunlight (PDF)

K. Yoshida , Tokyo Inst. of Technol., Japan
S. Hirose , Tokyo Inst. of Technol., Japan
pp. 1702-1708

Parameter estimation and error analysis of range data (PDF)

P.K. Acharya , Dept. of Comput. Sci., Utah Univ., Salt Lake City, UT, USA
T.C. Henderson , Dept. of Comput. Sci., Utah Univ., Salt Lake City, UT, USA
pp. 1709-1714

Toward understanding of an instruction manual in mechanical assemblies (PDF)

N. Abe , Dept. of Control Eng., Osaka Univ., Japan
T. Ishikawa , Dept. of Control Eng., Osaka Univ., Japan
S. Sako , Dept. of Control Eng., Osaka Univ., Japan
S. Tsuji , Dept. of Control Eng., Osaka Univ., Japan
pp. 1722-1727

Representing uncertainty in robot task planning (PDF)

M.S. Kamel , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
P.M. Kaufmann , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
pp. 1728-1734

A contribution to robot tooltip spatial accuracy identification (PDF)

A.J. Sturm , CIMCORP Inc., St. Paul, MN, USA
M.-Y. Lee , CIMCORP Inc., St. Paul, MN, USA
pp. 1735-1738

Modular robots-graphical interactive programming (PDF)

A. Troncy , IUT Lyon, Villeurbanne, France
M.T. Martinez , IUT Lyon, Villeurbanne, France
S. El Baba , IUT Lyon, Villeurbanne, France
C. Hugues , IUT Lyon, Villeurbanne, France
pp. 1739-1742

Fingertip-shaped optical tactile sensor for robotic applications (PDF)

S. Begej , Begej Corp., Littleton, CO, USA
pp. 1752-1757

Sensing body structures by an advanced robot system (PDF)

P. Dario , Scuola Superiore S. Anna, Pisa, Italy
pp. 1758-1763

Industrial parts recognition and inspection by image morphology (PDF)

F.Y. Shih , Dept. of Comput. & Inf. Sci., New Jersey Inst. of Technol., Newark, NJ, USA
pp. 1764-1766

Real-time pattern recognition for guidance of an autonomous undersea submersible (PDF)

H.G. Nguyen , US Naval Ocean Syst. Center, San Diego, CA, USA
P.J. Heckman , US Naval Ocean Syst. Center, San Diego, CA, USA
pp. 1767-1770

Superquadric artificial potentials for obstacle avoidance and approach (PDF)

P. Khosla , Carnegie-Mellon Univ., Pittsburgh, PA, USA
R. Volpe , Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 1778-1784

Motion planning for a mobile robot with a kinematic constraint (PDF)

P. Tournassoud , INRIA, Le Chesnay, France
O. Jehl , INRIA, Le Chesnay, France
pp. 1785-1790

Exact robot navigation using cost functions: the case of distinct spherical boundaries in E/sup n/ (PDF)

E. Rimon , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
D.E. Koditschek , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 1791-1796

Representing stereo data with the Delaunay triangulation (PDF)

J.D. Boissonnat , INRIA, Le Chesnay, France
O.D. Faugeras , INRIA, Le Chesnay, France
E. Le Bras-Mehlman , INRIA, Le Chesnay, France
pp. 1798-1803

Stereo vision correspondence using a multichannel graph matching technique (PDF)

N.M. Nasrabadi , Comput. Vision Res. Group, Worcester Polytech. Inst., MA, USA
Y. Liu , Comput. Vision Res. Group, Worcester Polytech. Inst., MA, USA
J.L. Chiang , Comput. Vision Res. Group, Worcester Polytech. Inst., MA, USA
pp. 1804-1809

A structural approach to finding the point correspondences between two frames (PDF)

J.-C. Cheng , Dept. of Electr. Eng., State Univ. of New York, Stony Brook, NY, USA
H.-S. Don , Dept. of Electr. Eng., State Univ. of New York, Stony Brook, NY, USA
pp. 1810-1815

Scene reconstruction from rays application to stereo data (PDF)

J.D. Boissonnat , INRIA, Valbonne, France
O. Monga , INRIA, Valbonne, France
pp. 1816-1821

Using a manipulator for force display in molecular docking (PDF)

M. Ouh-young , Dept. of Comput. Sci., North Carolina, Univ., Chapel Hill, NC, USA
M. Pique , Dept. of Comput. Sci., North Carolina, Univ., Chapel Hill, NC, USA
J. Hughes , Dept. of Comput. Sci., North Carolina, Univ., Chapel Hill, NC, USA
N. Srinivasan , Dept. of Comput. Sci., North Carolina, Univ., Chapel Hill, NC, USA
F.P. Brooks , Dept. of Comput. Sci., North Carolina, Univ., Chapel Hill, NC, USA
pp. 1824-1829

Vision servo control of a robotic sewing system (PDF)

D. Gershon , Dept. of Appl. Math. & Comput. Sci., Weizmann Inst. of Sci., Rehovot, Israel
pp. 1830-1835

The robotic assembly of garments with concealed seams (PDF)

P.M. Taylor , Dept. of Electron. Eng., Hull Univ., UK
S.G. Koudis , Dept. of Electron. Eng., Hull Univ., UK
pp. 1836-1838

Cleaning robot control (PDF)

F. Yasutomi , Sanyo Electr. Co., Ltd., Osaka, Japan
M. Yamada , Sanyo Electr. Co., Ltd., Osaka, Japan
K. Tsukamoto , Sanyo Electr. Co., Ltd., Osaka, Japan
pp. 1839-1841

Fusion of radar and optical sensors for space robotic vision (PDF)

S.W. Shaw , Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA
R.J.P. DeFigueiredo , Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA
K. Krishen , Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA
pp. 1842-1846

Dynamic motion replanning for unexpected obstacles (PDF)

A.C.-C. Meng , Texas Instrum., Inc., Dallas, TX, USA
pp. 1848-1849

IC wire bond inspection using elliptical model approximation (PDF)

K.N. Ngan , Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
S.B. Kang , Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
pp. 1850-1851

A fast and flexible one-dimensional image processing implementation for visual feedback control (PDF)

R.W. Richardson , Ohio State Univ., Columbus, OH, USA
W.A. Penix , Ohio State Univ., Columbus, OH, USA
R.D. Richardson , Ohio State Univ., Columbus, OH, USA
pp. 1852-1853

Research issues in robot safety (PDF)

J.H. Graham , Dept. of Eng. Math. & Comput. Sci., Louisville Univ., KY, USA
pp. 1854-1855

A net-based approach to the synthesis of nondeterministic robot plans (PDF)

D.R. Bahler , Dept. of Comput. Sci., North Carolina State Univ., Raleigh, NC, USA
pp. 1856-1857

Camera calibration methodology based on a linear perspective transformation error model (PDF)

G.V. Puskorius , Ford Motor Co., Dearborn, MI, USA
L.A. Feldkamp , Ford Motor Co., Dearborn, MI, USA
pp. 1858-1860

Planning repair sequences using the AND/OR graph representation of assembly plans (PDF)

L.S. Homem de Mello , Dept. of Electr. & Comput. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 1861-1862

Matching of developable surfaces (PDF)

H.Q. Lu , Dept. of Electr. Eng., Pittsburgh Univ., PA, USA
T.W. Sze , Dept. of Electr. Eng., Pittsburgh Univ., PA, USA
pp. 1863-1864

A consideration of automatic acquisition of the shape of a three dimensional object using moire topography (PDF)

T. Koezuka , ATR Commun. Syst. Res. Lab., Osaka, Japan
J.-B. Thomine , ATR Commun. Syst. Res. Lab., Osaka, Japan
K. Akiyama , ATR Commun. Syst. Res. Lab., Osaka, Japan
Y. Kobayashi , ATR Commun. Syst. Res. Lab., Osaka, Japan
pp. 1865-1866

A position sensor based torque control method for a DC motor with reduction gears (PDF)

K. Tanie , Minist. of Int. Trade & Ind., Tsukuba Science City, Ibaraki, Japan
K. Yokoi , Minist. of Int. Trade & Ind., Tsukuba Science City, Ibaraki, Japan
M. Kaneko , Minist. of Int. Trade & Ind., Tsukuba Science City, Ibaraki, Japan
pp. 1867-1870

Automated orbital rendezvous considerations (PDF)

R.N. Lea , NASA Johnson Space Center, Houston, TX, USA
pp. 1871-1872

The development of low cost PC based robot for store applications (PDF)

A.H. Al-Anbuky , Dept. of Syst. & Control Eng., Univ. of Technol., Baghdad, Iraq
S.A. Al-Bermani , Dept. of Syst. & Control Eng., Univ. of Technol., Baghdad, Iraq
J.F. Zaitoon , Dept. of Syst. & Control Eng., Univ. of Technol., Baghdad, Iraq
pp. 1873-1875
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