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Proceedings. 1991 IEEE International Conference on Robotics and Automation (1991)
Sacramento, CA, USA
April 9, 1991 to April 11, 1991
ISBN: 0-8186-2163-X
TABLE OF CONTENTS

Sensor abstractions for control of navigation (PDF)

J. Kirman , Dept. of Comput. Sci., Brown Univ., Providence, RI, USA
K. Basye , Dept. of Comput. Sci., Brown Univ., Providence, RI, USA
T. Dean , Dept. of Comput. Sci., Brown Univ., Providence, RI, USA
pp. 2812-2817

Acquiring precise range information from camera motion (PDF)

H. Ishiguro , Dept. of Control Eng., Osaka Univ., Japan
M. Yamamoto , Dept. of Control Eng., Osaka Univ., Japan
S. Tsuji , Dept. of Control Eng., Osaka Univ., Japan
pp. 2300-2305

Deformation identification and estimation of one-dimensional objects by using vision sensors (PDF)

C. Chen , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Y.F. Zheng , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 2306-2311

Parallel algorithms for line detection on a 1*N array processor (PDF)

Z.-N. Li , Sch. of Comput. Sci., Simon Fraser Univ., Burnaby, BC, Canada
F. Tong , Sch. of Comput. Sci., Simon Fraser Univ., Burnaby, BC, Canada
R.G. Laughlin , Sch. of Comput. Sci., Simon Fraser Univ., Burnaby, BC, Canada
pp. 2312-2318

Comparative experiments with a new adaptive controller for robot arms (PDF)

L.L. Whitcomb , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
A.A. Rizzi , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
D.E. Koditschek , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 2-7

Adaptive control of robotic manipulators: experimental results (PDF)

R. Gourdeau , Dept. de Genie Ind., Ecole Polytech., Montreal, Que., Canada
pp. 8-15

Adaptive control of robot manipulators via velocity estimated feedback (PDF)

C. Canudas de Wit , Lab. d'Autom. de Grenoble ENSIEG-INPG, Saint Martin d'Heres, France
N. Fixot , Lab. d'Autom. de Grenoble ENSIEG-INPG, Saint Martin d'Heres, France
pp. 16-21

Augmented impedance control: an approach to compliant control of kinematically redundant manipulators (PDF)

W.S. Newman , Case Western Reserve Univ., Cleveland, OH, USA
M.E. Dohring , Case Western Reserve Univ., Cleveland, OH, USA
pp. 30-35

A robust force controller: theory and experiments (PDF)

S. Payandeh , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 36-41

Control design of robot for compliant manipulation on dynamic environments (PDF)

Z.W. Luo , Dept. of Ing. Eng., Nagoya Univ., Japan
M. Ito , Dept. of Ing. Eng., Nagoya Univ., Japan
pp. 42-47

Dealing with unexpected situations during the execution of robot motions (PDF)

M. Spreng , Inst. for Real-Time Comput. Control Syst. & Robotics, Karlsruhe Univ., Germany
pp. 64-69

An approach to robot motion analysis and planning for conveyor tracking (PDF)

T.H. Park , Dept. of Control & Instrum Eng., Seoul Nat. Univ., South Korea
B.H. Lee , Dept. of Control & Instrum Eng., Seoul Nat. Univ., South Korea
pp. 70-75

Automated sensor planning for robotic vision tasks (PDF)

K. Tarabanis , Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
pp. 76-82

Principal base parameters of open and closed kinematic chains (PDF)

M. Ghodoussi , California Univ., Santa Barbara, CA, USA
Y. Nakamura , California Univ., Santa Barbara, CA, USA
pp. 84-89

Spatial rigid body dynamics using dual quaternion components (PDF)

J.R. Dooley , Dept. of Mech. Eng., California Univ., Irvine, CA, USA
J.M. McCarthy , Dept. of Mech. Eng., California Univ., Irvine, CA, USA
pp. 90-95

Vectorization of robot dynamics on a pipelined vector processor (PDF)

H. Cheng , United Parcel Service, Danbury, CT, USA
pp. 96-101

Inertia matrix singularity of planar series-chain manipulators (PDF)

S.K. Agrawal , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 102-107

A job completion time estimation method for work center scheduling (PDF)

T.A. Owens , Dept. of Electr. & Syst. Eng., Connecticut Univ., Storrs, CT, USA
pp. 110-115

Flow equivalent nets for the performance analysis of generalized stochastic Petri nets (PDF)

H. Jungnitz , Rensselaer Polytech. Inst., Troy, NY, USA
A.A. Desrochers , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 122-127

A framework for object oriented design and prototyping of manufacturing systems (PDF)

G. Menga , Dipartimento di Autom. e Inf., Politecnico di Torino, Italy
M. Morisio , Dipartimento di Autom. e Inf., Politecnico di Torino, Italy
pp. 128-135

A robust light invariant vision system for aircraft refueling (PDF)

R.A. Bennett , Dept. of Electr. & Comput. Eng., US Air Force Inst. of Technol., Wright Patterson AFB, OH, USA
Y.C. Shiu , Dept. of Electr. & Comput. Eng., US Air Force Inst. of Technol., Wright Patterson AFB, OH, USA
M.B. Leahy , Dept. of Electr. & Comput. Eng., US Air Force Inst. of Technol., Wright Patterson AFB, OH, USA
pp. 138-143

On impulse noise removal in color images (PDF)

K.P. Valavanis , Center for Adv. Comput. Studies, Univ. of Southwestern Louisiana, Lafayette, LA, USA
pp. 144-149

Computing position and orientation of free-flying polyhedron from 3D data (PDF)

G. Skofteland , Div. of Eng. Cybernetics, Norwegian Inst. of Technol., Trondheim, Norway
pp. 150-155

Recognition and localization of 3-D natural quadric objects based on active sensing (PDF)

S. Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 156-161

A self-reconfigurable dual-arm system (PDF)

S. Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 164-169

Control of contact conditions for manipulation with multiple robotic systems (PDF)

V. Kumar , Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
X. Yun , Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
E. Paljug , Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
N. Sarkar , Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 170-175

Position and force controls for two coordinating robots (PDF)

J.M. Tao , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
J.Y.S. Luh , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
pp. 176-181

State feedback H/sub infinity / control of manipulators with flexible joints and links (PDF)

Lih-Chang Lin , Dept. of Mech. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan
pp. 218-223

Lagrangian wrench distribution for cooperating robotic mechanisms (PDF)

J. Joh , George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
H. Lipkin , George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 224-229

Reducing the effects of shocks using redundant actuation (PDF)

M. Nahon , Dept. of Mech. Eng., Victoria Univ., BC, USA
pp. 238-243

Learning turn and travel actions with an uninterpreted sensorimotor apparatus (PDF)

D. Pierce , Dept. of Comput. Sci., Texas Univ., Austin, TX, Canada
pp. 246-251

Learning error-recovery strategies in telerobotic systems (PDF)

Y. Zheng , McGill Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
L.K. Daneshmend , McGill Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 252-259

Learning conditional effects of actions for robot navigation (PDF)

M. Barbehenn , Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
S. Hutchinson , Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
pp. 260-265

Task-level learning: experiments and extensions (PDF)

M.S. Branicky , AI Lab., MIT, Cambridge, MA, USA
pp. 266-271

On force-tracking impedance control of robot manipulators (PDF)

T.A. Lasky , Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
T.C. Hsia , Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
pp. 274-280

Geometric stability in force control (PDF)

B.-J. Yi , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
I.D. Walker , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
pp. 281-286

Robust hybrid impedance control of robot manipulators (PDF)

G.J. Liu , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 287-292

Grasp admittance center: a concept and its implications (PDF)

K.B. Shimoga , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 293-298

Concurrent planning and execution for a walking robot (PDF)

R. Simmons , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 300-305

An efficient terrain acquisition algorithm for a mobile robot (PDF)

C.Y. Choo , Dept. of Electr. Eng., Worcester Polytech. Inst., MA, USA
J.M. Smith , Dept. of Electr. Eng., Worcester Polytech. Inst., MA, USA
N.M. Nasrabadi , Dept. of Electr. Eng., Worcester Polytech. Inst., MA, USA
pp. 306-311

Proposal of tangent graph and extended tangent graph for path planning of mobile robots (PDF)

Y.-H. Liu , Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan
S. Arimoto , Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan
pp. 312-317

Smooth trajectory planning for a car in a structured world (PDF)

T. Fraichard , Lifia IMAG-CNRS, Grenoble, France
pp. 318-323

Analysis of voluntary movements for robotic control (PDF)

C.-H. Wu , 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
K.-S. Hwang , Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA
pp. 326-331

The TRACK-Technion robot and controller kit (PDF)

D. Bar-On , Technion, Israel Inst. of Technol., Haifa, Israel
S. Gutman , Technion, Israel Inst. of Technol., Haifa, Israel
A. Israeli , Technion, Israel Inst. of Technol., Haifa, Israel
pp. 332-337

A robotic haptic system architecture (PDF)

M. Campos , Grasp Lab., Pennsylvania Univ., Philadelphia, PA, USA
R. Bajcsy , Grasp Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 338-343

Generating stochastic plans for a programmable parts feeder (PDF)

K.Y. Goldberg , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
pp. 352-359

Mechanical parts orienting: the case of a polyhedron on a table (PDF)

M. Erdmann , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
M.T. Mason , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 360-365

Applying generalized stochastic Petri nets to manufacturing systems containing nonexponential transition functions (PDF)

J.F. Watson , Rensselaer Polytech. Inst., Troy, NY, USA
A.A. Desrochers , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 366-371

Experimental results on Bayesian algorithms for interpreting compliant tactile sensing data (PDF)

W.C. Nowlin , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
pp. 378-383

Parallel strategies for geometric probing (PDF)

M. Lindenbaum , Dept. of Electr. Eng., Technion, Haifa, Israel
pp. 392-397

Finding the pose of an object in a hand (PDF)

D.M. Siegel , MIT Artificial Intelligence Lab., Cambridge, MA, USA
pp. 406-411

The condition for contact grasp stability (PDF)

D.J. Montana , Bolt Beranek & Newman Inc., Cambridge, MA, USA
pp. 412-417

Force domain models for multifingered grasp control (PDF)

R.A. Grupen , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
R.S. Weiss , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
pp. 418-423

On computing two-finger force-closure grasps of curved 2D objects (PDF)

B. Faverjon , Inria-Sophia Antipolis, Valbonne, France
pp. 424-429

On line reactive planning for a nonholonomic mobile in a dynamic world (PDF)

T. Fraichard , Imag-Lifia, Grenoble, France
C. Laugier , Imag-Lifia, Grenoble, France
pp. 432-437

Safe motion planning for a robot in a dynamic, uncertain environment (PDF)

R. Sharma , Comput. Vision Lab., Maryland Univ., College Park, MD, USA
pp. 438-443

Practical path planning among movable obstacles (PDF)

P.C. Chen , Sandia Nat. Lab., Albuquerque, NM, USA
Y.K. Hwang , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 444-449

Redundant arm kinematic control based on parameterization (PDF)

S. Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
A.K. Bejczy , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 458-465

Dynamic optimum control of redundant manipulators (PDF)

A.J. Koivo , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
S.H. Arnautovic , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 466-471

Closed-loop control of manipulators with redundant joints using the Hamilton-Jacobi-Bellman equation (PDF)

S. Gupta , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
J.Y.S. Luh , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
pp. 472-477

Control of a teleoperator system with redundancy based on passivity conditions (PDF)

J.F. Jansen , Oak Ridge Nat. Lab., TN, USA
R.L. Kress , Oak Ridge Nat. Lab., TN, USA
pp. 478-484

Reliable control and sensor fusion in intelligent machines (PDF)

J.E. McInroy , Dept. of Electr. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
G.N. Saridis , Dept. of Electr. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 487-492

Supervisory teleoperation control using computer graphics (PDF)

J.H. Park , MIT, Cambridge, MA, USA
T.B. Sheridan , MIT, Cambridge, MA, USA
pp. 493-498

A sensor driven intelligent control model for a cooperating multijointed robotic arm (PDF)

M.C. Mulder , Center for Adv. Comput. Studies, Southwestern Louisiana Univ., Lafayette, LA, USA
S.R. Malladi , Center for Adv. Comput. Studies, Southwestern Louisiana Univ., Lafayette, LA, USA
S.R. Myneni , Center for Adv. Comput. Studies, Southwestern Louisiana Univ., Lafayette, LA, USA
J. Shaw , Center for Adv. Comput. Studies, Southwestern Louisiana Univ., Lafayette, LA, USA
pp. 499-507

Variable structure control of linearizable systems with applications to robot manipulators (PDF)

Hai-Long Pei , Autom. Dept., South China Univ. of Technol., Guangzhou, China
Qi-Jie Zhou , Autom. Dept., South China Univ. of Technol., Guangzhou, China
pp. 522-527

Control of robots with discrete nonlinear model: theory and experimentation (PDF)

S. Ganguly , 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. 528-533

Inversion of nonlinear dynamical systems with applications to factory automation (PDF)

S.-H. Wang , Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
pp. 534-537

Analogue computation of collision-free paths (PDF)

L. Tarassenko , Dept. of Eng. Sci., Oxford Univ., UK
A. Blake , Dept. of Eng. Sci., Oxford Univ., UK
pp. 540-545

A navigation function for a simple rigid body (PDF)

E. Rimon , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 546-551

Time-safety trade-offs and a bang-bang algorithm for kinodynamic planning (PDF)

B.R. Donald , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
P.G. Xavier , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 552-557

Path planning using the Newtonian potential (PDF)

J.-H. Chuang , Beckman Inst. & Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
N. Ahuja , Beckman Inst. & Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
pp. 558-563

A kinematic criterion for the design optimization of robot manipulators (PDF)

R.V. Mayorga , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
pp. 578-583

Kinematic localization for world model calibration in off-line robot programming using Clifford algebra (PDF)

B. Ravani , California Univ., Davis, CA, USA
Q.J. Ge , California Univ., Davis, CA, USA
pp. 584-589

An automatic, systematic and user-friendly computer-aided planner for robotized assembly (PDF)

A. Delchambre , Res. Centre for the Belgian Metal Working Ind., Brussels, Belgium
A. Wafflard , Res. Centre for the Belgian Metal Working Ind., Brussels, Belgium
pp. 592-598

A framework of knowledge-based 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. 599-604

Localized abductive planning for robot assembly (PDF)

L. Missiaen , Dept. of Comput. Sci., Katholieke Univ. Leuven, Heverlee, Belgium
pp. 605-610

A combinatorial analysis of enumerative data structures for assembly planning (PDF)

J.D. Wolter , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
pp. 611-618

Image-based homing (PDF)

J. Hong , Courant Inst., New York Univ., NY, USA
X. Tan , Courant Inst., New York Univ., NY, USA
pp. 620-625

Direct robot motion vision by fixation (PDF)

M.A. Taalebinezhaad , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 626-631

Active camera guided manipulation (PDF)

J.Y. Zheng , ATR Commun. Syst. Res. Lab., Kyoto, Japan
pp. 632-638

Real-time vision-based robot localization (PDF)

S. Aitya , Inst. fuer Algorithmen & Kognitive Syst., Karlsruhe Univ., Germany
pp. 639-644

Planning grasp strategies for multifingered robot hands (PDF)

R.A. Grupen , Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
pp. 646-651

Manipulation with soft fingers: contact force control (PDF)

P. Akella , Mech. Eng. & Center for Design Res., Stanford Univ., CA, USA
R. Siegwart , Mech. Eng. & Center for Design Res., Stanford Univ., CA, USA
M. Cutkosky , Mech. Eng. & Center for Design Res., Stanford Univ., CA, USA
pp. 652-657

A haptic system for a multifingered hand (PDF)

S.A. Stansfield , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 658-664

Fingertip force planning for multifingered robot hands (PDF)

G. Guo , Coll. of Eng., Kentucky Univ., Lexington, KY, USA
W.A. Gruver , Coll. of Eng., Kentucky Univ., Lexington, KY, USA
pp. 665-672

Collision avoidance for two SCARA robots (PDF)

C.-L. Shih , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
J.P. Sadler , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
W.A. Gruver , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
pp. 674-679

A variational approach to optimal nonholonomic motion planning (PDF)

C. Fernandes , Courant Inst. of Math. Sci., New York Univ., NY, USA
L. Gurvits , Courant Inst. of Math. Sci., New York Univ., NY, USA
Z.X. Li , Courant Inst. of Math. Sci., New York Univ., NY, USA
pp. 680-685

Computing the possible rest configurations of two interacting polygons (PDF)

R.C. Brost , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 686-693

Multivalue coding: application to autonomous robot path planning with rotations (PDF)

A. Pruski , Lab. d'Autom. et d'Electron. Ind., Metz Univ., France
S. Rohmer , Lab. d'Autom. et d'Electron. Ind., Metz Univ., France
pp. 694-699

Optimal rate allocation in kinematically-redundant manipulators-the dual projection method (PDF)

M.Z. Huang , Dept. of Mech. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
H. Varma , Dept. of Mech. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
pp. 702-707

Parallel formulation of the inverse kinematics of modular hyper-redundant manipulators (PDF)

G.S. Chirikjian , Sch. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
J.W. Burdick , Sch. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
pp. 708-713

Characterizing spatial redundant manipulator singularities (PDF)

N.S. Bedrossian , Charles Stark Draper Lab. Inc., Cambridge, MA, USA
K. Flueckiger , Charles Stark Draper Lab. Inc., Cambridge, MA, USA
pp. 714-719

Kinematics of hyper-redundant robot locomotion with applications to grasping (PDF)

G.S. Chirikjian , Sch. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
J.W. Burdick , Sch. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
pp. 720-725

Selective learning with a forgetting factor for robotic motion control (PDF)

S. Arimoto , Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan
T. Naniwa , Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan
H. Suzuki , Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan
pp. 728-733

Experimental evaluation of a new robot learning controller (PDF)

K. Guglielmo , George W. Woodruff Sch. of. Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
N. Sadegh , George W. Woodruff Sch. of. Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 734-739

Learning control using neural networks (PDF)

T. Yabuta , NTT Transmission Syst. Lab., Ibaraki, Japan
T. Yamada , NTT Transmission Syst. Lab., Ibaraki, Japan
pp. 740-745

Neural network control of force distribution for power grasp (PDF)

M.D. Hanes , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
S.C. Ahalt , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
K. Mirza , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
D.E. Orin , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 746-751

Robot task planning based on resource reasoning (PDF)

W. Ko , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 756-761

Manipulation planning for empirical backprojections (PDF)

A.D. Christiansen , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 762-768

Planning with Pr/T nets (PDF)

D. Zhang , Dept. of Comput. Sci., California State Univ., Sacramento, CA, USA
pp. 769-775

Reasoning about geometric constraints for assembly sequence planning (PDF)

S.S. Krishnan , Rensselaer Polytech. Inst., Troy, NY, USA
A.C. Sanderson , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 776-782

Real-time trajectory generation using blend functions (PDF)

J. Lloyd , McGill Res. Center for Intelligent Machines, Montreal, Que., Canada
V. Hayward , McGill Res. Center for Intelligent Machines, Montreal, Que., Canada
pp. 784-789

Real-time obstacle avoidance using harmonic potential functions (PDF)

J.-O. Kim , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
P. Khosla , Robotics Inst., Carnegie-Mellon Univ., Pittsburgh, PA, USA
pp. 790-796

Towards safe real-time robot teleoperation: automatic whole-sensitive arm collision avoidance frees the operator for global control (PDF)

V. Lumelsky , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
E. Cheung , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 797-802

Real-time fault diagnostics with multiple aspect models (PDF)

S. Padalkar , Dept. of Electr. Eng., Vanderbilt Univ., Nashville, TN, USA
G. Karsai , Dept. of Electr. Eng., Vanderbilt Univ., Nashville, TN, USA
J. Sztipanovits , Dept. of Electr. Eng., Vanderbilt Univ., Nashville, TN, USA
pp. 803-808

Real-time motion scheduling for a SMALL workcell (PDF)

G. Pardo-Castellote , Hewlett-Packard Lab., Palo Alto, CA, USA
H.A.S. Martins , Hewlett-Packard Lab., Palo Alto, CA, USA
pp. 810-817

Scheduling with neural networks for flexible manufacturing systems (PDF)

Z.-P. Lo , Dept. of Electr. & Comput. Eng., California Univ., Irvine, CA, USA
B. Bavarian , Dept. of Electr. & Comput. Eng., California Univ., Irvine, CA, USA
pp. 818-823

A genetic algorithm for job shop (PDF)

E. Falkenauer , CRIF, Brussels, Belgium
S. Bouffouix , CRIF, Brussels, Belgium
pp. 824-829

Time lower bound for manufacturing aggregate scheduling problems (PDF)

C.L.P. Chen , Dept. of Comput. Sci. & Eng., Wright State Univ., Dayton, OH, USA
pp. 830-835

Path generation with a universal 3d sensor (PDF)

R. Gutsche , Inst. for Robotics & Comput. Control, Tech. Univ. of Braunschweig, Germany
T. Stahs , Inst. for Robotics & Comput. Control, Tech. Univ. of Braunschweig, Germany
F.M. Wahl , Inst. for Robotics & Comput. Control, Tech. Univ. of Braunschweig, Germany
pp. 838-843

Visual tracking with deformation models (PDF)

J.M. Rehg , Carnegie Mellon Univ., Pittsburgh, PA, USA
A.P. Witkin , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 844-850

Real-time visual servoing (PDF)

P.K. Allen , Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
B. Yoshimi , Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
A. Timcenko , Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
pp. 851-856

Vision and control techniques for robotic visual tracking (PDF)

N. Papanikolopoulos , 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
T. Kanada , Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 857-864

Primitive based control of the Utah/MIT dextrous hand (PDF)

T.H. Speeter , AT&T Bell Lab., Holmdel, NJ, USA
pp. 866-877

A ground testbed for evaluating concepts for the special purpose dexterous manipulator (PDF)

B. Mack , Spar Aerosp. Ltd., Weston, Ont., Canada
S. McClure , Spar Aerosp. Ltd., Weston, Ont., Canada
R. Ravindran , Spar Aerosp. Ltd., Weston, Ont., Canada
pp. 884-889

A new approach to force distribution and planning for multifingered grasps of solid objects (PDF)

Y.-C. Chen , Dept. of Mech. Eng. & Mater. Sci., Rice Univ., Houston, TX, USA
pp. 890-896

Collision avoidance in a behavior-based mobile robot design (PDF)

A.A. Holenstein , Inst. of Autom. Control, Swiss Federal Inst. of Technol., Zurich, Switzerland
E. Badreddin , Inst. of Autom. Control, Swiss Federal Inst. of Technol., Zurich, Switzerland
pp. 898-903

Collision avoidance of mobile robots in non-stationary environments (PDF)

K.J. Kyriakopoulos , NASA, Rennsselaer Polytech. Inst., Troy, NY, USA
G.N. Saridis , NASA, Rennsselaer Polytech. Inst., Troy, NY, USA
pp. 904-909

Collision avoidance using omnidirectional image sensor (COPIS) (PDF)

Y. Yagi , Fac. of Eng. Sci., Osaka Univ., Japan
pp. 910-915

A robot system for unstructured environments based on an environment model and manipulation skills (PDF)

T. Hasegawa , Electrotech. Lab., Tsukuba, Japan
T. Suehiro , Electrotech. Lab., Tsukuba, Japan
K. Takase , Electrotech. Lab., Tsukuba, Japan
pp. 916-923

Inverse kinematics of planar redundant manipulators using virtual link and displacement distribution schemes (PDF)

W.J. Chung , Dept. of Mech. Eng., Pohang Inst. of Sci. & Technol., South Korea
W.K. Chung , Dept. of Mech. Eng., Pohang Inst. of Sci. & Technol., South Korea
Y. Youm , Dept. of Mech. Eng., Pohang Inst. of Sci. & Technol., South Korea
pp. 926-932

Optimal placement of robotic manipulators using multiple kinematic criteria (PDF)

G.J.A. Pamanes , Lab. de Mecanique des Solides, Poitiers Univ., France
S. Zeghloul , Lab. de Mecanique des Solides, Poitiers Univ., France
pp. 933-938

Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling (PDF)

J.W. Burdick , California Inst. of Technol., Pasadena, CA, USA
B.C. Cetin , California Inst. of Technol., Pasadena, CA, USA
J. Barhen , California Inst. of Technol., Pasadena, CA, USA
pp. 939-944

A damped least-squares solution to redundancy resolution (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
I. Spangelo , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
pp. 945-950

Robot parameter identification via sequential hybrid estimation algorithm (PDF)

C. Canudas de Wit , Lab. d'Automatique de Grenoble, ENSIEG-INPG, St.-Martin-d'Heres, France
A. Aubin , Lab. d'Automatique de Grenoble, ENSIEG-INPG, St.-Martin-d'Heres, France
pp. 952-957

Using locally weighted regression for robot learning (PDF)

C.G. Atkeson , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 958-963

Geometric parameters estimation of robotic systems (PDF)

V.D. Kostadinov , Robot Control Dept., Bulgarian Acad. of Sci., Sofia, Bulgaria
pp. 964-969

Multiple robot coordination and programming (PDF)

C.-K. Tsai , GMFanuc Robotics Corp., Auburn Hills, MI, USA
pp. 978-985

Adaptive load sharing for hybrid controlled two cooperative manipulators (PDF)

M. Uchiyama , Dept. of Precision Eng., Tohoku Univ., Sendai, Japan
T. Yamashita , Dept. of Precision Eng., Tohoku Univ., Sendai, Japan
pp. 986-991

Unknown load distribution of two industrial robots (PDF)

K.I. Kim , Dept. of Electr. Eng., Myung Ji Univ., Seoul, South Korea
pp. 992-997

Parallel robot motion planning (PDF)

T. Lozano-Perez , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
P.A. O'Donnell , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 1000-1007

A fast algorithm for incremental distance calculation (PDF)

M.C. Lin , California Univ., Berkeley, CA, USA
J.F. Canny , California Univ., Berkeley, CA, USA
pp. 1008-1014

Motion planning with planar geometric models (PDF)

Kim Myung-Soo , Dept. of Comput. Sci., POSTECH, Pohang, South Korea
Moon Sang-Ryong , Dept. of Comput. Sci., POSTECH, Pohang, South Korea
Lee Kwan-Hee , Dept. of Comput. Sci., POSTECH, Pohang, South Korea
pp. 1015-1020

A vector based approach to robot path planning (PDF)

C.W. Warren , Dept. of Mech. Eng., Alabama Univ., Tuscaloosa, AL, USA
pp. 1021-1026

Optimal use of nonlinear electromagnetic force for micro motion wrist (PDF)

Y. Nakamura , Center for Robotic Syst. & Manuf., California Univ., Santa Barbara, CA, USA
pp. 1040-1045

A new Jacobian formulation for general six-revolute manipulators (PDF)

C.W. Wampler , Gen. Motors Res. Lab., Warren, MI, USA
pp. 1046-1051

Scheduling flexible flow shops of no setup cost by a Lagrangian relaxation and network flow approach (PDF)

S.-C. Chang , Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
D.-Y. Liao , Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
F.-S. Hsieh , Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
pp. 1054-1059

Concurrent resource allocation for production scheduling (PDF)

A. Vasquez , Intellection Inc., Dallas, TX, USA
pp. 1060-1066

Distributed scheduling of job shops (PDF)

D.J. Hoitomt , Pratt & Whitney, East Hartford, CT, USA
pp. 1067-1072

On dynamic motion planning problems (PDF)

R.C. Luo , Robotics & Intelligent Syst. Lab., North Carolina State Univ., Raleigh, NC, USA
T.-J. Pan , Robotics & Intelligent Syst. Lab., North Carolina State Univ., Raleigh, NC, USA
pp. 1073-1078

Automatic planning of light source and camera placement for an active photometric stereo system (PDF)

S. Sakane , Electrotech. Lab., Ibaraki, Japan
T. Sato , Electrotech. Lab., Ibaraki, Japan
pp. 1080-1087

A stereo matching algorithm with an adaptive window: theory and experiment (PDF)

T. Kanade , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1088-1095

Accidental alignments-an approach to qualitative vision (PDF)

A. Mukerjee , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
pp. 1096-1101

A robust 3-D motion estimation with stereo cameras on a robot manipulator (PDF)

Y. Kay , Dept. of Electr. Eng. Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 1102-1107

Locomotion functions in the mobile robot language, MML (PDF)

Y. Kanayama , Dept. of Comput. Sci., US Naval Postgrad. Sch., Monterey, CA, USA
pp. 1110-1115

ALFA: a language for programming reactive robotic control systems (PDF)

E. Gat , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1116-1121

Modelling and control of non-holonomic wheeled mobile robots (PDF)

B. d'Andrea-Novel , Centre d'Autom., Ecole des Mines de Paris, Fontainebleau, France
pp. 1130-1135

Feedback control of a nonholonomic wheeled cart in Cartesian space (PDF)

C. Samson , Iria, Valbonne, France
K. Ait-Abderrahim , Iria, Valbonne, France
pp. 1136-1141

Path following of a 2-DOF wheeled mobile robot under path and input torque constraints (PDF)

C. Canudas de Wit , Lab. d'Autom. de Grenoble, ENSIEG-INPG, St. Martin-d'Heres, France
R. Roskam , Lab. d'Autom. de Grenoble, ENSIEG-INPG, St. Martin-d'Heres, France
pp. 1142-1147

Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles (PDF)

J. Barraquand , Dept. of Comput. Sci., Stanford Univ., CA, USA
J.-C. Latombe , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 2328-2335

Large motion control of mobile manipulators including vehicle suspension characteristics (PDF)

N.A.M. Hootsmans , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
S. Dubowsky , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 2336-2341

Robug II: An intelligent wall climbing robot (PDF)

B.L. Luk , Portsmouth Polytech., UK
A.A. Collie , Portsmouth Polytech., UK
J. Billingsley , Portsmouth Polytech., UK
pp. 2342-2347

Spatially recursive dynamics for flexible manipulators (PDF)

A. Jain , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
G. Rodriguez , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 2350-2355

A control-configured flexible arm: integrated structure control design (PDF)

H. Asada , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
J.-H. Park , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
S. Rai , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 2356-2362

A quasi-static motion planner for flexible manipulators using the algebra of rotations (PDF)

F. Xi , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
R.G. Fenton , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 2363-2368

An alternative method to formulate closed-form dynamics for elastic manipulators using symbolic process (PDF)

J. Lieh , Dept. of Mech. & Materials Eng., Wright State Univ., Dayton, OH, USA
pp. 2369-2374

Direct dynamic control of a robot using an end-point mounted camera and Kalman filter position estimation (PDF)

D.B. Westmore , Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
W.J. Wilson , Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
pp. 2376-2384

Computer-aided modeling and control of multibody systems for robotics application (PDF)

J. Lieh , Dept. of Mech. & Mater. Eng., Wright State Univ., Dayton, OH, USA
pp. 2385-2390

Control of robot manipulators using time delay (PDF)

K. Youcef-Toumi , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 2391-2398

Dynamics and control of robotic systems worn by humans (PDF)

H. Kazerooni , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
S.L. Mahoney , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 2399-2405

Motion planning for controllable systems without drift (PDF)

G. Lafferriere , Dept. of Math. Sci., Portland State Univ., OR, USA
pp. 1148-1153

Parallel algorithms and architecture for computation of manipulator forward dynamics (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. 1156-1162

Measure of joint path drift for kinematically redundant robots (PDF)

S. Luo , Real-Time Robot Control Lab., Purdue Univ., West Lafayette, IN, USA
S. Ahmad , Real-Time Robot Control Lab., Purdue Univ., West Lafayette, IN, USA
pp. 1163-1168

On the identification of the barycentric parameters of robot manipulators from external measurements (PDF)

B. Raucent , Univ. Catholique de Louvain, Belgium
G. Campion , Univ. Catholique de Louvain, Belgium
G. Bastin , Univ. Catholique de Louvain, Belgium
J.C. Samin , Univ. Catholique de Louvain, Belgium
P.Y. Willems , Univ. Catholique de Louvain, Belgium
pp. 1169-1174

Active optimal vibration control using dynamic absorber (PDF)

S.G. Tewani , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
B.L. Walcott , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
K.E. Rouch , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
pp. 1182-1187

Configuration control of 7 DOF arms (PDF)

H. Seraji , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
M. Long , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
T. Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1195-1200

Dynamic coordination and actuator efficiency using momentum control for macro-micro manipulators (PDF)

J.R. Sagli , Center for Robotics Res., Norwegian Inst. of Technol., Trondheim, Norway
O. Egeland , Center for Robotics Res., Norwegian Inst. of Technol., Trondheim, Norway
pp. 1201-1206

Experimental and theoretical observations on the dynamic stability of a one-link force-controlled flexible manipulator (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. 1208-1213

A flexible link manipulator as a force measuring and controlling unit (PDF)

K. Richter , Tech Univ., Muenchen, Lehrstuhl B fuer Mech., Germany
F. Pfeiffer , Tech Univ., Muenchen, Lehrstuhl B fuer Mech., Germany
pp. 1214-1219

The effects of joint flexibility on robot motion control based on joint torque positive feedback (PDF)

M. Hashimoto , Dept. of Mech. Eng., Kagoshima Univ., Japan
T. Horiuchi , Dept. of Mech. Eng., Kagoshima Univ., Japan
pp. 1220-1225

Nonlinear decoupling for position and force control of constrained robots with flexible joints (PDF)

K.P. Jankowski , Flexible Manuf. Res. & Dev. Center, McMaster Univ., Hamilton, Ont., Canada
H.A. ElMaraghy , Flexible Manuf. Res. & Dev. Center, McMaster Univ., Hamilton, Ont., Canada
pp. 1226-1231

Optimal path placement for kinematically redundant manipulators (PDF)

J.S. Hemmerle , EDRC, Carnegie Mellon Univ., Pittsburgh, PA, USA
F.B. Prinz , EDRC, Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1234-1244

A framework for planning dexterous manipulation (PDF)

J.C. Trinkle , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
pp. 1245-1251

Feasibility analysis of displacement trajectories for robot manipulators with a spherical wrist (PDF)

H. Zhang , Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
pp. 1252-1257

Qualitative analysis of task kinematics for compliant motion planning (PDF)

J. Liu , McGill Univ., Montreal, Que., Canada
L.K. Daneshmend , McGill Univ., Montreal, Que., Canada
pp. 1258-1265

Coupled tendon-driven multijoint manipulator (PDF)

S. Hirose , Dept. of Mech. Sci., Tokyo Inst. of Technol., Japan
pp. 1268-1275

The model simplification of open-loop arms and its application to closed-loop arms (PDF)

Xing Zhao , Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 1276-1281

The generalized principle of inertia match for geared robotic mechanisms (PDF)

D.-Z. Chen , Dept. of Mech. Eng. & Syst. Res. Center, Maryland Univ., College Park, MD, USA
L.-W. Tsai , Dept. of Mech. Eng. & Syst. Res. Center, Maryland Univ., College Park, MD, USA
pp. 1282-1287

Towards a fully-parallel 6 DOF robot for high-speed applications (PDF)

F. Pierrot , LAMM-URA CNRS, Montpellier, France
A. Fournier , LAMM-URA CNRS, Montpellier, France
P. Dauchex , LAMM-URA CNRS, Montpellier, France
pp. 1288-1293

Force-assemblability: insertion of a workpiece into a fixture guided by contact forces alone (PDF)

J.M. Schimmels , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
M.A. Peshkin , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
pp. 1296-1301

Four-axis CAM module for NC machining of rotational-free surfaces (PDF)

Suk-Hwan Suh , Dept. of Ind. Eng., POSTECH, Pohang, South Korea
Kee-Sang Lee , Dept. of Ind. Eng., POSTECH, Pohang, South Korea
pp. 1302-1308

Moment generating function approach to performance analysis of extended stochastic Petri nets (PDF)

D. Guo , Rensselaer Polytech. Inst., Troy, NY, USA
F. DiCesare , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1309-1314

Resource allocation in a flexible manufacturing system by graph matching (PDF)

H.C. Shen , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
J.A.B. Hodgson , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
G.R. Heppler , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
pp. 1315-1320

A very fast VLSI rangefinder (PDF)

T. Kanade , Carnegie Mellon Univ., Pittsburgh, PA, USA
A. Gruss , Carnegie Mellon Univ., Pittsburgh, PA, USA
L.R. Carley , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1322-1329

The MIT Vision Chip Project: analog VLSI systems for fast image acquisition and early vision processing (PDF)

J.L. Wyatt , Dept. of Electr. Eng. & Comput. Sci., MIT, Cambridge, MA, USA
D.L. Standley , Dept. of Electr. Eng. & Comput. Sci., MIT, Cambridge, MA, USA
W. Yang , Dept. of Electr. Eng. & Comput. Sci., MIT, Cambridge, MA, USA
pp. 1330-1335

A VLSI-based system for tracking visual stimuli (PDF)

S.P. DeWeerth , Comput. & Neural Syst., California Inst. of Technol., Pasadena, CA, USA
pp. 1336-1341

VLSI sensori-motor systems (PDF)

J.J. Clark , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
D.J. Friedman , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
pp. 1342-1347

An approach to model based fault diagnosis of industrial robots (PDF)

B. Freyermuth , Inst. fuer Regleungstech., Tech. Hochschule Darmstadt, Germany
pp. 1350-1356

A method for accurate simulation of robotic spray application using empirical parameterization (PDF)

E.D. Goodman , A.H. Case Center for Comput.-Aided Eng. & Manuf., Michigan State Univ., East Lansing, MI, USA
L.T.W. Hoppensteradt , A.H. Case Center for Comput.-Aided Eng. & Manuf., Michigan State Univ., East Lansing, MI, USA
pp. 1357-1368

Coordinating Space Telescope operations in an integrated planning and scheduling architecture (PDF)

N. Muscettola , Center for Int. Manuf. Decision Syst., Carnegie Mellon Univ., Pittsburgh, PA, USA
S.F. Smith , Center for Int. Manuf. Decision Syst., Carnegie Mellon Univ., Pittsburgh, PA, USA
A. Cesta , Center for Int. Manuf. Decision Syst., Carnegie Mellon Univ., Pittsburgh, PA, USA
D. D'Aloisi , Center for Int. Manuf. Decision Syst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1369-1376

Model based, sensor directed remediation of underground storage tanks (PDF)

B. Christensen , Sandia Nat. Lab., Albuquerque, NM, USA
W. Drotning , Sandia Nat. Lab., Albuquerque, NM, USA
S. Thunborg , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 1377-1383

Control of hoof rolling in an articulated leg (PDF)

W. Lee , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
M. Raibert , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 1386-1391

An analytical study of simple hopping robots with vertical and forward motion (PDF)

R.T. M'Closkey , Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
J.W. Burdick , Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
pp. 1392-1397

Potential field methods and their inherent limitations for mobile robot navigation (PDF)

Y. Koren , Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA
J. Borenstein , Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA
pp. 1398-1404

Automatic programming of robot system simulation (PDF)

Yichuang Jin , Nat. AI Lab., Tsinghua Univ., Beijing, China
Zengqi Sun , Nat. AI Lab., Tsinghua Univ., Beijing, China
pp. 1414-1419

R/sup 2/AD: rapid robotics application development environment (PDF)

A.H. Fagg , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
M.A. Lewis , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
T. Iberall , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
G.A. Bekey , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 1420-1426

ACT: a robot programming environment (PDF)

E. Mazer , Lab. d'Inf. Fondamentale et d'Intelligence Artificielle, Grenoble, France
J. Pertin-Troccaz , Lab. d'Inf. Fondamentale et d'Intelligence Artificielle, Grenoble, France
pp. 1427-1432

L/sub E/: a high level language for specifying vision verification tasks (PDF)

J.L. Gordillo , Centro de Inteligencia Artificial, ITESM, Monterrey, Mexico
pp. 1433-1439

Learning control for redundant manipulators (PDF)

A. De Luca , Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
F. Mataloni , Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
pp. 1442-1450

Implementation of learning control techniques using descriptor systems methods (PDF)

A. Caiti , Dept. of Commun., Comput. & Syst. Sci., Genova Univ., Italy
pp. 1451-1456

A VLSI-based robot dynamics learning algorithm (PDF)

A.Y. Zomaya , Dept. of Electr. & Electron. Eng., Western Australia Univ., Perth, WA, Australia
pp. 1457-1462

A new learning control scheme for robots (PDF)

Z. Qu , Dept. of Electr. Eng., Univ. of Central Florida, Orlando, FL, USA
pp. 1463-1468

Avoiding stick-slip in position and force control through feedback (PDF)

P.E. Dupont , Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
pp. 1470-1475

Design of components for programmable passive impedance (PDF)

K.F. Laurin-Kovitz , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
J.E. Colgate , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
S.D.R. Carnes , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
pp. 1476-1481

Attaining impedance control objectives using H/sub infinity / design methods (PDF)

J.D. Chapel , Martin Marietta Space Syst., Denver, CO, USA
pp. 1482-1487

Design of a four degree-of-freedom force-reflecting manipulandum with a specified force/torque workspace (PDF)

P.A. Millman , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
J.E. Colgate , Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
pp. 1488-1493

A model of reactive planning for multiple mobile agents (PDF)

K. Fujimura , Oak Ridge Nat. Lab., TN, USA
pp. 1503-1509

From planning to execution monitoring control for indoor mobile robots (PDF)

F.R. Noreils , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
R. Prajoux , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1510-1517

On the optimal kinematic design of spherical and spatial mechanisms (PDF)

F.C. Park , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
pp. 1530-1535

Passive mechanical gravity compensation for robot manipulators (PDF)

N. Ulrich , Dept. of Appl. Ocean Phys. & Eng., Woods Hole Oceanogr. Instn., MA, USA
pp. 1536-1541

Architecture singularities of platform manipulators (PDF)

O. Ma , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
J. Angeles , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
pp. 1542-1547

The workspace of three-DOF, four-jointed spherical wrist mechanisms (PDF)

C.-C. Lin , Dept. of Mech. Eng., Maryland Univ., College Park, MD, USA
L.-W. Tsai , Dept. of Mech. Eng., Maryland Univ., College Park, MD, USA
pp. 1548-1553

Diagnosis of tapping operations using an AI approach (PDF)

T.I. Liu , Dept. of Mech. Eng., California State Univ., Sacramento, CA, USA
E.J. Ko , Dept. of Mech. Eng., California State Univ., Sacramento, CA, USA
pp. 1556-1561

Adaptive optimal control of machining process using neural networks (PDF)

G.S. Choi , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Z. Wang , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
D.A. Dornfeld , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
pp. 1567-1572

Performance analysis of MMS using GSPN (PDF)

F.-Y. Wang , SIE Dept., Arizona Univ., Tucson, AZ, USA
pp. 1573-1578

Multisensory scene interpretation: model-based object recognition (PDF)

P. Grandjean , LAAS, CNRS, Toulouse, France
M. Ghallab , LAAS, CNRS, Toulouse, France
E. Dekneuvel , LAAS, CNRS, Toulouse, France
pp. 1588-1595

Determining optimal scales for edge detection using regularization (PDF)

Hong Jeong , Pohang Inst. of Sci. & Technol., South Korea
Chang-Ik Kim , Pohang Inst. of Sci. & Technol., South Korea
Woon-Tack Woo , Pohang Inst. of Sci. & Technol., South Korea
pp. 1596-1601

Spherical-object representation and fast distance computation for robotic applications (PDF)

J. Tornero , Dept. de Ingeneiria de Sistemas, Univ. Politecnica de Valancia, Spain
pp. 1602-1608

Development of flexible microactuator and its applications to robotic mechanisms (PDF)

K. Suzumori , Toshiba Corp., Kawasaki, Japan
S. Iikura , Toshiba Corp., Kawasaki, Japan
pp. 1622-1627

Experimental evaluation of the nonlinear feedback robot controller (PDF)

T.J. Tarn , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
S. Ganguly , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
A.K. Ramadorai , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
G.T. Marth , Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
pp. 1638-1644

Experimental results in manipulator contact task control (PDF)

J.K. Mills , Robotics & Autom. Lab., Toronto Univ., Ont., Canada
D.M. Lokhorst , Robotics & Autom. Lab., Toronto Univ., Ont., Canada
pp. 1645-1651

Experiments with the subsumption architecture (PDF)

R. Hartley , US Naval Res. Lab., Washington, DC, USA
F. Pipitone , US Naval Res. Lab., Washington, DC, USA
pp. 1652-1658

Direct adaptive control for industrial manipulators (PDF)

M.B. Leahy , Dept. of Electr. & Comput. Eng., Air Force Inst. of Technol., Wright-Patterson Air Force Base, OH, USA
P.V. Whalen , Dept. of Electr. & Comput. Eng., Air Force Inst. of Technol., Wright-Patterson Air Force Base, OH, USA
pp. 1666-1672

An adaptive control strategy for space based robot manipulators (PDF)

M.W. Walker , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
L.-B. Weel , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
pp. 1673-1680

Efficient adaptive hybrid control strategies for robots in constrained manipulation (PDF)

Jong-Hann Jean , Nat. Taiwan Univ., Taiwan
Li-Chen Fu , Nat. Taiwan Univ., Taiwan
pp. 1681-1686

Adaptive control of nonlinear underwater robotic systems (PDF)

T.I. Fossen , Div. of Eng. Cybernetics, Norwegian Inst. of Technol., Trondheim, Norway
S.I. Sagatun , Div. of Eng. Cybernetics, Norwegian Inst. of Technol., Trondheim, Norway
pp. 1687-1694

Coordinated manipulator/spacecraft motion control for space robotic systems (PDF)

E. Papadopoulos , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
S. Dubowsky , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1696-1701

A new method of robotic rate control near singularities (PDF)

E.D. Pohl , George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
H. Lipkin , George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 1708-1713

Model based maglev microrobotic motion control (PDF)

J.D. Robichaux , Southwest Res. Inst., Purdue Univ., Indianapolis, IN, USA
pp. 1714-1719

Exploiting visual constraints in robot motion planning (PDF)

S. Hutchinson , Beckman Inst., Illinois Univ., Urbana, IL, USA
pp. 1722-1727

On goal recognizability in motion planning with uncertainty (PDF)

S. Shekhar , Dept. of Comput. Sci., Stanford Univ., CA, USA
J.-C. Latombe , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 1728-1733

Geometric reasoning for world model representation based on planar patch with uncertainty from video range images (PDF)

M. Asada , Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
Y. Taniguchi , Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
Y. Shirai , Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
pp. 1742-1747

Recursive formulation of operational space control (PDF)

K. Kreutz-Delgado , California Univ., San Diego, CA, USA
pp. 1750-1753

Kinematics and dynamics of under-actuated manipulators (PDF)

A. Jain , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
G. Rodriguez , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1754-1759

Operator approach to recursive Jacobian inversion and pseudoinversion (PDF)

K. Kreutz-Delgado , California Univ., San Diego, CA, USA
D. Agahi , California Univ., San Diego, CA, USA
D. Demers , California Univ., San Diego, CA, USA
pp. 1760-1764

Dynamic modeling of geared and flexibly jointed manipulators (PDF)

S.H. Murphy , Center for Intelligent Robotic Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA
J.T. Wen , Center for Intelligent Robotic Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1765-1770

Control of batch processing systems (PDF)

H. Gurnani , Graduate Sch. of Ind. Adm., Carnegie Mellon Univ., Pittsburgh, PA, USA
R. Anupindi , Graduate Sch. of Ind. Adm., Carnegie Mellon Univ., Pittsburgh, PA, USA
R. Akella , Graduate Sch. of Ind. Adm., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1772-1777

An integrated system for scheduling machines and vehicles in an FMS (PDF)

G. Finke , Univ. Joseph Fourier, Grenoble, France
pp. 1784-1788

Recognizing partially occluded 2D parts based on the tracing of feature points (PDF)

J.Z.C. Lai , Dept. of Inf. Eng., Feng-Chia Univ., Taichung, Taiwan
J.M. Lin , Dept. of Inf. Eng., Feng-Chia Univ., Taichung, Taiwan
pp. 1796-1801

Classification of complex patterns for surface inspection (PDF)

K.J. Cho , Pohang Iron & Steel Co., South Korea
pp. 1802-1807

A layered network for the correspondence of 3D objects (PDF)

B. Parvin , 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
pp. 1808-1813

Recovering shape in the presence of interreflections (PDF)

S.K. Nayar , Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
pp. 1814-1819

A behavior-based architecture for robots using real-time vision (PDF)

B. Yamauchi , Dept. of Comput. Sci., Rochester Univ., NY, USA
R. Nelson , Dept. of Comput. Sci., Rochester Univ., NY, USA
pp. 1822-1827

A new VLSI architecture for real-time control of robot manipulators (PDF)

J. Liu , Dept. of Comput. & Syst. Sci., Nankai Univ., Tianjin, China
Z.Q. Mao , Dept. of Comput. & Syst. Sci., Nankai Univ., Tianjin, China
G.Z. Lu , Dept. of Comput. & Syst. Sci., Nankai Univ., Tianjin, China
W.H. Han , Dept. of Comput. & Syst. Sci., Nankai Univ., Tianjin, China
pp. 1828-1835

Real-time robot dynamic simulation on a vector/parallel supercomputer (PDF)

S. McMillan , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
D.E. Orin , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 1836-1841

Parallel implementation of Newton-Euler algorithm with one step ahead prediction (Abstract)

M. Yamakita , Dept. of Control Eng., Tokyo Inst. of Technol., Japan
Y. Hoshino , Dept. of Control Eng., Tokyo Inst. of Technol., Japan
K. Morimoto , Dept. of Control Eng., Tokyo Inst. of Technol., Japan
K. Furuta , Dept. of Control Eng., Tokyo Inst. of Technol., Japan
pp. 1842-1849 vol.2

Experimental verification of a strategy for impact control (PDF)

R. Volpe , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
P. Khosla , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1854-1860

Experimental evaluation of real-time model-based control of a 3-DOF closed-chain direct-drive mechanism (PDF)

D.R. Uecker , Dept. of Electr. & Comput. Eng., California Univ., Santa Barbara, CA, USA
pp. 1861-1866

Experiments in torque control of the AdeptOne robot (PDF)

W.S. Newman , Case Western Reserve Univ., Cleveland, OH, USA
J.J. Patel , Case Western Reserve Univ., Cleveland, OH, USA
pp. 1867-1872

Experimental study of motion control and trajectory planning for a Stewart Platform robot manipulator (PDF)

C.C. Nguyen , Robotics & Control Lab., Catholic Univ. of America, Washington, DC, USA
S.S. Antrazi , Robotics & Control Lab., Catholic Univ. of America, Washington, DC, USA
Z.-L. Zhou , Robotics & Control Lab., Catholic Univ. of America, Washington, DC, USA
pp. 1873-1878

Decoupled parallel algorithm for robot inertia matrix computation (PDF)

M.I. Vuskovic , Dept. of Math. Sci., San Diego State Univ., CA, USA
T.H. Liang , Dept. of Math. Sci., San Diego State Univ., CA, USA
pp. 1880-1886

Micro-G emulation system using constant-tension suspension for a space manipulator (PDF)

Y. Sato , Fujitsu Lab. Ltd., Kawasaki, Japan
A. Ejiri , Fujitsu Lab. Ltd., Kawasaki, Japan
Y. Iida , Fujitsu Lab. Ltd., Kawasaki, Japan
S. Kanda , Fujitsu Lab. Ltd., Kawasaki, Japan
T. Maruyama , Fujitsu Lab. Ltd., Kawasaki, Japan
T. Uchiyama , Fujitsu Lab. Ltd., Kawasaki, Japan
pp. 1893-1900

Dynamics identification and control of a teleoperational system (PDF)

D.T. Pawluk , Dept. of Comput. & Inf. Sci., Queen's Univ., Kingston, Ont., Canada
R.E. Ellis , Dept. of Comput. & Inf. Sci., Queen's Univ., Kingston, Ont., Canada
pp. 1901-1906

Theoretical problems for the realization of distributed robotic systems (PDF)

G. Beni , Dept. of Electr. & Comput. Eng., California Univ., Santa Barbara, CA, USA
pp. 1914-1920

Functional distribution among multiple mobile robots in an autonomous and decentralized robot system (PDF)

H. Asama , Chem. Eng. Lab., Inst. of Phys. & Chem. Res., Saitama, Japan
M.K. Habib , Chem. Eng. Lab., Inst. of Phys. & Chem. Res., Saitama, Japan
I. Endo , Chem. Eng. Lab., Inst. of Phys. & Chem. Res., Saitama, Japan
pp. 1921-1926

Instinctive behaviors and personalities in societies of cellular robots (PDF)

P. Dario , Arts Lab., Scuola Superiore S. Anna, Pisa, Italy
F. Ribechini , Arts Lab., Scuola Superiore S. Anna, Pisa, Italy
V. Genovese , Arts Lab., Scuola Superiore S. Anna, Pisa, Italy
pp. 1927-1932

Path planning for automated dimensional inspection using coordinate measuring machines (PDF)

H.-T. Yau , Dept. of Mech. Eng., Ohio State Univ., Columbus, OH, USA
C.-H. Menq , Dept. of Mech. Eng., Ohio State Univ., Columbus, OH, USA
pp. 1934-1939

Pipe routing-path planning (with many constraints) (PDF)

D. Zhu , Dept. of Comput. Sci., Stanford Univ., CA, USA
J.-C. Latombe , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 1940-1947

Motion planning for assembly mating operations (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. 1956-1963

Object-oriented software for diagnosis of manufacturing systems (PDF)

J.H. Graham , Speed Sci. Sch., Louisville Univ., KY, USA
S.M. Alexander , Speed Sci. Sch., Louisville Univ., KY, USA
W.Y. Lee , Speed Sci. Sch., Louisville Univ., KY, USA
pp. 1966-1971

Building an object-oriented environment for distributed manufacturing software (PDF)

M.C. Sturzenbecker , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 1972-1978

An integrated approach to developing manufacturing control software (PDF)

J.K. Chaar , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
pp. 1979-1984

Performance monitoring and debugging tools for a CIM network (PDF)

T. Narten , Dept. of Comput. Sci., State Univ. of New York, Albany, NY, USA
pp. 1985-1990

Extracting topographic features for outdoor mobile robots (PDF)

I.S. Kweon , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Kanade , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1992-1997

Color image segmentation using modified HSI system for road following (PDF)

X. Lin , AI Lab., Tsinghua Univ., Beijing, China
S. Chen , AI Lab., Tsinghua Univ., Beijing, China
pp. 1998-2003

Autonomous landmark selection for route recognition by a mobile robot (PDF)

J.Y. Zheng , Dept. of Control Eng., Osaka Univ., Japan
M. Barth , Dept. of Control Eng., Osaka Univ., Japan
S. Tsuji , Dept. of Control Eng., Osaka Univ., Japan
pp. 2004-2009

Realization of a 3D vision mobile robot that can avoid collision with moving obstacles (PDF)

J. Takeno , Meiji Univ., Kanagawa, Japan
Y. Shin'ogi , Meiji Univ., Kanagawa, Japan
S. Nishiyama , Meiji Univ., Kanagawa, Japan
N. Mizuguchi , Meiji Univ., Kanagawa, Japan
pp. 2010-2023

Orbital replacement unit changeout experiments with a telerobot testbed system (PDF)

W.S. Kim , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
P.G. Backes , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
S. Hayati , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
E. Bokor , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 2026-2031

A harmonic motion generator for telerobotic applications (PDF)

A.K. Bejczy , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Z.F. Szakaly , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 2032-2039

Achievable dynamic performance in telerobotic systems (PDF)

P.M. Bobgan , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
H. Kazerooni , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 2040-2046

Mobile robot navigation using potential functions (PDF)

R. Shahidi , Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA
M. Shayman , Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA
P.S. Krishnaprasad , Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA
pp. 2047-2053

Active lens control for high precision computer imaging (PDF)

R.G. Willson , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
S.A. Shafer , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2063-2070

A high-resolution capacitative imaging sensor for manufacturing applications (PDF)

J.L. Novak , Sandia Nat. Lab., Albuquerque, NM, USA
J.J. Wiczer , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 2071-2078

Robot performance measurement and calibration using a 3D computer vision system (PDF)

B. Preising , California Univ., Davis, CA, USA
T.C. Hsia , California Univ., Davis, CA, USA
pp. 2079-2084

An integrated walking system for the Ambler planetary rover (PDF)

R. Simmons , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
E. Krotkov , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2086-2091

Biped gait transitions (PDF)

J.K. Hodgins , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 2092-2097

Turning gait of a quadrupedal walking machine (PDF)

C.-d. Zhang , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
S.-m. Song , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
pp. 2106-2112

Minimum-time trajectory control of a two-link flexible robotic manipulator (PDF)

D.A. Schoenwald , Sandia Nat. Lab., Albuquerque, NM, USA
J.T. Feddema , Sandia Nat. Lab., Albuquerque, NM, USA
G.R. Eisler , Sandia Nat. Lab., Albuquerque, NM, USA
D.J. Segalman , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 2114-2120

Vibration control of a two-link flexible robot arm (PDF)

K.L. Hillsley , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
S. Yurkovich , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 212-216

Adaptive control of flexible joint robots (PDF)

K. Khorasani , Dept. of ELectr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
pp. 2127-2134

Decentralized vibration control for fast and precise light-weight robots (PDF)

H.-B. Kuntze , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, Germany
U. Hirsch , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, Germany
G. Steurer , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, Germany
pp. 2135-2140

Energy based indirect adaptive control of robots (PDF)

K. El Serafi , ENSM, CNRS, Nantes, France
W. Khalil , ENSM, CNRS, Nantes, France
pp. 2142-2147

Variable structure model reference adaptive control of robot manipulators (PDF)

S.K. Tso , Dept. of Electr. & Electron. Eng., Hong Kong Univ., Hong Kong
pp. 2148-2153

Hyperstability approach to the synthesis of adaptive controllers for robot manipulators (PDF)

M. Tarokh , Dept. of Math. Sci., San Diego State Univ., CA, USA
pp. 2154-2159

Robust adaptive control of multiple robots in cooperative motion using sigma modification (PDF)

M. Zribi , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
S. Ahmad , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 2160-2165

On the synthesis of compliant mechanisms (PDF)

R.W. Brockett , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
A. Stokes , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
pp. 2168-2173

Singular perturbations and the resolution of kinematic redundancy (PDF)

D.P. Martin , Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
J. Baillieul , Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
pp. 2174-2178

Elastic systems and quasistatic grasp stability (PDF)

J. Loncaric , Syst. Res. Center, Maryland Univ., College Park, MD, USA
pp. 2179-2184

Geometric phases, anholonomy, and optimal movement (PDF)

P.S. Krishnaprasad , Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA
R. Yang , Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA
pp. 2185-2189

Reformulation of dynamic manipulability ellipsoid for robotic manipulators (PDF)

P. Chiacchio , Dipartimento di Inf. e Sistemistica, Napoli Univ., Italy
S. Chiaverini , Dipartimento di Inf. e Sistemistica, Napoli Univ., Italy
L. Sciavicco , Dipartimento di Inf. e Sistemistica, Napoli Univ., Italy
B. Siciliano , Dipartimento di Inf. e Sistemistica, Napoli Univ., Italy
pp. 2192-2197

Motion control using the product-of-exponentials kinematic equations (PDF)

F.C. Park , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
D.J. Pack , Div. of Appl. Sci., Harvard Univ., Cambridge, MA, USA
pp. 2204-2209

Controllability issues of robots in singular configurations (PDF)

L. Nielsen , Dept. of Autom. Control, Lund Inst. of Technol., Sweden
pp. 2210-2215

The architecture and philosophy of the DIAC (Delft Intelligent Assembly Cell) (PDF)

B.R. Meijer , Delft Univ. of Technol., Netherlands
P.P. Jonker , Delft Univ. of Technol., Netherlands
pp. 2218-2223

From an integration viewpoint to build a short-term production planning system for flexible manufacturing systems (PDF)

Shu-Hshin Chung , Inst. of Ind. Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Chien-Wen Lin , Inst. of Ind. Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
pp. 2224-2230

A machine learning algorithm for automated assembly (PDF)

E.G. Vaaler , A.I. Lab., MIT, Cambridge, MA, USA
W.P. Seering , A.I. Lab., MIT, Cambridge, MA, USA
pp. 2231-2237

Fault tolerant information distribution in partitioned manufacturing networks (PDF)

A. Adlemo , Dept. of Comput. Eng., Chalmers Univ. of Technol., Goteborg, Sweden
pp. 2238-2245

Feature-based visual servoing of an eye-in-hand robot with improved tracking performance (PDF)

W. Jang , Dept. of Electr. Eng., KAIST, Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Z. Bien , Dept. of Electr. Eng., KAIST, Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
pp. 2254-2260

A three-finger gripper for manipulation in unstructured environments (PDF)

C. Francois , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
K. Ikeuchi , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
M. Hebert , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2261-2266

Manipulator control with image-based visual servo (PDF)

K. Hashimoto , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
T. Kimoto , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
T. Ebine , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
H. Kimura , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
pp. 2267-2271

Instrumented harmonic drives for robotic compliant maneuvers (PDF)

H. Kazerooni , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 2274-2279

A supervisory telerobotic control system using model-based vision feedback (PDF)

F. Tendick , California Univ., Berkeley, CA, USA
J. Voichick , California Univ., Berkeley, CA, USA
G. Tharp , California Univ., Berkeley, CA, USA
L. Stark , California Univ., Berkeley, CA, USA
pp. 2280-2285

Interaction of visual depth cues and viewing parameters during simulated telemanipulation (PDF)

A. Liu , California Univ., Berkeley, CA, USA
L. Stark , California Univ., Berkeley, CA, USA
pp. 2286-2291

Power and impedance scaling in bilateral manipulation (PDF)

J.E. Colgate , Dept. of Mech. Eng., Northwestern Univ., USA
pp. 2292-2297

Coordination of two-arm pushing (PDF)

X. Yun , Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 182-187

Sensor interpretation and task-directed planning using perceptual equivalence classes (PDF)

B. Donald , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
J. Jennings , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 190-197

Achieving robustness by casting planning as adaptation of a reactive system (PDF)

D.M. Lyons , North American Philips Corp., Briarcliff Manor, NY, USA
A.J. Hendriks , North American Philips Corp., Briarcliff Manor, NY, USA
S. Mehta , North American Philips Corp., Briarcliff Manor, NY, USA
pp. 198-203

Efficient dynamic simulation of a single closed chain manipulator (PDF)

K.W. Lilly , Dept. of Mech. Eng., Pennsylvania State Univ., University Park, PA, USA
pp. 210-215

A neural network architecture for faster dynamic scheduling in manufacturing systems (PDF)

C. Dagli , Dept. of Eng. Manage., Missouri Univ., Rolla, MO, USA
R. Huggahalli , Dept. of Eng. Manage., Missouri Univ., Rolla, MO, USA
pp. 2408-2413

Neural networks for nonlinear servomechanism (PDF)

H.C. Tseng , Dept. of Electr. Eng. & Comput. Sci., Santa Clara Univ., CA, USA
V.H. Hwang , Dept. of Electr. Eng. & Comput. Sci., Santa Clara Univ., CA, USA
pp. 2414-2417

Neural network learning of the inverse kinematic relationships for a robot arm (PDF)

S. Kieffer , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
V. Morellas , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
M. Donath , Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
pp. 2418-2425

An application of a backpropagation network for the control of a tracking behavior (PDF)

K. Berns , Forschungszentrum Inf., Karlsruhe Univ., Germany
R. Dillmann , Forschungszentrum Inf., Karlsruhe Univ., Germany
R. Hofstetter , Forschungszentrum Inf., Karlsruhe Univ., Germany
pp. 2426-2431

A new approach to learning control via multiobjective optimization (PDF)

A. Guez , Dept. of Electr. & Comput. Eng., Drexel Univ., Philadelphia, PA, USA
Z. Ahmad , Dept. of Electr. & Comput. Eng., Drexel Univ., Philadelphia, PA, USA
pp. 2434-2435

Neuromorphic control of robotic manipulators (PDF)

J.J. Helferty , Dept. of Electr. Eng., Temple Univ., Philadelphia, PA, USA
S. Biswas , Dept. of Electr. Eng., Temple Univ., Philadelphia, PA, USA
pp. 2436-2441

Transfer of human skills to neural net robot controllers (PDF)

H. Asada , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
S. Liu , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 2442-2448

Development of an advanced robot for autonomous assembly (PDF)

A. Hormann , Inst. for Real-Time Comput. Control Syst. & Robotics, Karlsruhe Univ., Germany
U. Rembold , Inst. for Real-Time Comput. Control Syst. & Robotics, Karlsruhe Univ., Germany
pp. 2452-2457

Analysis of dynamic insertion type assembly for manufacturing automation (PDF)

M. Shahinpoor , Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
H. Zohoor , Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
pp. 2458-2464

Model based planning and flexible scheduling of robotic assembly operations (PDF)

R.R. Bless , Swiss Federal Inst. of Technol., Zurich, Switzerland
M.A. Muller , Swiss Federal Inst. of Technol., Zurich, Switzerland
pp. 2465-2470

Uncertainty manipulation and propagation and verification of applicability of actions in assembly tasks (PDF)

S.F. Su , Sch. of Electr. Eng., Purdue Univ., W. Lafayette, IN, USA
C.S.G. Lee , Sch. of Electr. Eng., Purdue Univ., W. Lafayette, IN, USA
pp. 2471-2476

Building qualitative elevation maps from side scan sonar data for autonomous underwater navigation (PDF)

D. Langer , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
M. Hebert , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2478-2483

Robust low-computation sensor-driven control for task-directed navigation (PDF)

E. Gat , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 2484-2489

Visual navigation around curved obstacles (PDF)

A. Blake , Dept. of Eng. Sci., Oxford Univ., UK
M. Brady , Dept. of Eng. Sci., Oxford Univ., UK
R. Cipolla , Dept. of Eng. Sci., Oxford Univ., UK
Z. Xie , Dept. of Eng. Sci., Oxford Univ., UK
A. Zisserman , Dept. of Eng. Sci., Oxford Univ., UK
pp. 2490-2495

UNSCARF-a color vision system for the detection of unstructured roads (PDF)

J.D. Crisman , Dept. of Electr. & Comput. Eng., Northeastern Univ., Boston, MA, USA
pp. 2496-2501

A fault tolerant joint drive system for the Space Shuttle remote manipulator system (PDF)

E. Wu , Lockheed Eng. & Sci. Co., Houston, TX, USA
M. Diftler , Lockheed Eng. & Sci. Co., Houston, TX, USA
J. Hwang , Lockheed Eng. & Sci. Co., Houston, TX, USA
pp. 2504-2509

Force accommodation control of the Space Shuttle remote manipulator system: a unique problem (PDF)

T. Nguyen , Lockheed Eng. & Sci. Co., Houston, TX, USA
J. Wang , Lockheed Eng. & Sci. Co., Houston, TX, USA
J. Hwang , Lockheed Eng. & Sci. Co., Houston, TX, USA
K. Alder , Lockheed Eng. & Sci. Co., Houston, TX, USA
pp. 2510-2515

Dual arm coordination in space free-flying robot (PDF)

K. Yoshida , Dept. of Mech. Eng. Sci., Tokyo Inst. of Technol., Japan
R. Kurazume , Dept. of Mech. Eng. Sci., Tokyo Inst. of Technol., Japan
Y. Umetani , Dept. of Mech. Eng. Sci., Tokyo Inst. of Technol., Japan
pp. 2516-2521

Path planning for space manipulators to minimize spacecraft attitude disturbances (PDF)

S. Dubowsky , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
M.A. Torres , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 2522-2528

Petri net modeling of a flexible assembly station for printed circuit boards (PDF)

M. Zhou , Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
pp. 2530-2535

Analysis of hierarchical control architectures: a Petri net approach (PDF)

M.A. Jafari , Dept. of Ind. Eng., Rutgers Univ., Piscataway, NJ, USA
G.A. Meredith , Dept. of Ind. Eng., Rutgers Univ., Piscataway, NJ, USA
pp. 2536-2541

A real-time control simulator design for automated manufacturing systems using Petri nets (PDF)

Y. Chen , Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA
pp. 2542-2547

A timed Petri net and beam search based online FMS scheduling system with routing flexibility (PDF)

H.M. Shih , Div. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
T. Sekiguchi , Div. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
pp. 2548-2553

Tailoring the behavior of a mobile robot-a recursive approach (PDF)

E. Badreddin , Inst. of Autom. Control, Zurich, Switzerland
pp. 2556-2561

DEMO 89-the initial experiment with the HERMIES-III robot (PDF)

D.B. Reister , Oak Ridge Nat. Lab., TN, USA
J.P. Jones , Oak Ridge Nat. Lab., TN, USA
P.L. Butler , Oak Ridge Nat. Lab., TN, USA
M. Beckerman , Oak Ridge Nat. Lab., TN, USA
F.J. Sweeney , Oak Ridge Nat. Lab., TN, USA
pp. 2562-2567

Laser rangefinder calibration for a walking robot (PDF)

E. Krotkov , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2568-2573

Optical range image acquisition for the navigation of a mobile robot (PDF)

F. Blais , Nat. Res. Council of Canada, Ottawa, Ont., Canada
M. Rioux , Nat. Res. Council of Canada, Ottawa, Ont., Canada
J. Domey , Nat. Res. Council of Canada, Ottawa, Ont., Canada
pp. 2574-2580

A flexible, tendon-controlled device for endoscopy (PDF)

R.H. Sturges , Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2582-2591

New techniques for H/sub 2/ optimal control of a flexible beam (PDF)

D. Vinke , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
M. Vidyasagar , Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
pp. 2592-2597

Strategies for automatic assembly of deformable objects (PDF)

Y.F. Zheng , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
R. Pei , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
C. Chen , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 2598-2603

Using input command pre-shaping to suppress multiple mode vibration (PDF)

J.M. Hyde , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
W.P. Seering , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 2604-2609

Performance evaluation of cooperating robot movements using maximum load under time-optimal control (PDF)

P. Larochelle , Dept. of Mech. Eng., California Univ., Irvine, CA, USA
J.M. McCarthy , Dept. of Mech. Eng., California Univ., Irvine, CA, USA
pp. 2612-2617

A two-arm robot system based on trajectory optimization and hybrid control including experimental evaluation (PDF)

W. Meier , Inst. for Real-Time Comput. Control Syst. & Robotics, Karlsruhe Univ., Germany
J. Graf , Inst. for Real-Time Comput. Control Syst. & Robotics, Karlsruhe Univ., Germany
pp. 2618-2623

Enhanced PID controller design (PDF)

R.C. Dorf , Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
D.R. Miller , Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
pp. 2624-2629

Control of underwater robots in working mode (PDF)

H. Mahesh , Hawaii Univ., Honolulu, HI, USA
J. Yuh , Hawaii Univ., Honolulu, HI, USA
R. Lakshmi , Hawaii Univ., Honolulu, HI, USA
pp. 2630-2635

Robot kinematics learning computations using polynomial neural networks (PDF)

C.L.P. Chen , Dept. of Comput. Sci. & Eng., Wright State Univ., Dayton, OH, USA
A.D. McAulay , Dept. of Comput. Sci. & Eng., Wright State Univ., Dayton, OH, USA
pp. 2638-2643

Control of a multivariable system by a neural network (inverted pendulum) (PDF)

M. Seikiguchi , Fujitsu Lab. Ltd., Kanagawa, Japan
T. Sugasaka , Fujitsu Lab. Ltd., Kanagawa, Japan
S. Nagata , Fujitsu Lab. Ltd., Kanagawa, Japan
pp. 2644-2649

Neural network solution for the forward kinematics problem of a Stewart platform (PDF)

Z. Geng , Intelligent Autom. Inc., Rockville, MD, USA
L. Haynes , Intelligent Autom. Inc., Rockville, MD, USA
pp. 2650-2655

Hierarchical neurocontroller architecture for intelligent robotic manipulation (PDF)

L.C. Rabelo , Missouri Rolla Univ., MO, USA
X.J.R. Avula , Missouri Rolla Univ., MO, USA
pp. 2656-2661

Inverse kinematic solution for a 7 DOF robot with minimal computational complexity and singularity avoidance (PDF)

M.V. Kircanski , Mihailo Pupin Inst., Belgrade Univ., Yugoslavia
T.M. Petrovic , Mihailo Pupin Inst., Belgrade Univ., Yugoslavia
pp. 2664-2669

A classification of 3R regional manipulator singularities and geometries (PDF)

J.W. Burdick , Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
pp. 2670-2675

Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions (PDF)

C.-d. Zhang , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
S.-M. Song , Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA
pp. 2676-2681

A closed form solution to the kinematic parameter identification of robot manipulators (PDF)

H. Zhuang , Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Z.S. Roth , Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
pp. 2682-2688

Coordination structures for specification of integration in intelligent machines (PDF)

F.-Y. Wang , Dept. of Syst. & Ind. Eng., Arizona Univ., Tucson, AZ, USA
pp. 2690-2695

An automated system for design-rule-based visual inspection of printed circuit boards (PDF)

S.H. Oguz , Dept. of Electr. & Electron. Eng., Bilkent Univ., Ankara, Turkey
L. Onural , Dept. of Electr. & Electron. Eng., Bilkent Univ., Ankara, Turkey
pp. 2696-2701

Automatic inspection of assembled PC board via highlight separation and dual channel processing (PDF)

J.-S. Park , Central Res. Lab., Gold Star Co. Ltd., Seoul, South Korea
pp. 2702-2707

A geometric representation of distributed compliance for the assembly of flexible parts (PDF)

A. Villarreal , Dept. of Mech. Eng., MIT, MA, USA
H. Asada , Dept. of Mech. Eng., MIT, MA, USA
pp. 2708-2715

Object modeling by registration of multiple range images (PDF)

Y. Chen , Dept. of Electr. Eng.-Syst., Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 2724-2729

Robust computation of image-motion and scene-depth (PDF)

A. Singh , Siemens Corp. Res., Princeton, NJ, USA
pp. 2730-2737

A regularized multi-dimensional data fusion technique (PDF)

M.A. Abidi , Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
pp. 2738-2744

Adaptive sliding control of an experimental underwater vehicle (PDF)

D.R. Yoerger , Dept. of Appl. Ocean Phys. & Eng., Woods Hole Oceanogr. Inst., Woods Hole, MA, USA
pp. 2746-2751

Improved methods for undersea optical stationkeeping (PDF)

S. Negahdaripour , Hawaii Univ., Honolulu, HI, USA
A. Shokrollahi , Hawaii Univ., Honolulu, HI, USA
J. Fox , Hawaii Univ., Honolulu, HI, USA
S. Arora , Hawaii Univ., Honolulu, HI, USA
pp. 2752-2758

Sensors for underwater robot vision: status and prospects (PDF)

J.S. Jaffe , Marine Phys. Lab., Scripps Inst. of Oceanogr., La Jolla, CA, USA
pp. 2759-2766

Simple vision tracking of pipelines for an autonomous underwater vehicle (PDF)

J.O. Hallset , SINTEF Autom. Control, Trondheim, Norway
pp. 2767-2772

Monitoring and diagnosis: stress from weakened environmental knowledge (PDF)

E.A. Scarl , Adv. Technol. Center, Boeing Comput. Services, Bellevue, WA, USA
pp. 2774-2779

Validating knowledge systems: a scheduling example (PDF)

J.C. Kunz , IntelliCorp, Mt. View, CA, USA
N. Husain , IntelliCorp, Mt. View, CA, USA
pp. 2780-2784

Designworld (PDF)

M.R. Genesereth , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 2785-2788

Computationally inexpensive egomotion determination for a mobile robot using an active camera (PDF)

M. Barth , Dept. of Control Eng., Osaka Univ., Japan
H. Ishiguro , Dept. of Control Eng., Osaka Univ., Japan
S. Tsuji , Dept. of Control Eng., Osaka Univ., Japan
pp. 2792-2797

Obstacle detection for high speed autonomous navigation (PDF)

S. Singh , Carnegie Mellon Univ., Pittsburgh, PA, USA
P. Keller , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2798-2805

Fusion of multi-sensor data: a geometric approach (PDF)

A. Preciado , CUTC/Heudiasyc, CNRS, Compiegne, France
D. Meizel , CUTC/Heudiasyc, CNRS, Compiegne, France
A. Segovia , CUTC/Heudiasyc, CNRS, Compiegne, France
M. Rombaut , CUTC/Heudiasyc, CNRS, Compiegne, France
pp. 2806-2811

Duality of constrained elastic manipulation (PDF)

T. Patterson , Georgia Inst. of Technol., Atlanta, GA, USA
H. Lipkin , Georgia Inst. of Technol., Atlanta, GA, USA
pp. 2820-2825

Passivity of flexible beam transfer functions with modified outputs (PDF)

H.R. Pota , Dept. of Electr. Eng., Australian Def. Forces Acad., New South Wales Univ., Campbell, ACT, Australia
pp. 2826-2831

Control of flexible joint robots (PDF)

F. Mrad , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
S. Ahmad , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 2832-2837

Quasi-static hybrid position/force control of a flexible manipulator (PDF)

F. Matsuno , Dept. of Control Eng., Osaka Univ., Japan
Y. Sakawa , Dept. of Control Eng., Osaka Univ., Japan
T. Asano , Dept. of Control Eng., Osaka Univ., Japan
pp. 2838-2843

Design of robotic manipulators for optimal dynamic performance (PDF)

Z. Shiller , Dept. of Mech., Aerosp. & Nucl. Eng., California Univ., Los Angeles, CA, USA
S. Sundar , Dept. of Mech., Aerosp. & Nucl. Eng., California Univ., Los Angeles, CA, USA
pp. 334-339
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