The Community for Technology Leaders
1989 IEEE International Conference on Robotics and Automation (1989)
Scottsdale, AZ
May 14, 1989 to May 19, 1989
ISBN: 0-8186-1938-4
TABLE OF CONTENTS

Planning smooth paths for mobile robots (PDF)

P. Jacobs , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
J. Canny , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 2-7

A new algorithm for detecting the collision of moving objects (PDF)

E.G. Gilbert , Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MA, USA
S.M. Hong , Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MA, USA
pp. 8-14

Shortest paths for autonomous vehicles (PDF)

G. Wilfong , AT&T Bell Lab., Murray Hill, NJ, USA
pp. 15-20

The construction of analytic diffeomorphisms for exact robot navigation on star worlds (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. 21-26

Shape and reflectance from an image sequence generated using extended sources (PDF)

S.K. Nayar , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
K. Ikeuchi , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
T. Kanade , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 28-35

Determining surface curvature with photometric stereo (PDF)

R.J. Woodham , Lab. of Comput. Vision, British Columbia Univ., Vancouver, BC, Canada
pp. 36-42

Range estimation from intensity gradient analysis (PDF)

K. Skifstad , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
R. Jain , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
pp. 43-48

On characterizing ribbons and finding skewed symmetries (PDF)

J. Ponce , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 49-54

On the automatic generation of assembly plans (PDF)

J.D. Wolter , Div. of Robot Syst., Michigan Univ., Ann Arbor, MI, USA
pp. 62-68

Automatic assembly planning with fasteners (PDF)

J.M. Miller , Dept. of Comput. Sci., Michigan State Univ., East Lansing, MI, USA
pp. 69-74

Kinematic stability of robot manipulators under force control (PDF)

H. Zhang , Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
pp. 80-85

An approach to force and position control of robot manipulators (PDF)

L. Cai , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 86-91

Dual-drive force/velocity control: implementation and experimental results (PDF)

P. Kazanzides , Lab. for Eng. Man/Machine Syst., Brown Univ., Providence, RI, USA
N.S. Bradley , Lab. for Eng. Man/Machine Syst., Brown Univ., Providence, RI, USA
W.A. Wolovich , Lab. for Eng. Man/Machine Syst., Brown Univ., Providence, RI, USA
pp. 92-97

Stable compliance control and its implementation for a 6 DOF manipulator (PDF)

H. Ishikawa , IBM Res., Tokyo, Japan
C. Sawada , IBM Res., Tokyo, Japan
K. Kawasa , IBM Res., Tokyo, Japan
M. Takata , IBM Res., Tokyo, Japan
pp. 98-103

A comparison of two real-time control schemes for redundant manipulators with bounded joint velocities (PDF)

J.A. Euler , Dept. of Mech. & Aerosp. Eng., Tennessee Univ., Knoxville, TN, USA
R.V. Dubey , Dept. of Mech. & Aerosp. Eng., Tennessee Univ., Knoxville, TN, USA
pp. 106-112

Kinetic limitations on the use of redundancy in robotic manipulators (PDF)

A. Maciejewski , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 113-118

Redundancy decomposition control for multi-joint manipulator (PDF)

S. Hirose , Dept. of Mech. Eng. Sci., Tokyo Inst. of Technol., Tokyo, Japan
S. Ma , Dept. of Mech. Eng. Sci., Tokyo Inst. of Technol., Tokyo, Japan
pp. 119-124

Dynamics coordination in a manipulator with 7 joints (PDF)

O. Egeland , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
J.R. Sagli , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
S. Hendseth , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
F. Wilhelmsen , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
pp. 125-130

Electrorheological fluid-based robotic fingers with tactile sensing (PDF)

G.L. Kenaley , Integrated Syst. Inc., Santa Clara, CA, USA
pp. 132-136

Sensing skin acceleration for slip and texture perception (PDF)

R.D. Howe , Stanford Univ., CA, USA
M.R. Cutkosky , Stanford Univ., CA, USA
pp. 145-150

Area touch sensor for dextrous manipulation (PDF)

C.M. Bastuscheck , Courant Inst., New York Univ., NY, USA
pp. 151-156

Computing the distance between smooth objects in three dimensional space (PDF)

E.G. Gilbert , Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
C.P. Foo , Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
pp. 158-163

Equations for boundaries of joint obstacles for planar robots (PDF)

Q. Ge , Dept. of Mech. Eng., California Univ., Irvine, CA, USA
pp. 164-169

Computing metric and topological properties of configuration-space obstacles (PDF)

R.C. Brost , Sch. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 170-176

On computability of fine motion plans (PDF)

J. Canny , Div. of Comput. Sci., California Univ., Berkeley, CA, USA
pp. 177-182

CAD-based grasp synthesis utilizing polygons, edges and vertexes (PDF)

L.B. Gatrell , Dept. of Comput. Sci., Utah Univ., UT, USA
pp. 184-189

Computational geometric methods in volumetric intersection for 3D reconstruction (PDF)

P. Srinivasan , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
P. Liang , 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. 190-195

Building hierarchical solid models from sensor data (PDF)

S. Aubry , McGill Univ., Montreal, Que., Canada
V. Hayward , McGill Univ., Montreal, Que., Canada
pp. 196-201

Automated assembly in a CSG domain (PDF)

R. Hoffman , Northrop Res. & Technol. Center, Palos Verdes Peninsula, CA, USA
pp. 210-215

Precedence knowledge in feature mating operation assembly planning (PDF)

Y.F. Huang , 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. 216-221

Planning for assembly from solid models (PDF)

Y. Liu , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
R.J. Popplestone , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
pp. 222-227

A prototype, integrated, CAD-based robotic assembly system (PDF)

F. Fallside , Dept. of Eng., Cambridge Univ., UK
M.R. Jahanbin , Dept. of Eng., Cambridge Univ., UK
T.P. Marsland , Dept. of Eng., Cambridge Univ., UK
A.S. Tabandeh , Dept. of Eng., Cambridge Univ., UK
M.W. Wright , Dept. of Eng., Cambridge Univ., UK
pp. 228-234

Robust hybrid control of robot manipulators (PDF)

Y.H. Chen , George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 236-241

A passive mechanism for insertion of convex pegs (PDF)

D.R. Strip , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 242-248

A six-axis force sensor with three-dimensional cross-shape structure (PDF)

T. Yoshikawa , Dept. Appl. Syst. Sci., Kyoto Univ., Japan
T. Miyazaki , Dept. Appl. Syst. Sci., Kyoto Univ., Japan
pp. 249-255

Robot motion control based on joint torque sensing (PDF)

M. Hashimoto , Dept. of Mech. Eng., Kagoshima Univ., Japan
pp. 256-261

On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds (PDF)

J.W. Burdick , Dept. of Mech. Eng., California Inst. of Technol., CA, USA
pp. 264-270

Global path planning using artificial potential fields (PDF)

C.W. Warren , Mech. Eng. Dept., Alabama Univ., AL, USA
pp. 316-321

Uncertainty estimates for polyhedral object recognition (PDF)

R.E. Ellis , Dept. of Comput. & Inf. Sci., Queens Univ., Kingston, Ont., Canada
pp. 348-353

An optimal material removal strategy for automated repair of aircraft canopies (PDF)

D.J. Wenzel , Dept. of Robotics & Autom., Southwest Res. Inst., San Antonio, TX, USA
pp. 370-376

EMIR-a combination of manipulator and robot for new out-door applications in unstructured environments (PDF)

C. Blume , Inst. fur Reaktorenwicklung, Kernforschungszentrum Karlsruhe GmbH, Karlsruhe, West Germany
K. Gremminger , Inst. fur Reaktorenwicklung, Kernforschungszentrum Karlsruhe GmbH, Karlsruhe, West Germany
G. Messemer , Inst. fur Reaktorenwicklung, Kernforschungszentrum Karlsruhe GmbH, Karlsruhe, West Germany
D. Smidt , Inst. fur Reaktorenwicklung, Kernforschungszentrum Karlsruhe GmbH, Karlsruhe, West Germany
M. Wadle , Inst. fur Reaktorenwicklung, Kernforschungszentrum Karlsruhe GmbH, Karlsruhe, West Germany
pp. 383-390

The effects of joint and link flexibilities on the dynamic stability of force-controlled manipulators (PDF)

B.C. Chiou , Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
M. Shahinpoor , Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
pp. 398-403

A topological model of multifingered prehension (PDF)

T.N. Nguyen , Sch. of Inf. Technol. & Eng., George Mason Univ., Fairfax, VA, USA
H.E. Stephanou , Sch. of Inf. Technol. & Eng., George Mason Univ., Fairfax, VA, USA
pp. 446-451

Dynamics and planning of collisions in robotic manipulation (PDF)

Y. Wang , Dept. of Mech. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 478-483

Test of the reachability of a robot to an object (PDF)

Z.-Y. Ying , Dept. of Autom. Control, Shanghai Jiao-Tong Univ., China
Y.-G. Xi , Dept. of Autom. Control, Shanghai Jiao-Tong Univ., China
Z.-H. Zhang , Dept. of Autom. Control, Shanghai Jiao-Tong Univ., China
pp. 490-494

Multilevel vision based spatial reasoning for robotic tasks (PDF)

M. Magee , Dept. of Comput. Sci., Wyoming Univ., Laramie, WY, USA
pp. 503-508

Automatic 2 1/2 D shape inspection system for via-hole fillings of green sheets by shadow image analysis (PDF)

T. Ninomiya , Hitachi Ltd., Yokohama, Japan
M. Nomoto , Hitachi Ltd., Yokohama, Japan
Y. Nakagawa , Hitachi Ltd., Yokohama, Japan
pp. 515-520

A top-down approach to systematic synthesis of Petri net models for manufacturing systems (PDF)

M. Zhou , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytch. Inst., Troy, NY, USA
F. DiCesare , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytch. Inst., Troy, NY, USA
A.A. Desrochers , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytch. Inst., Troy, NY, USA
pp. 534-539

The supervision and management of a two robots flexible assembly cell (PDF)

D. Coupez , CRIF/WTCM, Brussels, Belgium
A. Delchambre , CRIF/WTCM, Brussels, Belgium
P. Gaspart , CRIF/WTCM, Brussels, Belgium
pp. 540-550

Computational algorithms for adaptive compliant motion (PDF)

G. Niemeyer , Nonlinear Syst. Lab., MIT, Cambridge, MA, USA
J.-J.E. Slotine , Nonlinear Syst. Lab., MIT, Cambridge, MA, USA
pp. 566-571

On replanning for assembly tasks using robots in the presence of uncertainties (PDF)

J. Xiao , Div. of Robot Syst., Michigan Univ., Ann Arbor, MI, USA
R.A. Volz , Div. of Robot Syst., Michigan Univ., Ann Arbor, MI, USA
pp. 638-645

Representation and propagation of positioning uncertainties through manipulation robot programs-integration into a task-level programming system (PDF)

I. Mazon , Lab. d'Autom. et d'Anal. de Syst., Toulouse, France
R. Alami , Lab. d'Autom. et d'Anal. de Syst., Toulouse, France
pp. 646-652

Task-directed multisensor fusion (PDF)

G. Hager , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
M. Mintz , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
pp. 662-667

Geometrical fusion method for multi-sensor robotic systems (PDF)

Y. Nakamura , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
Y. Zu , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
pp. 668-673

Robotic task planning: independent of agents but dependent on time (PDF)

W.S. Davis , Boeing AI Center, Huntsville, AL, USA
pp. 690-1+4 vol.2

A robot that walks; emergent behaviors from a carefully evolved network (PDF)

R.A. Brooks , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 692-4+2 vol.2

Structure decision method for self organising robots based on cell structures-CEBOT (PDF)

T. Fukuda , Dept. of Mech. Eng., Sci. Tokyo Univ., Japan
S. Nakagawa , Dept. of Mech. Eng., Sci. Tokyo Univ., Japan
Y. Kawauchi , Dept. of Mech. Eng., Sci. Tokyo Univ., Japan
M. Buss , Dept. of Mech. Eng., Sci. Tokyo Univ., Japan
pp. 695-700

Control of mobile robot actions (PDF)

F.R. Norelis , LAAS-CNRS, Toulouse, France
R.G. Chatila , LAAS-CNRS, Toulouse, France
pp. 701-707

An efficient computation of the inverse dynamics of flexible manipulators in the time domain (PDF)

E. Bayo , Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA
H. Moulin , Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA
pp. 710-715

An extension of Kane's method for deriving equations of motion of flexible manipulators (PDF)

L.J. Everett , Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
pp. 716-721

Modeling of a flexible link having a prismatic joint in robot mechanism-experimental verification (PDF)

J. Yuh , Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
T. Young , Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
pp. 722-727

Generic singularities of robot manipulators (PDF)

D.K. Pai , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 738-744

Compensation of kinematic errors using kinematic sensitivities (PDF)

M.I. Vuskovic , Dept. of Math. Sci., San Diego State Univ., CA, USA
pp. 745-750

Optimal design of robot accuracy compensators (PDF)

H. Zhuang , Coll. of Eng., Florida Atlantic Univ., Boca Raton, FL, USA
F. Hamano , Coll. of Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Z.S. Roth , Coll. of Eng., Florida Atlantic Univ., Boca Raton, FL, USA
pp. 751-756

Implementation of a high performance LSI for inverse kinematics computation (PDF)

M. Kameyama , Dept. of Electron Eng., Tohoku Univ., Sendai, Japan
T. Matsumoto , Dept. of Electron Eng., Tohoku Univ., Sendai, Japan
H. Egami , Dept. of Electron Eng., Tohoku Univ., Sendai, Japan
T. Higuchi , Dept. of Electron Eng., Tohoku Univ., Sendai, Japan
pp. 757-762

Manipulating with soft fingers: modeling contacts and dynamics (PDF)

P. Akella , Dept. of Mech. Eng., Stanford Univ., CA, USA
M. Cutkosky , Dept. of Mech. Eng., Stanford Univ., CA, USA
pp. 764-769

The kinematics of contact with compliance (PDF)

D.J. Montana , BBN Syst. & Technol. Corp., Cambridge, MA, USA
pp. 770-774

On motion planning for dexterous manipulation. I. The problem formulation (PDF)

Z. Li , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
J.F. Canny , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
S.S. Sastry , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 775-780

Dynamic regrasping by coordinated control of sliding for a multifingered hand (PDF)

A.A. Cole , Dept. of Electr. & Comput. Sci., California Univ., Berkeley, CA, USA
P. Hsu , Dept. of Electr. & Comput. Sci., California Univ., Berkeley, CA, USA
S.S. Sastry , Dept. of Electr. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 781-786

A quasi-static analysis of dextrous manipulation with sliding and rolling contacts (PDF)

J.C. Trinkle , Dept. of Syst. & Ind. Eng., Arizona Univ., Tucson, AZ, USA
pp. 788-793

Limit surface and moment function descriptions of planar sliding (PDF)

S. Goyal , Cornell Univ., Ithaca, NY, USA
A. Ruina , Cornell Univ., Ithaca, NY, USA
J. Papadopoulos , Cornell Univ., Ithaca, NY, USA
pp. 794-799

Specification and generation of a motion path for compliant motion (PDF)

C. Sawada , IBM Res., Tokyo, Japan
H. Ishikawa , IBM Res., Tokyo, Japan
K. Kawase , IBM Res., Tokyo, Japan
M. Takata , IBM Res., Tokyo, Japan
pp. 808-816

A vision based correlator to actively damp vibrations of a coarse-fine manipulator (PDF)

T.E. Weber , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
R.L. Hollis , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 818-825

Control of visual attention in mobile robots (PDF)

J.J. Clark , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
N.J. Ferrier , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
pp. 826-831

Automatic selection of image features for visual servoing of a robot manipulator (PDF)

J.T. Feddema , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
C.S.G. Lee , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
O.R. Mitchell , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 832-837

On recursive calibration of cameras for robot hand-eye systems (PDF)

Y.-L. Chang , Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
pp. 838-843

CHIMERA: a real-time programming environment for manipulator control (PDF)

D. Schmitz , Carnegie-Mellon Univ., Pittsburgh, PA, USA
P. Khosla , Carnegie-Mellon Univ., Pittsburgh, PA, USA
R. Hoffman , Carnegie-Mellon Univ., Pittsburgh, PA, USA
T. Kanade , Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 846-852

Concurrent programming support for a multimanipulator experiment on RIPS (PDF)

A.A. Mangaser , 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
S.E. Butner , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
pp. 853-859

The SAGE operating system (PDF)

L. Salkind , New York Univ., NY, USA
pp. 860-865

Design and integration of new software for the Robot Controller Test Station (PDF)

B. Mack , Dept. of Electr. Eng., Queen's Univ., Kingston, Ont., Canada
M.M. Bayoumi , Dept. of Electr. Eng., Queen's Univ., Kingston, Ont., Canada
pp. 866-873

Online frequency domain information for control of a flexible-link robot with varying payload (PDF)

S. Yurkovich , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
F.E. Pacheco , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
A.P. Tzes , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 876-881

Variable structure control of a robot arm with flexible links (PDF)

P.J. Nathan , Dept. of Comput. Sci. & Electr. Eng., Nevada Univ., Las Vegas, NV, USA
S.N. Singh , Dept. of Comput. Sci. & Electr. Eng., Nevada Univ., Las Vegas, NV, USA
pp. 882-887

Design and comparison of command shaping methods for controlling residual vibration (PDF)

N.C. Singer , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
W.P. Seering , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 888-893

The Hamilton wrist: a four-revolute-joint spherical wrist without singularities (PDF)

G.L. Long , Pennysylvania Univ., Philadelphia, PA, USA
R.P. Paul , Pennysylvania Univ., Philadelphia, PA, USA
pp. 902-907

On the motion of oblique bevel geared robot wrists (PDF)

R. Ma , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
K.C. Gupta , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
pp. 908-913

Synthesis and analysis of geared robotic mechanisms (PDF)

S.-L. Chang , Maryland Univ., College Park, MD, USA
L.-W. Tsai , Maryland Univ., College Park, MD, USA
pp. 920-927

Finger force computation for manipulation of an object by a multifingered robot hand (PDF)

Y.C. Park , Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
G.P. Starr , Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
pp. 930-935

Optimal three finger grasps (PDF)

J. Demmel , Courant Inst., New York Univ., NY, USA
G. Lafferriere , Courant Inst., New York Univ., NY, USA
pp. 936-942

Force optimization in redundantly-actuated closed kinematic chains (PDF)

M.A. Nahon , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
J. Angeles , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
pp. 951-956

A provably good approximation algorithm for optimal-time trajectory planning (PDF)

B. Donald , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
P. Xavier , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 958-963

Interactive time optimal robot motion planning and work-cell layout design (PDF)

Z. Shiller , Dept. of Mech. Aerosp. & Nucl. Eng., California Univ., Los Angeles, CA, USA
pp. 964-969

Structure of minimum-time control law for robotic manipulators with constrained paths (PDF)

Y. Chen , Dept. of Electr. Eng. & Comput. Sci., George Washington Univ., Washington, DC, USA
pp. 971-976

Mobile robot localization using a single image (PDF)

E. Krotkov , Lab. d'Autom. et d'Anal. des Syst., Toulouse, France
pp. 978-983

Characterising an indoor environment with a mobile robot and uncalibrated stereo (PDF)

K.B. Sarachik , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 984-989

Exploiting temporal coherence in scene analysis for autonomous navigation (PDF)

R.C. Bolles , SRI Int., Menlo Park, CA, USA
A.F. Bobick , SRI Int., Menlo Park, CA, USA
pp. 990-996

Terrain mapping for a roving planetary explorer (PDF)

M. Herbert , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
C. Caillas , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
E. Krotkov , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
I.S. Kweon , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
T. Kanade , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 997-1002

HIC: an operating system for hierarchies of servo loops (PDF)

D. Clark , Courant Inst. of Math. Sci., New York Univ., NY, USA
pp. 1004-1009

A distributed, real-time programming language for robotics (PDF)

G. Pocock , Dept. of Comput. Sci., Lowell Univ., MA, USA
pp. 1010-1015

Modeling and performance evaluation of multiprocessor systems for real-time nonlinear robot control (PDF)

J.Y. Han , Dept. of Electr. Eng., Southern Illinois Univ., Carbondale, IL, USA
C.Y. Wang , Dept. of Electr. Eng., Southern Illinois Univ., Carbondale, IL, USA
pp. 1016-1021

Self-tuning control of planar two-link manipulator with non-rigid arm (PDF)

A.J. Koivo , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
K.S. Lee , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1030-1035

Transfer functions for a single flexible link (PDF)

D. Wang , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
M. Vidyasagar , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
pp. 1042-1047

Nonholonomic path planning of space robots (PDF)

Y. Nakamura , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
R. Mukherjee , Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
pp. 1050-1055

Development of sensitive skin for a 3D robot arm operating in an uncertain environment (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. 1056-1061

Localization of a mobile robot with beacons taking erroneous data into account (PDF)

C. Durieu , Lab. D'Electr. Signaux et Robotique, Cachan, France
H. Clergeot , Lab. D'Electr. Signaux et Robotique, Cachan, France
F. Monteil , Lab. D'Electr. Signaux et Robotique, Cachan, France
pp. 1062-1068

Object impedance control for cooperative manipulation: theory and experimental results (PDF)

S. Schneider , Aerosp. Robotics Lab., Stanford Univ., CA, USA
R.H. Cannon , Aerosp. Robotics Lab., Stanford Univ., CA, USA
pp. 1076-1083

Adaptive coordinated motion control of two manipulator arms (PDF)

M.W. Walker , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
D. Kim , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
J. Dionise , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
pp. 1084-1090

An adaptive approach to motion and force control of multiple coordinated robot arms (PDF)

Y.-R. Hu , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 1091-1096

Coordinated motion control of robot arm based on virtual internal model (PDF)

K. Kosuge , Dept. of Control Eng., Tokyo Inst. of Technol., Japan
M. Koga , Dept. of Control Eng., Tokyo Inst. of Technol., Japan
K. Furuta , Dept. of Control Eng., Tokyo Inst. of Technol., Japan
pp. 1097-1102

Automatic obstacle avoidance at high speeds via reflex control (PDF)

W.S. Newman , Dept. of Electr. Eng. & Appl. Phys., Case Western Univ., Cleveland, OH, USA
pp. 1104-1109

Time-minimal paths among moving obstacles (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. 1110-1115

Optimal trajectory planning of robotic manipulators via quasi-linearization and state parametrization (PDF)

V. Yen , Carnegie-Mellon Univ., Pittsburgh, PA, USA
M. Nagurka , Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 1116-1121

Torque limited path following by on-line trajectory time scaling (PDF)

O. Dahl , Dept. of Autom. Control, Lund Inst. of Technol., Sweden
L. Nielsen , Dept. of Autom. Control, Lund Inst. of Technol., Sweden
pp. 1122-1128

Automatic sensor-assisted generation of optimal user responsive robot programs (PDF)

H. Franke , Fraunhofer Inst. for Inf. & Data Process., Karlsruhe, West Germany
H. Kuntze , Fraunhofer Inst. for Inf. & Data Process., Karlsruhe, West Germany
A. Jacubasch , Fraunhofer Inst. for Inf. & Data Process., Karlsruhe, West Germany
pp. 1129-1134

Building and navigating maps of road scenes using an active sensor (PDF)

M. Herbert , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 1136-1142

Road edge detection for mobile robot navigation (PDF)

D. Brzakovic , Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
L. Hong , Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
pp. 1143-1147

Explicit models for robot road following (PDF)

K. Kluge , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
C. Thorpe , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1148-1154

A high-sample-rate robot control system using a DSP based numerical calculation engine (PDF)

N. Takanashi , NEC Corp., Kawasaki, Japan
T. Ikeda , NEC Corp., Kawasaki, Japan
N. Tagawa , NEC Corp., Kawasaki, Japan
pp. 1168-1173

Implementation of a multiprocessor system for real-time inverse dynamics computation (PDF)

Wei-Shui Wang , Dept. of Electr. Eng., Nat. Taiwan Inst. Tech., Taipei, Taiwan
Kus-Kuang Chen , Dept. of Electr. Eng., Nat. Taiwan Inst. Tech., Taipei, Taiwan
pp. 1174-1179

Computation of customized symbolic robot models on peripheral array processors (PDF)

N. Kircanski , M. Pupin Inst., Belgrade, Yugoslavia
A. Timcenko , M. Pupin Inst., Belgrade, Yugoslavia
pp. 1180-1185

Adaptive control of flexible joint manipulators (PDF)

F. Ghorbel , Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
J.Y. Hung , Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
M.W. Spong , Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
pp. 1188-1193

Robust adaptive stabilization of flexible joint manipulators (PDF)

K. Khorasani , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
pp. 1194-1199

Nonlinear adaptive motion control for a manipulator with flexible joints (PDF)

K.-P. Chen , Nat. Taiwan Univ., Taipei, Taiwan
L.-C. Fu , Nat. Taiwan Univ., Taipei, Taiwan
pp. 1201-1206

Two 7-R manipulators which provide controllably dexterous workspace (PDF)

J.K. Davidson , Dept. of Mech. & Aerosp. Eng., Arizona State Univ., Tempe, AZ, USA
pp. 1208-1214

Configuration space representation in parallel coordinates (PDF)

P. Fiorini , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1215-1220

Simulation study of PD robot Cartesian control (PDF)

S.-K. Lin , Inst. of Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
pp. 1221-1226

Bounds on the derivatives of the forward kinematic map for open-kinematic-chain manipulators (PDF)

G. Heinzinger , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 1227-1232

Control of multimanipulator systems-trajectory tracking, load distribution, internal force control, and decentralized architecture (PDF)

P. Hsu , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 1234-1239

Reduced order model and decoupled control architecture for two manipulators holding an object (PDF)

M.A. Unseren , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
A.J. Koivo , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1240-1245

Motion and force control for multiple cooperative manipulators (PDF)

J.T. Wen , Dept of Electr. & Comput. Sci. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1246-1251

Nonlinear feedback control of two manipulators in presence of environmental constraints (PDF)

X. Yun , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
pp. 1252-1257

Continuous-curvature paths for autonomous vehicles (PDF)

W. Nelson , AT&T Bell Lab., Murray Hill, NJ, USA
pp. 1260-1264

Smooth local path planning for autonomous vehicles (PDF)

Y. Kanayama , Dept. of Comput. Sci., California Univ., Santa Barbara, CA, USA
B.I. Hartman , Dept. of Comput. Sci., California Univ., Santa Barbara, CA, USA
pp. 1265-1270

Planning mobile manipulator motions considering vehicle dynamic stability constraints (PDF)

S. Dubowsky , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
E.E. Vance , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1271-1276

Task-level robot learning: juggling a tennis ball more accurately (PDF)

E.W. Aboaf , MIT, Cambridge, MA, USA
S.M. Drucker , MIT, Cambridge, MA, USA
C.G. Atkeson , MIT, Cambridge, MA, USA
pp. 1290-1295

A family of robot control strategies for intermittent dynamical environments (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
P.J. Kindlmann , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 1296-1301

Skill acquisition from human experts through pattern processing of teaching data (PDF)

H. Asada , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
B.-H. Yang , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1302-1307

Design and implementation of a robot control system with traded and shared control capability (PDF)

S. Hayati , Jet Propulsion Lab., California Inst. of Technol., CA, USA
S.T. Venkataraman , Jet Propulsion Lab., California Inst. of Technol., CA, USA
pp. 1310-1315

Design issues in 2-port network models of bilateral remote manipulation (PDF)

G.J. Raju , MIT, Cambridge, MA, USA
G.C. Verghese , MIT, Cambridge, MA, USA
T.B. Sheridan , MIT, Cambridge, MA, USA
pp. 1316-1321

Simulation-modeling tool for evaluation of space telerobotic control strategies (PDF)

K. Corker , BBN Syst. & Technol. Corp., Cambridge, MA, USA
N. Cramer , BBN Syst. & Technol. Corp., Cambridge, MA, USA
pp. 1322-1326

Cooperative control of visual displays for telemanipulation (PDF)

W.S. Kim , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1327-1332

Antagonistic control of a tendon driven manipulator (PDF)

S.C. Jacobsen , Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
H. Ko , Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
E.K. Iversen , Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
C.C. Davis , Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
pp. 1334-1339

Open-loop stiffness control of overconstrained mechanisms/robotic linkage systems (PDF)

B.-J. Yi , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
R.A. Freeman , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
D. Tesar , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
pp. 1340-1345

Sensory feedback control for space manipulators (PDF)

Y. Masutani , Dept. of Mech. Eng., Osaka Univ., Japan
F. Miyazaki , Dept. of Mech. Eng., Osaka Univ., Japan
S. Arimoto , Dept. of Mech. Eng., Osaka Univ., Japan
pp. 1346-1351

Adaptive friction compensation in robot manipulators: low-velocities (PDF)

C. Canudas de Wit , Lab. d'Autom. de Grenoble, Saint-Martin d'Heres, France
P. Noel , Lab. d'Autom. de Grenoble, Saint-Martin d'Heres, France
A. Aubin , Lab. d'Autom. de Grenoble, Saint-Martin d'Heres, France
B. Brogliato , Lab. d'Autom. de Grenoble, Saint-Martin d'Heres, France
P. Drevet , Lab. d'Autom. de Grenoble, Saint-Martin d'Heres, France
pp. 1352-1357

Kinematics and dynamics of two industrial robots in assembly (PDF)

Y.F. Zheng , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
pp. 1360-1365

An efficient method for computation of the manipulator inertia matrix (PDF)

A. Fijany , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
A.K. Bejczy , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1366-1373

A spatial operator algebra for manipulator modeling and control (PDF)

G. Rodriguez , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
K. Kreutz , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
A. Jain , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1374-1379

The dynamic and stiffness modeling of general robotic manipulator systems with antagonistic actuation (PDF)

W. Cho , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
D. Tesar , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
R.A. Freeman , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
pp. 1380-1387

Mechanical bandwidth as a guideline to high-performance manipulator design (PDF)

W.T. Townsend , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
J.K. Salisbury , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 1390-1395

Design considerations for an earth based flexible robotic system (PDF)

A.D. Christian , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
W.P. Seering , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1396-1401

Dynamic replanning for a mobile robot based on internal sensing (PDF)

R.C. Arkin , Sch. of Inf. & Comput. Sci., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 1416-1421

Navigating vehicles through an unstructured environment with sonar (PDF)

R. Kuc , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
B. Barshan , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 1422-1426

A new approach to robot guidance in unfamiliar environment using an indication post (PDF)

J.-D. Lee , Dept. of Electr. & Comput Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
J.-Y. Lee , Dept. of Electr. & Comput Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
C.-H. Chen , Dept. of Electr. & Comput Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
Y.-Y. Sun , Dept. of Electr. & Comput Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
pp. 1433-1438

Using a context-sensitive learning for robot arm control (PDF)

D.-Y. Yeung , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
G.A. Gekey , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
pp. 1441-1447

Using associative content-addressable memories to control robots (PDF)

C.G. Atkeson , MIT, Cambridge, MA, USA
D.J. Reinkensmeyer , MIT, Cambridge, MA, USA
pp. 1859-1864

Learning control with neural networks (PDF)

V.C. Chen , Center for Autom. & Intelligent Syst. Res., Case Western Reserve Univ., Cleveland, OH, USA
Y.-H. Pao , Center for Autom. & Intelligent Syst. Res., Case Western Reserve Univ., Cleveland, OH, USA
pp. 1448-1453

Integrating neural networks and knowledge-based systems for robotic control (PDF)

D.A. Handelman , Dept. of Psychol., Princeton Univ., NJ, USA
S.H. Lane , Dept. of Psychol., Princeton Univ., NJ, USA
J.J. Gelfand , Dept. of Psychol., Princeton Univ., NJ, USA
pp. 1454-1460

Force display performs better than visual display in a simple 6-D docking task (PDF)

O.-Y. Ming , Comput. Sci. Dept., North Carolina Univ., Chapel Hill, NC, USA
D.V. Beard , Comput. Sci. Dept., North Carolina Univ., Chapel Hill, NC, USA
F.P. Brooks , Comput. Sci. Dept., North Carolina Univ., Chapel Hill, NC, USA
pp. 1462-1466

Space robotics: automata in unstructured environments (PDF)

R. Lumia , Nat. Inst. of Stand. & Technol., Gaitesburg, MD, USA
pp. 1467-1471

The Space Station Freedom evolution-phase: Crew-EVA demand for robotic substitution by task primitive (PDF)

J.H. Smith , Jet Propulsion Lab., California Inst. of Technol., CA, USA
J. Estus , Jet Propulsion Lab., California Inst. of Technol., CA, USA
C. Heneghan , Jet Propulsion Lab., California Inst. of Technol., CA, USA
C. Nainan , Jet Propulsion Lab., California Inst. of Technol., CA, USA
pp. 1472-1477

Computer-based, teleoperation of a new highwall mining system (PDF)

A.J. Kwitowski , US Dept. of Interior, Bur. of Mines, Pittsburgh, PA, USA
W.H. Lewis , US Dept. of Interior, Bur. of Mines, Pittsburgh, PA, USA
W.D. Mayercheck , US Dept. of Interior, Bur. of Mines, Pittsburgh, PA, USA
pp. 1478-1483

Proving the uniform boundedness of some commonly used control schemes for robots (PDF)

X. Wang , Oregon State Univ., Corvallis, OR, USA
L.-K. Chen , Oregon State Univ., Corvallis, OR, USA
pp. 1491-1496

Digital implementation of repetitive controllers for robotic manipulators (PDF)

R. Horowitz , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
W.-W. Kao , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
M. Boals , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
pp. 1497-1503

Variable structure model-reaching control strategy for robot manipulators (PDF)

S.P. Chan , Dept. of Electr. Eng., Hong Kong Polytech., Hong Kong
pp. 1504-1508

A method for estimating the mass properties of a manipulator by measuring the reaction moments at its base (PDF)

H. West , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
E. Papadopoulos , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
S. Dubowsky , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
H. Cheah , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1510-1516

Basis sets for manipulator inertial parameters (PDF)

S.-Y. Sheu , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
M.W. Walker , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
pp. 1517-1522

Identification of the minimum inertial parameters of robots (PDF)

M. Gautier , Laboratoire d'Autom. de Nantes, France
W. Khalil , Laboratoire d'Autom. de Nantes, France
pp. 1529-1534

The wobble motor: design, fabrication and testing of an eccentric-motion electrostatic microactuator (PDF)

S.C. Jacobsen , Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
R.H. Price , Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
J.E. Wood , Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
T.H. Rytting , Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
M. Rafaelof , Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
pp. 1536-1546

Actuators for micro robots (PDF)

W. Trimmer , AT&T Bell Lab., Holmdel, NJ, USA
R. Jebens , AT&T Bell Lab., Holmdel, NJ, USA
pp. 1547-1552

Manipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system (PDF)

I.W. Hunter , Biomed. Eng., McGill Univ., Montreal, Que., Canada
S. Lafontaine , Biomed. Eng., McGill Univ., Montreal, Que., Canada
P.M.F. Nielsen , Biomed. Eng., McGill Univ., Montreal, Que., Canada
pp. 1553-1558

Studies of micro actuators in Japan (PDF)

H. Fujita , Inst. of Ind. Sci., Tokyo Univ., Japan
pp. 1559-1564

The servo-control system for an omnidirectional mobile robot (PDF)

D. Feng , Carnegie-Mellon Univ., Pittsburgh, PA, USA
M.B. Friedman , Carnegie-Mellon Univ., Pittsburgh, PA, USA
B.H. Krogh , Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 1566-1571

Kinematics and dynamics of a three-wheeled 2-DOF AGV (PDF)

S.K. Saha , McGill Univ., Montreal, Que., Canada
J. Angeles , McGill Univ., Montreal, Que., Canada
pp. 1572-1577

Behavior control for a mobile robot by multihierarchical neural network (PDF)

M. Sekiguchi , Fujitsu Lab. Ltd., Kawasaki, Japan
S. Negata , Fujitsu Lab. Ltd., Kawasaki, Japan
K. Asakawa , Fujitsu Lab. Ltd., Kawasaki, Japan
pp. 1578-1583

Planning and scheduling in a flexible manufacturing system using a dynamic routing method for automated guided vehicles (PDF)

Pei-Sen Liu , Dept. of Comput. & Inf. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Li-Chen Fu , Dept. of Comput. & Inf. Eng., Nat. Taiwan Univ., Taipei, Taiwan
pp. 1584-1589

Powered flight, child's play, silly wheels and walking machines (PDF)

T. McGeer , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
pp. 1592-1597

Algorithmic control of walking (PDF)

A.J. Stewart , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
J.F. Cremer , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 1598-1603

A neural network learning strategy for the control of a one-legged hopping machine (PDF)

J.J. Helferty , Dept. of Electr. Eng., Temple Univ., Philadelphia, PA, USA
pp. 1604-1609

Coupled drive of the multi-DOF robot (PDF)

S. Hirose , Tokyo Inst. of Technol., Japan
pp. 1610-1616

Controlling impedance at the man/machine interface (PDF)

N. Hogan , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1626-1631

Human/robot interaction via the transfer of power and information signals. II. An experimental analysis (PDF)

H. Kazerooni , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 1641-1647

Model reference adaptive control and repetitive control for robot manipulators (PDF)

M.-C. Tsai , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
M. Tomizuka , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
pp. 1650-1655

Digital implementation of adaptive control algorithms for robot manipulators (PDF)

A. Morando , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
R. Horowitz , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
pp. 1656-1662

Robust high-performance control for robotic manipulators (PDF)

H. Seraji , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1663-1669

Dynamic modelling for robotic manipulators with a force-torque sensor during compliant motion (PDF)

J.K. Mills , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 1672-1677

A general dynamic model of flexible robot arms for control (PDF)

X. Ding , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
T.J. Tarn , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
pp. 1678-1683

Recursive algorithm for the third-order model of robots (PDF)

A. Smiarowski , Center for Manuf. Res. & Technol. Utilization, Tennessee Technol. Univ., Cookeville, TN, USA
J.N. Anderson , Center for Manuf. Res. & Technol. Utilization, Tennessee Technol. Univ., Cookeville, TN, USA
pp. 1684-1689

Estimation of rigid body models for a six-axis manipulator with geared electric drives (PDF)

G. Seeger , Inst. fuer Regelungstechnik, Tech. Univ. Braunschweig, West Germany
W. Leonhard , Inst. fuer Regelungstechnik, Tech. Univ. Braunschweig, West Germany
pp. 1690-1695

A three degree of freedom micro-motion in-parallel actuated manipulator (PDF)

K.-M. Lee , Georgia Inst. of Technol., Atlanta, GA, USA
pp. 1698-1703

Development of a light-weight robot end-effector using polymeric piezoelectric bimorph (PDF)

H.S. Tzou , Dept. of Mech. Eng., Kentucky Univ., Lexington, KY, USA
pp. 1704-1709

Design and characterization of a linear motion piezoelectric microactuator (PDF)

Z. Wang , Dept. of Mech. Eng., California Univ., CA, USA
M.K. Jouaneh , Dept. of Mech. Eng., California Univ., CA, USA
D. Dornfeld , Dept. of Mech. Eng., California Univ., CA, USA
pp. 1710-1715

Dynamics and distributed vibration controls of flexible manipulators; integrated distributed sensing and active piezoelectric actuator (PDF)

H.S. Tzou , Dept. of Mech. Eng., Kentucky Univ., Lexington, KY, USA
G.C. Wan , Dept. of Mech. Eng., Kentucky Univ., Lexington, KY, USA
C.I. Tseng , Dept. of Mech. Eng., Kentucky Univ., Lexington, KY, USA
pp. 1716-1721

On-line robot trajectory planning for catching a moving object (PDF)

Z. Lin , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
V. Zeman , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
R.V. Patel , Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
pp. 1726-1731

Path planning using a Jacobian-based freespace generation algorithm (PDF)

B. Paden , Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA
pp. 1732-1737

Bounded error interpolates for manipulators with prismatic and revolute joints (PDF)

G. Heinzinger , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 1738-1743

Bounds on robot dynamics (PDF)

G. Heinzinger , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 1744-1749

Calibrating a VPL DataGlove for teleoperating the Utah/MIT hand (PDF)

J. Hong , Robot Res. Lab., New York Univ., NY, USA
X. Tan , Robot Res. Lab., New York Univ., NY, USA
pp. 1752-1757

Transformation of human hand positions for robotic hand control (PDF)

L. Pao , Dept. of Electr. Eng., Stanford Univ., Palo Alto, CA, USA
pp. 1758-1763

Stability and performance tradeoffs in bi-lateral telemanipulation (PDF)

B. Hannaford , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1764-1767

Predictive and knowledge-based telerobotic control concepts (PDF)

G. Hirzinger , German Aerosp. Res. Establ., Wessling, West Germany
J. Heindl , German Aerosp. Res. Establ., Wessling, West Germany
K. Landzettel , German Aerosp. Res. Establ., Wessling, West Germany
pp. 1768-1777

A direct method in discrete decentralized time-varying control of robot manipulators (PDF)

Z.S. Tumeh , Sch. of Electr. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 1780-1785

Application of decentralized time-delay controller to robot manipulators (PDF)

K. Youcef-Toumi , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
T.A. Fuhlbrigge , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1786-1791

High performance motion control based on model following acceleration joint control method (PDF)

K. Ohishi , Osaka Inst. of Technol., Japan
Y. Ogino , Osaka Inst. of Technol., Japan
pp. 1792-1798

The decentralized robust control schemes with a nonlinear adaptive observer (PDF)

G. Qiao , Dept. of Autom. Control, Beijing Inst. of Technol., China
pp. 1799-1804

The architecture of Newton, a general-purpose dynamics simulator (PDF)

J.F. Cremer , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
A.J. Stewart , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 1806-1811

An efficient algorithm for automatic generation of manipulator dynamic equations (PDF)

S. Yin , Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
J. Yuh , Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
pp. 1812-1817

A class of parallel algorithms for computation of the manipulator inertia matrix (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. 1818-1826

On the control of redundant coarse-fine manipulators (PDF)

S. Salcudean , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
C. An , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 1834-1840

Experimental results of using a linear step motor as a programmable spring (PDF)

J. Ish-Shalom , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 1841-1846

Rubber gas actuator driven by hydrogen storage alloy for in-pipe inspection mobile robot with flexible structure (PDF)

T. Fukuda , Dept. of Mech. Eng., Sci. Univ., Tokyo, Japan
H. Hosokai , Dept. of Mech. Eng., Sci. Univ., Tokyo, Japan
M. Uemura , Dept. of Mech. Eng., Sci. Univ., Tokyo, Japan
pp. 1847-1852

PI type hierarchical feedback control scheme for pneumatic robots (PDF)

S. Kawamura , Ritsumeikan Univ., Kyoto, Japan
K. Miyata , Ritsumeikan Univ., Kyoto, Japan
H. Hanafusa , Ritsumeikan Univ., Kyoto, Japan
K. Isida , Ritsumeikan Univ., Kyoto, Japan
pp. 1853-1858

Symmetry inference in planning assembly (PDF)

G. Dakin , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
Y. Liu , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
S. Nair , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
R.J. Popplestone , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
R. Weiss , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
pp. 1865-1868
86 ms
(Ver 3.3 (11022016))