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Proceedings 1992 IEEE International Conference on Robotics and Automation (1992)
Nice, France
May 12, 1992 to May 14, 1992
ISBN: 0-8186-2720-4
TABLE OF CONTENTS

Path planning: an approach based on connecting all the minimizers and maximizers of a potential function (PDF)

H. Shashikala , Dept. of Comput. Sci. & Autom., Indian Inst. of Sci., Bangalore, India
N.K. Sancheti , Dept. of Comput. Sci. & Autom., Indian Inst. of Sci., Bangalore, India
S.S. Keerthi , Dept. of Comput. Sci. & Autom., Indian Inst. of Sci., Bangalore, India
pp. 2309-2314

The window corner algorithm for robot path planning with translations (PDF)

S.S. Krishnan , Rensselaer Polytech. Inst., Troy, NY, USA
A.C. Sanderson , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 2303-2308

Constructing multifingered grasps to achieve admittance center (PDF)

K.B. Shimoga , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 2296-2301

Planning optimal grasps (PDF)

C. Ferrari , 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. 2290-2295

Grasp planning for multifingered robot hands (PDF)

G. Guo , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
W.A. Gruver , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
K. Jin , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
pp. 2284-2289

Finding antipodal point grasps on irregularly shaped objects (PDF)

I.-M. Chen , 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. 2278-2283

The mechanics of fine manipulation by pushing (PDF)

K.M. Lynch , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2269-2276

Orienting generalized polygonal parts (PDF)

A.S. Rao , Inst. of Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
K.Y. Goldberg , Inst. of Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 2263-2268

Posing polygonal objects in the plane by pushing (PDF)

S. Akella , Carnegie Mellon Univ., Pittsburgh, PA, USA
M.T. Mason , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2255-2262

Dynamic analysis of planar manipulation tasks (PDF)

R.C. Brost , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 2247-2254

Experiments in dual-arm manipulation planning (PDF)

Y. Koga , Dept. of Comput. Sci., Stanford Univ., CA, USA
J.-C. Latombe , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 2238-2245

Robust motion/force control of cooperative multi-arm systems (PDF)

C.A. Derventzis , Dept. of Electr. Eng., Toronto Univ., Ont., Canada
E.J. Davison , Dept. of Electr. Eng., Toronto Univ., Ont., Canada
pp. 2230-2237

Robot motion planning with parallel systems (PDF)

A. Rovetta , Dept. of Mech., Politecnico di Milano, Italy
R. Sala , Dept. of Mech., Politecnico di Milano, Italy
pp. 2224-2229

Cooperative control schemes for multiple robot manipulator systems (PDF)

P. Chiacchio , Dipartimento di Inf. e Sistemistica, Univ. degli Studi di Napoli Federico II, Italy
S. Chiaverini , Dipartimento di Inf. e Sistemistica, Univ. degli Studi di Napoli Federico II, Italy
B. Siciliano , Dipartimento di Inf. e Sistemistica, Univ. degli Studi di Napoli Federico II, Italy
pp. 2218-2223

Robust position and force control for a system of multiple redundant-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. 2211-2216

Coordinated control of multiple manipulator systems-experimental results (PDF)

P. Hsu , Dept. of Electr. Eng., San Jose State Univ., CA, USA
S. Su , Dept. of Electr. Eng., San Jose State Univ., CA, USA
pp. 2199-2204

Control of multiple arms with rolling constraints (PDF)

X. Yun , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
V. Kumar , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
N. Sarkar , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
E. Paljug , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 2193-2198

Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies (PDF)

L.L. Whitcomb , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
D.E. Koditschek , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
J.B.D. Cabrera , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 2186-2191

Motion constraints from contact geometry: representation and analysis (PDF)

R.S. Mattikalli , Carnegie Mellon Univ., Pittsburgh, PA, USA
P.K. Khosla , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2178-2185

Towards an assembly plan from observation. I. Assembly task recognition using face-contact relations (polyhedral objects) (PDF)

K. Ikeuchi , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Suchiro , Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2171-2177

A heuristic motion planner using contact for assembly (PDF)

A. Giraud , LAAS-CNRS, Toulouse, France
D. Sidobre , LAAS-CNRS, Toulouse, France
pp. 2165-2170

Exponential control law for a mobile robot: extension to path following (PDF)

O.J. Sordalen , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
pp. 2158-2163

Robust control of robot manipulators during constrained and unconstrained motion (PDF)

M.T. Grabbe , Clemson Univ., SC, USA
J.J. Carroll , Clemson Univ., SC, USA
D.M. Dawson , Clemson Univ., SC, USA
pp. 2146-2151

Computational scheme for passivity based control of mechanical manipulators (PDF)

M.W. Walker , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
pp. 1976-1985

Model and adaptive control for a 4-DOF manipulator with a flexible arm (PDF)

B. Bona , Dipartimento di Autom. e Inf., Politecnico di Torino, Italy
pp. 1969-1975

Adaptive control of an overhead crane using dynamic feedback linearization and estimation design (PDF)

F. Boustany , Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
B. d'Andrea-Novel , Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
pp. 1963-1968

Simulation of flexible-link manipulators: basis functions and nonlinear terms in the motion equations (PDF)

I. Sharf , Dept. of Mech. Eng., Victoria Univ., BC, Canada
C. Damaren , Dept. of Mech. Eng., Victoria Univ., BC, Canada
pp. 1956-1962

The experimental performance of a mobile manipulator control algorithm (PDF)

N.A.M. Hootsmans , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
S. Dubowsky , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
P.Z. Mo , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1948-1954

Predictive control of high power hydraulic systems for application to a forestry arm (PDF)

T. Herman , CEMAGREF, Montpellier, France
B. Bonicelli , CEMAGREF, Montpellier, France
F. Sevilla , CEMAGREF, Montpellier, France
pp. 1941-1947

Experiments on robust 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. 1935-1940

Optimal approach velocity of end-effector to the environment (PDF)

K. Kitagaki , Electrotech. Lab., Tsukuba, Japan
pp. 1928-1934

Iterative learning control of robots with elastic joints (PDF)

A. De Luca , Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
G. Ulivi , Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
pp. 1920-1926

Learning control for robot tasks under geometric endpoint constraints (PDF)

S. Arimoto , Fac. of Eng., Tokyo Univ., Japan
T. Naniwa , Fac. of Eng., Tokyo Univ., Japan
pp. 1914-1919

Direct neuro-adaptive control of robot manipulators (PDF)

A.Y. Zomaya , Dept. of Electr. & Electron. Eng., Western Australia Univ., Perth, WA, Australia
M.E. Suddaby , Dept. of Electr. & Electron. Eng., Western Australia Univ., Perth, WA, Australia
pp. 1902-1907

Robust adaptive motion control of rigid robots subject to input and output bounded disturbances (PDF)

B. Brogliato , ENSIEG-INPG, CNRS, St. Martin d'Heres, France
I.-D. Landau , ENSIEG-INPG, CNRS, St. Martin d'Heres, France
pp. 1895-1900

Application of principal base parameter analysis to design of adaptive robot controllers (PDF)

G.L. Showman , Dept. of Electr. & Comput. Eng., Air Force Inst. of Technol., WPAFB, OH, USA
M.B. Leahy , Dept. of Electr. & Comput. Eng., Air Force Inst. of Technol., WPAFB, OH, USA
pp. 1889-1894

On adaptive control of force controlled manipulators-implementation and experimental results (PDF)

B. Nemec , Jozef Stefan Inst., Ljubljana Univ., Slovenia
L. Zlajpah , Jozef Stefan Inst., Ljubljana Univ., Slovenia
pp. 1882-1888

A robust adaptive controller for robot manipulators (PDF)

H. Berghuis , Dept. of Electr. Eng., Twente Univ., Enschede, Netherlands
pp. 1876-1881

The global and local dynamics of direct-drive brushless DC motors (PDF)

N. Hemati , Dept. of Mech. Eng. & Mech., Drexel Univ., Philadelphia, PA, USA
pp. 1858-1863

Trajectory filtering and prediction for automated tracking and grasping of a moving object (PDF)

P.K. Allen , Dept. of Comput. Sci.. Columbia Univ., New York, NY, USA
A. Timcenko , Dept. of Comput. Sci.. Columbia Univ., New York, NY, USA
B. Yoshimi , Dept. of Comput. Sci.. Columbia Univ., New York, NY, USA
P. Michelman , Dept. of Comput. Sci.. Columbia Univ., New York, NY, USA
pp. 1850-1856

Dynamic robot manipulation using visual tracking (PDF)

R. Sharma , Maryland Univ., College Park, MD, USA
J.-Y. Herve , Maryland Univ., College Park, MD, USA
P. Cucka , Maryland Univ., College Park, MD, USA
pp. 1844-1849

Dynamic effects in high-performance visual servoing (PDF)

P.I. Corke , CSIRO, Preston, WA, Australia
pp. 1838-1843

Feature-based camera-guided grasping by an eye-in-hand robot (PDF)

A. Schrott , Inst. fur Inf., Tech. Univ. Munchen, Germany
pp. 1832-1837

Optimal sensor placement (PDF)

H. Zhang , Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
pp. 1825-1830

Perception planning for a multi-sensory interpretation machine (PDF)

S. Lacroix , LAAS-CNRS, Toulouse, France
P. Grandjean , LAAS-CNRS, Toulouse, France
M. Ghallab , LAAS-CNRS, Toulouse, France
pp. 1818-1824

Finding of 3D structure by an active-vision-based mobile robot (PDF)

S. Li , Dept. of Control Eng., Osaka Univ., Japan
I. Miyawaki , Dept. of Control Eng., Osaka Univ., Japan
K. Ishiguro , Dept. of Control Eng., Osaka Univ., Japan
S. Tsuji , Dept. of Control Eng., Osaka Univ., Japan
pp. 1812-1817

A decentralized controllability measure for robotic manipulators (PDF)

P. Kiriazov , Inst. of Mech. & Biomech., Bulgarian Acad. of Sci., Sofia, Bulgaria
pp. 2141-2145

A nonlinear robust controller for robot manipulators (PDF)

Z. Sotirov , Dept. of Robotics, Tech. Univ. Sofia, Bulgaria
pp. 2134-2139

Implementation of a hybrid force-position controller using sliding mode techniques (PDF)

A. Fedele , Dipartimento di Informe Sistemistica, Univ. degli Studi di Roma 'La Sapienza', Italy
A. Fioretti , Dipartimento di Informe Sistemistica, Univ. degli Studi di Roma 'La Sapienza', Italy
G. Ulivi , Dipartimento di Informe Sistemistica, Univ. degli Studi di Roma 'La Sapienza', Italy
pp. 2126-2133

Design of efficient sliding mode controller for robot manipulator using disturbance observer (PDF)

J.-J. Lee , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
J.-H. Lee , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
J.-S. Ko , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
M.-J. Youn , Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
pp. 2120-2125

Theory and implementation of sliding mode control with perturbation estimation (SMCPE) (PDF)

H. Elmali , Dept. of Mech. Eng., Connecticut Univ., Storrs, CT, USA
N. Olgac , Dept. of Mech. Eng., Connecticut Univ., Storrs, CT, USA
pp. 2114-2119

Generation of energy-optimal trajectories for an autonomous underwater vehicle (PDF)

I. Spangelo , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
O. Egeland , Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
pp. 2107-2112

On the structure of time-optimal trajectories for manipulators: the two d.o.f. case (PDF)

J.Y. Fourquet , Programa de Engenharia Electr., COPP, Rio de Janeiro, Brazil
pp. 2101-2106

CT ARM-I: coupled tendon-driven manipulator model I-design and basic experiments (PDF)

S. Ma , Komatsu Ltd., Kanagawa, Japan
H. Yoshinada , Komatsu Ltd., Kanagawa, Japan
pp. 2094-2100

Parallel computation of symbolic robot models and control laws: theory and application on transputer networks (PDF)

N. Kircanski , Dept. of Robotics, Mihailo Pupin Inst., Belgrade, Yugoslavia
T. Petrovic , Dept. of Robotics, Mihailo Pupin Inst., Belgrade, Yugoslavia
M. Vukobratovic , Dept. of Robotics, Mihailo Pupin Inst., Belgrade, Yugoslavia
pp. 2088-2093

Hybrid symbolic and neuromorphic control for hierarchical intelligent control (PDF)

T. Shibata , Dept. of Mech. Eng., Nagoya Univ., Japan
T. Fukuda , Dept. of Mech. Eng., Nagoya Univ., Japan
K. Kosuge , Dept. of Mech. Eng., Nagoya Univ., Japan
F. Arai , Dept. of Mech. Eng., Nagoya Univ., Japan
pp. 2081-2086

Shape from touch by a neural net (PDF)

G. Canepa , Fac. of Eng., Pisa Univ., Italy
M. Morabito , Fac. of Eng., Pisa Univ., Italy
D. de Rossi , Fac. of Eng., Pisa Univ., Italy
pp. 2075-2080

A robot learns reaction timing using neural nets combining with physical models (PDF)

J. Wen , Inst. of Robotics, ETHZ, Zurich, Switzerland
pp. 2070-2074

Decomposed connectionist architecture for fast and robust learning of robot dynamics (PDF)

D. Katic , Dept. of Robotics, Mihailo Pupin Inst., Belgrade, Yugoslavia
M. Vukobratovic , Dept. of Robotics, Mihailo Pupin Inst., Belgrade, Yugoslavia
pp. 2064-2069

Neuromorphic controller for AGV steering (PDF)

R.M.H. Cheng , Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada
J.W. Xiao , Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada
pp. 2057-2062

Stability and convergence of neurologic model based robotic controllers (PDF)

M.K. Ciliz , Dept. of Electr. Eng., Bosphorous Univ., Istanbul, Turkey
pp. 2051-2056

Robotic sensorimotor learning in continuous domains (PDF)

M. Salganicoff , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
R.K. Bajcsy , GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 2045-2050

Discrete learning control for robots using partial model knowledge (PDF)

S.K. Tso , Dept. of Electr. & Electron. Eng., Hong Kong Univ., Hong Kong
pp. 2039-2044

Impact handling by proximity and force sensing (PDF)

B. Allotta , ARTS Lab., Scuola Superiore, Pisa, Italy
G. Buttazzo , ARTS Lab., Scuola Superiore, Pisa, Italy
pp. 2032-2037

Experimental study on torque control using harmonic drive built-in torque sensors (PDF)

M. Hashimoto , Dept. of Mech. Eng., Kagoshima Univ., Japan
T. Shimono , Dept. of Mech. Eng., Kagoshima Univ., Japan
K. Koreyeda , Dept. of Mech. Eng., Kagoshima Univ., Japan
H. Tanaka , Dept. of Mech. Eng., Kagoshima Univ., Japan
pp. 2026-2031

Cooperating robot with visual and tactile skills (PDF)

D. Vischer , Mechatronics Lab., Swiss Federal Inst. of Technol., Zurich, Switzerland
pp. 2018-2025

Information for assembly from impacts (PDF)

B.A. Soderquist , Robotics & Autonomous Mech. Syst., Linkoping Univ., Sweden
A. Wernersson , Robotics & Autonomous Mech. Syst., Linkoping Univ., Sweden
pp. 2012-2017

Adaptive control of space robot system with an attitude controlled base (PDF)

Y. Xu , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
H.-Y. Shum , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
J.-J. Lee , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Kanade , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2005-2010

Stabilization of trajectories for systems with nonholonomic constraints (PDF)

G. Walsh , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
D. Tilbury , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
S. Sastry , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
R. Murray , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
J.-P. Laumond , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 1999-2004

Steering car-like systems with trailers using sinusoids (PDF)

D. Tilbury , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
J.-P. Laumond , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
R. Murray , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
S. Sastry , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
G. Walsh , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 1993-1998

Approximate feedback linearization: the cart-pole example (PDF)

N.S. Bedrossian , Charles Stark Draper Lab. Inc., Houston, TX, USA
pp. 1987-1992

A task-level robot programming language and its reactive execution (PDF)

E. Coste-Mainere , Ecole des Mines de Paris Sophia-Antipolis, Valbonne, France
B. Espiau , Ecole des Mines de Paris Sophia-Antipolis, Valbonne, France
pp. 2751-2756

A computer architecture for intelligent machines (PDF)

D.R. Lefebvre , Rensselaer Polytech. Inst., Troy, NY, USA
G.N. Saridis , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 2745-2750

A system for simulating shared memory in heterogeneous distributed-memory networks with specializations for robotics applications (PDF)

J.P. Jones , Oak Ridge Nat. Lab., TN, USA
A.L. Bangs , Oak Ridge Nat. Lab., TN, USA
P.L. Butler , Oak Ridge Nat. Lab., TN, USA
pp. 2738-2744

Reactive objects in a task level open controller (PDF)

E. CosteManiere , Ecole des Mines de Paris Sophia-Antipolis, Valbonne, France
B. Espiau , Ecole des Mines de Paris Sophia-Antipolis, Valbonne, France
pp. 2732-2737

Coordination and control of multiple autonomous vehicles (PDF)

D.L. Brock , BBN Systems & Technologies Corp., Cambridge, MA, USA
D.J. Montana , BBN Systems & Technologies Corp., Cambridge, MA, USA
A.Z. Ceranowicz , BBN Systems & Technologies Corp., Cambridge, MA, USA
pp. 2725-2730

SSS: a hybrid architecture applied to robot navigation (PDF)

J.H. Connell , IBM T.J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 2719-2724

Architecture of behavior-based mobile robot in dynamic environment (PDF)

M. Watanabe , Toshiba Corp., Kobe, Japan
K. Onoguchi , Toshiba Corp., Kobe, Japan
pp. 2711-2718

An architecture for cooperative and autonomous mobile robots (PDF)

F.R. Noreils , Alcatel Alsthom Recherche, Marcoussis, France
pp. 2703-2710

Modelling the actions of an intervention robot (PDF)

P. Freedman , Centre de Recherche Inf. de Montreal, Que., Canada
pp. 2697-2701

Integrated planning and execution control of autonomous robot actions (PDF)

R. Chatila , LAAS-CNRS, Toulouse, France
R. Alami , LAAS-CNRS, Toulouse, France
B. Degallaix , LAAS-CNRS, Toulouse, France
H. Laruelle , LAAS-CNRS, Toulouse, France
pp. 2689-2696

Program mobile robots in Scheme (PDF)

J. Rees , Comput. Sci. Robotics & Vision Lab., Cornell Univ., Ithaca, NY, USA
B. Donald , Comput. Sci. Robotics & Vision Lab., Cornell Univ., Ithaca, NY, USA
pp. 2681-2688

Planning for reactive robot behavior (PDF)

D.M. Lyons , North American Philips Corp., Briarcliff Manor, NY, USA
A.J. Hendriks , North American Philips Corp., Briarcliff Manor, NY, USA
pp. 2675-2680

Technical progress during the first year of implementation of TELEMAN (PDF)

B. Robertson , Comm. of the European Communities, Brussels, Belgium
B. Tolley , Comm. of the European Communities, Brussels, Belgium
pp. 2667-2671

NASA's telerobotics research program (PDF)

C.R. Weisbin , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
M.D. Montemerlo , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 2653-2666

Teleoperation technology in MITI advanced robot technology project (PDF)

T. Sato , Res. Center for Adv. Sci. & Technol., Tokyo Univ., Japan
pp. 0-0

Nonlinear tracking control of autonomous underwater vehicles (PDF)

Y. Nakamura , Dept. of Mechano-Inf., Tokyo Univ., Japan
pp. 0-0

Automatic detection of three-dimensional solder defects using a brightness-based approach (PDF)

L. Berard , Comput. Vision Lab., Ecole Polytech., Montreal, Que., Canada
P. Cohen , Comput. Vision Lab., Ecole Polytech., Montreal, Que., Canada
pp. 0-0

HERA: a reliable and safe space robot (PDF)

C.J.M. Heemskerk , Fokker Space & Syst., Amsterdam, Netherlands
R.A. Bosman , Fokker Space & Syst., Amsterdam, Netherlands
pp. 2799-2801

Ground-based control of Space Station Freedom-based robots (PDF)

S. Kalaycioglu , Thomson-CSF Syst. Canada, Nepean, Ont., Canada
S. Seifu , Thomson-CSF Syst. Canada, Nepean, Ont., Canada
pp. 2796-2798

A remote manipulator for forestry operations (PDF)

A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
J. Wiercienski , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
P. Kuzan , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
C. Szymczyk , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
R.G. Fenton , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
B. Shaver , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 2792-2794

Multi-agent interface architecture for human-robot cooperation (PDF)

Y. Nakauchi , Dept. of Comput. Sci., Keio Univ., Yokohama, Japan
T. Okada , Dept. of Comput. Sci., Keio Univ., Yokohama, Japan
N. Yamasaki , Dept. of Comput. Sci., Keio Univ., Yokohama, Japan
Y. Anzai , Dept. of Comput. Sci., Keio Univ., Yokohama, Japan
pp. 2786-2788

A modular software system for distributed telerobotics (PDF)

S. Graves , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
pp. 2783-2785

Dynamics of rigid bodies undergoing multiple frictional contacts (PDF)

Y.-T. Wang , Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
V. Kumar , Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
J. Abel , Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
pp. 2764-2769

Dexterous rotations of polyhedra (PDF)

D. Rus , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 2758-2763

Self-posture changeability (SPC) for 3-D link system (PDF)

M. Kaneko , Dept. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan
pp. 1635-1640

Detecting moving objects from a moving platform (PDF)

J. Frazier , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
R. Nevatia , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 1627-1633

Robot vision system with a correlation chip for real-time tracking, optical flow and depth map generation (PDF)

H. Inoue , Dept. of Mechano-Inf., Tokyo Univ., Japan
T. Tachikawa , Dept. of Mechano-Inf., Tokyo Univ., Japan
M. Inaba , Dept. of Mechano-Inf., Tokyo Univ., Japan
pp. 1621-1626

Structure and motion from line segments in multiple images (PDF)

C.J. Taylor , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
D.J. Kriegman , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 1615-1620

A vision system for monitoring weld pool (PDF)

D. Brzakovic , Tennessee Univ., Knoxville, TN, USA
pp. 1609-1614

B-rep from unregistered multiple range images (PDF)

B. Parvin , Lawrence Berkeley Lab., CA, USA
pp. 1602-1607

Tripod operators for recognizing objects in range images: rapid rejection of library objects (PDF)

F. Pipitone , US Naval Res. Lab., Washington, DC, USA
W. Adams , US Naval Res. Lab., Washington, DC, USA
pp. 1596-1601

Curvature estimation and unique corner point detection for boundary representation (PDF)

K. Sohn , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
W.E. Alexander , Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
pp. 1590-1595

Range image segmentation using Zernike moment-based generalized edge detector (PDF)

S. Ghosal , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
R. Mehrotra , Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA
pp. 1584-1589

Automatic vision system for final test of liquid crystal displays (PDF)

S.M. Sokolov , Keldysh Inst. of Appl. Math., Russian Acad. of Sci., Moscow, Russia
A.S. Treskunov , Keldysh Inst. of Appl. Math., Russian Acad. of Sci., Moscow, Russia
pp. 1578-1582

Pattern recognition using soft addressing techniques (PDF)

I. Makarov , Inst. for Syst. Res., Russian Acad. of Sci., Moscow, Russia
A. Mikhailov , Inst. for Syst. Res., Russian Acad. of Sci., Moscow, Russia
V. Rakhmankulov , Inst. for Syst. Res., Russian Acad. of Sci., Moscow, Russia
pp. 1573-1577

Distributed optical proximity sensor system: HexEYE (PDF)

S. Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1567-1572

Development of inspection robot for nuclear power plant (PDF)

S. Yamamoto , Tokyo Electr. Power Co., Japan
pp. 1559-1566

Accurate calibration of cameras and range imaging sensor: the NPBS method (PDF)

G. Champleboux , TIMB-IMAG, Fac. de Medecine de Grenoble, La Tronche, France
S. Lavallee , TIMB-IMAG, Fac. de Medecine de Grenoble, La Tronche, France
P. Sautot , TIMB-IMAG, Fac. de Medecine de Grenoble, La Tronche, France
P. Cinquin , TIMB-IMAG, Fac. de Medecine de Grenoble, La Tronche, France
pp. 1552-1557

Modeling of a computer-controlled zoom lens (PDF)

K. Tarabanis , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
R.Y. Tsai , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
D.S. Goodman , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 1545-1551

Linear camera calibration (PDF)

R. Horaud , LIFIA-IRIMAG, Grenoble, France
R. Mohr , LIFIA-IRIMAG, Grenoble, France
pp. 1539-1544

A Fourier approach to camera orientation (PDF)

A. Ban-Hashemi , Siemens Corp. Res., Princeton, NJ, USA
pp. 1532-1538

Grasp planning for the coordinated manipulation of rigid objects (PDF)

M. Aicardi , Dept. of Commun., Comput. & syst. Sci., Genova Univ., Italy
G. Cannata , Dept. of Commun., Comput. & syst. Sci., Genova Univ., Italy
pp. 1525-1530

A systematic derivation of on-line motion constraint identification equations for model-based compliant motions (PDF)

H. Bruyninckx , Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
J. De Schutter , Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
pp. 1513-1518

Recognition of contact state based on geometric model (PDF)

S. Hirai , Dept. of Mech. Eng. for Computer-Controlled Mach., Osaka Univ., Japan
K. Iwata , Dept. of Mech. Eng. for Computer-Controlled Mach., Osaka Univ., Japan
pp. 1507-1512

Kinodynamic planning in a structured and time-varying 2-D workspace (PDF)

T. Fraichard , LIFIA-IRIMAG, Grenoble, France
C. Laugier , LIFIA-IRIMAG, Grenoble, France
pp. 1500-1505

Real time collision avoidance of a planar manipulator with an interfering single-link arm (PDF)

B.D. Seitz , Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
R.J. Cipra , Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 1494-1499

On motion planning amidst transient obstacles (PDF)

K. Fujimura , Dept. of Comput. & Inf. Sci., Ohio State Univ., Columbus, OH, USA
pp. 1488-1493

Experiments with a mobile robot operating in a cluttered unknown environment (PDF)

T. Skewis , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
V. Lumelsky , Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 1482-1487

An iconic position estimator for a 2D laser rangefinder (PDF)

J. Gonzalez , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
A. Stentz , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
A. Ollero , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 2646-2651

3D relative position and orientation estimation using Kalman filter for robot control (PDF)

J. Wang , Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
W.J. Wilson , Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
pp. 2638-2645

Map-based localization using the panoramic horizon (PDF)

F. Stein , 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. 2631-2637

Model-driven pose correction (PDF)

Y. Roth , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
A.S. Win , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
R.H. Arpaci , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
T. Weymouth , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
R. Jain , Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
pp. 2625-2630

Genetic programming approach to the construction of a neural network for control of a walking robot (PDF)

M.A. Lewis , Univ. of Southern California, Los Angeles, CA, USA
A.H. Fagg , Univ. of Southern California, Los Angeles, CA, USA
A. Solidum , Univ. of Southern California, Los Angeles, CA, USA
pp. 2618-2623

Neural computation for adaptive gait control of the quadruped over rough terrain (PDF)

B. Min , Dept. of Electr. Eng., Korean Adv. Inst. of Sci. & Technol., Seoul, South Korea
Z. Bien , Dept. of Electr. Eng., Korean Adv. Inst. of Sci. & Technol., Seoul, South Korea
pp. 2612-2617

Real time determination of the location and speed of mobile robots running on non-planar surfaces (PDF)

J.F. Le Corre , Lab. d'Autom. de Nantes, Ecole Centrale des Nantes, CNRS, France
G. Garcia , Lab. d'Autom. de Nantes, Ecole Centrale des Nantes, CNRS, France
pp. 2594-2599

Position estimation for a mobile robot using vision and odometry (PDF)

F. Chenavier , LETI-DSYS, CEA-CENG, Grenoble, France
pp. 2588-2593

Optimal estimation of position and heading for mobile robots using ultrasonic beacons and dead-reckoning (PDF)

L. Kleeman , Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
pp. 2582-2587

Mobile robot localization in a structured environment cluttered with obstacles (PDF)

A.A. Holenstein , Inst. of Autom. Control, Swiss Federal Inst. of Technol., Zurich, Switzerland
M.A. Muller , 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. 2576-2581

ARCANE: towards autonomous navigation on rough terrains (PDF)

E. Schalit , LAAS-CNRS, Toulouse, France
pp. 2568-2574

Dynamic control of robot perception using multi-property inference grids (PDF)

A. Elfes , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 2561-2567

Error correction in mobile robot map learning (PDF)

S.P. Engelson , Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
D.V. McDermott , Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
pp. 2555-2560

Time-varying potential field based 'perception-action' behaviors of mobile robot (PDF)

Wang Tianmiao , Dept. of Comput. Sci., Tsinghua Univ., Beijing, China
Zhang Bo , Dept. of Comput. Sci., Tsinghua Univ., Beijing, China
pp. 2549-2554

Averaging approach to nonholonomic motion planning (PDF)

L. Gurvits , Robotics Res. Lab., Courant Inst. of Math. Sci., New York, NY, USA
pp. 2541-2546

Using skeletons for nonholonomic path planning among obstacles (PDF)

B. Mirtich , Div. of Comput. Sci., California Univ., Berkeley, CA, USA
J. Canny , Div. of Comput. Sci., California Univ., Berkeley, CA, USA
pp. 2533-2540

Dynamic feedback linearization of nonholonomic wheeled mobile robots (PDF)

B. d'Andrea-Novel , Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
pp. 2527-2532

A fast distance calculation between convex objects by optimization approach (PDF)

S. Zeghloul , Lab. de Mecanique des Solides, Poitiers Univ., France
P. Rambeaud , Lab. de Mecanique des Solides, Poitiers Univ., France
J.P. Lallemand , Lab. de Mecanique des Solides, Poitiers Univ., France
pp. 2520-2525

Fast distance computation for on-line collision detection with multi-arm robots (PDF)

D. Henrich , Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
X. Cheng , Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
pp. 2514-2519

Computation of certain measures of proximity between convex polytopes: a complexity viewpoint (PDF)

N.K. Sancheti , Dept. of Comput. Sci. & Autom., Indian Inst. of Sci., Bangalore, India
S.S. Keerthi , Dept. of Comput. Sci. & Autom., Indian Inst. of Sci., Bangalore, India
pp. 2508-2513

Efficient distance calculation using the spherically-extended polytope (S-tope) model (PDF)

G.J. Hamlin , Center for Intelligent Robotic Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA
R.B. Kelley , Center for Intelligent Robotic Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA
pp. 2502-2507

Basic algorithms for space structuring in path planning for mobile robots (PDF)

P. Pignon , Electrotech. Lab., Ibaraki, Japan
T. Hasegawa , Electrotech. Lab., Ibaraki, Japan
pp. 2495-2500

A new algorithm for robot curve-following amidst unknown obstacles, and a generalization of maze-searching (PDF)

A. Sankaranarayanan , Secom Intelligent Syst. Lab., Tokyo, Japan
I. Masuda , Secom Intelligent Syst. Lab., Tokyo, Japan
pp. 2487-2494

A capacitance-based proximity sensor for whole arm obstacle avoidance (PDF)

J.L. Novak , Sandia Nat. Lab., Albuquerque, NM, USA
I.T. Feddema , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 1307-1314

Soft materials for robotic fingers (PDF)

K.B. Shimoga , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 1300-1305

Using tactile whiskers to measure surface contours (PDF)

R.A. Russell , Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
pp. 1295-1299

Soft sensored grippers in assembly process (PDF)

B. Borovac , Fac. of Tech. Sci., Novi Sad Univ., Yugoslavia
D. J. Seslija , Fac. of Tech. Sci., Novi Sad Univ., Yugoslavia
S. Stankovski , Fac. of Tech. Sci., Novi Sad Univ., Yugoslavia
pp. 1283-1288

Recovering model consistence for force and velocity measures in robot hybrid control (PDF)

C. Manes , Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
pp. 1276-1281

Some important considerations in force control implementation (PDF)

E. Paljug , General Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
T. Sugar , General Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
V. Kumar , General Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
X. Yun , General Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 1270-1275

Hybrid vision/position servo control of a robotic manipulator (PDF)

A. Castano , Illinois Univ., Urbana, IL, USA
S. Hutchinson , Illinois Univ., Urbana, IL, USA
pp. 1264-1269

An augmented task level programming system of force controlled assembly operations (PDF)

J. Leysen , Dept. Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
H. Van Brussel , Dept. Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
J. De Schutter , Dept. Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
pp. 1258-1263

Generalized center of compliance and stiffness (PDF)

H. Lipkin , Georgia Inst. of Technol., Atlanta, GA, USA
pp. 1251-1256

Multi-sensor based impedance control for task execution (PDF)

P.G. Backes , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1245-1250

Compliance design method using linear programming (PDF)

S. Matsuo , NTT Human Interface Lab., Tokyo, Japan
S. Iwaki , NTT Human Interface Lab., Tokyo, Japan
pp. 1238-1244

Regulator of minimal variance in hybrid control strategy of manipulation robots (PDF)

A.D. Rodic , Dept. of Robotics, Mihailo Pupin Inst., Belgrade, Yugoslavia
M.K. Vukobratovic , Dept. of Robotics, Mihailo Pupin Inst., Belgrade, Yugoslavia
pp. 1232-1237

Temporal planning for transportation planning and scheduling (PDF)

R.E. Frederking , Carnegie Mellon Univ., Pittsburgh, PA, USA
N. Muscettola , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1225-1230

Optimal decentralized routing policies for a class of queueing networks (PDF)

M. Aicardi , Dipartimento di Inf., Sistemistica e Telematica, Genova, Italy
R. Minciardi , Dipartimento di Inf., Sistemistica e Telematica, Genova, Italy
R. Pesenti , Dipartimento di Inf., Sistemistica e Telematica, Genova, Italy
pp. 1220-1224

Temporal logic formulation of assembly sequence properties (PDF)

Seow Kiam Tian , Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
R. Devanathan , Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
pp. 1208-1213

An optimal scheduling of pick place operations of a robot-vision-tracking system by using back-propagation and Hamming networks (PDF)

K. Feng , Sch. of Mech. & Aerosp. Eng., Oklahoma State Univ., Stillwater, OK, USA
L.L. Hoberock , Sch. of Mech. & Aerosp. Eng., Oklahoma State Univ., Stillwater, OK, USA
pp. 1201-1206

A note on optimal order of M machines in tandem with blocking (PDF)

Yi-Min Xie , Inst. of Autom., Acad. Sinica, Beijing, China
pp. 1197-1200

Consistent singleton models of a temporal constraint network (PDF)

R. Loganantharaj , Center for Adv. Comput. Studies, Univ. of Southwestern Louisiana Lafayette, LA, USA
D. Mitra , Center for Adv. Comput. Studies, Univ. of Southwestern Louisiana Lafayette, LA, USA
pp. 1193-1196

A genetic algorithm for bin packing and line balancing (PDF)

E. Falkenauer , CRIF-Res. Centre for Belgian Metalworking Ind., Brussels, Belgium
A. Delchambre , CRIF-Res. Centre for Belgian Metalworking Ind., Brussels, Belgium
pp. 1186-1192

Scheduling flexible flow shops with no setup effects (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
pp. 1179-1184

Order and production scheduling rescheduling for flow shops (PDF)

S.C. Chang , Dept. of Electr. Eng.. Nat. Taiwan Univ.. Taipei, Taiwan
F.-S. Hsieh , Dept. of Electr. Eng.. Nat. Taiwan Univ.. Taipei, Taiwan
pp. 1173-1178

Scheduling a batch processing facility (PDF)

D.J. Hoitomt , Pratt & Whitney, East Hartford, CT, USA
pp. 1167-1172

Two method for real-time routing selection in flexible manufacturing systems (PDF)

M.P. Fanti , Dipartimento di Elettrotecnica ed Elettronica, Politecnico de Bari, Italy
B. Maione , Dipartimento di Elettrotecnica ed Elettronica, Politecnico de Bari, Italy
G. Piscitelli , Dipartimento di Elettrotecnica ed Elettronica, Politecnico de Bari, Italy
B. Turchiano , Dipartimento di Elettrotecnica ed Elettronica, Politecnico de Bari, Italy
pp. 1158-1166

Heuristics for local path planning (PDF)

A. Elnagar , Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
A. Basu , Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
pp. 2481-2486

Motion planning for a robot and a movable object amidst polygonal obstacles (PDF)

B. Dacre-Wright , LAA/CNRS, Toulouse, France
J.-P. Laumond , LAA/CNRS, Toulouse, France
R. Alami , LAA/CNRS, Toulouse, France
pp. 2474-2480

Sensory uncertainty field for mobile robot navigation (PDF)

H. Takeda , Hitachi Ltd., Kawasaki, Japan
pp. 2465-2472

A theory of robust planning (PDF)

M. de Rougemont , ENSTA, Paris, France
J.F. Diaz-Frias , ENSTA, Paris, France
pp. 2453-2458

Constructive recognizability for task-directed robot programming (PDF)

B. Donald , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
J. Jennings , Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA
pp. 2446-2452

Navigation with uncertainty: reaching a goal in a high collision risk region (PDF)

P. Burlina , Comput. Vision Lab., Maryland Univ., College Park, MD, USA
D. DeMenthon , Comput. Vision Lab., Maryland Univ., College Park, MD, USA
L.S. Davis , Comput. Vision Lab., Maryland Univ., College Park, MD, USA
pp. 2440-2445

A semi-automatic assembly sequence planner (PDF)

J.J. Waarts , Delft Univ. of Technol., Netherlands
N. Boneschanscher , Delft Univ. of Technol., Netherlands
W.F. Bronsvoort , Delft Univ. of Technol., Netherlands
pp. 2431-2438

An assembly sequence generation algorithm using case-based search techniques (PDF)

P. Pu , Lab. d'Intelligence Artificielle, Swiss Federal Inst. of Technol., Lausanne, Switzerland
pp. 2425-2430

Feedback evaluation of assembly plans (PDF)

W. Hsu , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
C.S.G. Lee , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
S.F. Su , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 2419-2424

Conceptual graph-based synthesis of robotic assembly operations (PDF)

A. Kapitanovsky , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 2413-2418

KBAP: an industrial prototype of knowledge-based assembly planner (PDF)

A. Delchambre , Dept. of Ind. Autom., CRIF/WTCM-Res. Centre for the Belgian Metalworking Ind., Brussels, Belgium
P. Gaspart , Dept. of Ind. Autom., CRIF/WTCM-Res. Centre for the Belgian Metalworking Ind., Brussels, Belgium
pp. 2404-2411

Multihierarchical representation of tetrahedral truss structures for assembly sequence planning (PDF)

L.S. Homem-de-Mello , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 2398-2403

Assembling polyhedra with single translations (PDF)

R.H. Wilson , Dept. of Comput. Sci., Stanford Univ., CA, USA
A. Schweikard , Dept. of Comput. Sci., Stanford Univ., CA, USA
pp. 2392-2397

Backward assembly planning with assembly cost analysis (PDF)

S. Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 2382-2391

From characteristic invariants to stiffness matrices (PDF)

Y. Liu , Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
R. Popplestone , Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
pp. 2375-2380

Mating constraint languages for assembly sequence planning (PDF)

J. Wolter , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
S. Chakrabarty , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
J. Tsao , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
pp. 2367-2374

AMP-CAD: an assembly motion planning system (PDF)

S.N. Gottschlich , New York State Center for Adv. Technol. in Robotics & Autom., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 2355-2360

SANDROS: a motion planner with performance proportional to task difficulty (PDF)

P.C. Chen , Sandia Nat. Lab., Albuquerque, NM, USA
Y.K. Hwang , Sandia Nat. Lab., Albuquerque, NM, USA
pp. 2346-2353

Fast motion planning for anthropometric figures with many degrees of freedom (PDF)

W. Ching , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
N. Badler , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
pp. 2340-2345

Online motion planning using critical point graphs in two-dimensional configuration space (PDF)

V. Krishnaswamy , Case Western Reserve Univ., Cleveland, OH, USA
W.S. Newman , Case Western Reserve Univ., Cleveland, OH, USA
pp. 2334-2339

Motion planning for many degrees of freedom: sequential search with backtracking (PDF)

K.K. Gupta , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Z. Guo , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
pp. 2328-2333

Motion planning for spider robots (PDF)

J.-D. Boissonnat , INRIA, Valbonne, France
O. Devillers , INRIA, Valbonne, France
L. Donati , INRIA, Valbonne, France
pp. 2321-2326

Occlusions and the next view planning (PDF)

J. Maver , Comput. Vision Lab., Ljubljana Univ., Slovenia
pp. 1806-1811

Autonomous observation under uncertainty (PDF)

T.M. Sobh , Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
R. Bajcsy , Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
pp. 1792-1798

An algebraic approach to line-drawing analysis in the presence of uncertainty (PDF)

J. Ponce , Illinois Univ., Urbana, IL, USA
I. Shimshoni , Illinois Univ., Urbana, IL, USA
pp. 1786-1791

Extraction and interpretation of semantically significant line segments for a mobile robot (PDF)

X. Lebegue , Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
J.K. Aggarwal , Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
pp. 1778-1785

Vision-motion planning with uncertainty (PDF)

J. Miura , Dept. of Mech. Eng. for Comput.-Controlled Machinery., Osaka Univ., Japan
Y. Shirai , Dept. of Mech. Eng. for Comput.-Controlled Machinery., Osaka Univ., Japan
pp. 1772-1777

Real-time stereo vision with multiple arrayed camera (PDF)

K. Yoshida , Precision & Intelligent Lab., Tokyo Inst. of Technol., Yokohama, Japan
pp. 1765-1770

Photometric stereo using point light sources (PDF)

N. Kolagani , Dept. of Mech. Eng., Hawaii Univ., HI, USA
pp. 1759-1764

A multistage stereo method giving priority to reliable matching (PDF)

O. Nakayama , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
A. Yamaguchi , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
Y. Shirai , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
M. Asada , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
pp. 1753-1758

A collision-avoidance robot mounting LDM stereo vision (PDF)

J. Takeno , Meiji Univ., Kanagawa, Japan
S. Hachiyama , Meiji Univ., Kanagawa, Japan
pp. 1740-1752

Accurate ranging of multiple objects using ultrasonic sensors (PDF)

K. Audenaert , Electron. Lab., Rijksuniv., Gent, Belgium
H. Peremans , Electron. Lab., Rijksuniv., Gent, Belgium
Y. Kawahara , Electron. Lab., Rijksuniv., Gent, Belgium
J. Van Campenhout , Electron. Lab., Rijksuniv., Gent, Belgium
pp. 1733-1738

Noise rejection for ultrasonic sensors in mobile robot applications (PDF)

J. Borenstein , Michigan Univ., Ann Arbor, MI, USA
Y. Koren , Michigan Univ., Ann Arbor, MI, USA
pp. 1727-1732

Model-based multi-sensor data fusion (PDF)

W. Wen , Dept. of Eng. Sci., Oxford Univ., UK
H.F. Durrant-Whyte , Dept. of Eng. Sci., Oxford Univ., UK
pp. 1720-1726

Physically based sensor modeling for a sonar map in a specular environment (PDF)

Jong Hwan Lim , Dept. of Mech. Eng.. Pohang Inst. of Sci. & Technol., South Korea
Dong Woo Cho , Dept. of Mech. Eng.. Pohang Inst. of Sci. & Technol., South Korea
pp. 1714-1719

Inspecting specular lobe objects using four light sources (PDF)

F. Solomon , Robotics Inst., Carnegie-Mellon Univ., PA, USA
pp. 1707-1712

A multi-resolution surface model for compact representation of range images (PDF)

M. Soucy , Dept. of Electr. Eng., Laval Univ., Que., Canada
A. Croteau , Dept. of Electr. Eng., Laval Univ., Que., Canada
D. Laurendeau , Dept. of Electr. Eng., Laval Univ., Que., Canada
pp. 1701-1706

Quantifying saliency of feature points on 3-D curved surfaces from range images (PDF)

H.B. Zha , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
T. Nagata , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
pp. 1695-1700

On shape-preserving boundary conditions for diffusion smoothing (PDF)

E. Trucco , Dept. of Artificial Intelligence, Edinburgh Univ., UK
pp. 1690-1694

Sensory data integration: a team consensus approach (PDF)

O.A. Basir , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
H.C. Shen , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
pp. 1683-1688

Behavior-based mobile robot using active sensor fusion (PDF)

I. Kweon , Toshiba Corp., Kawasaki, Japan
Y. Kuno , Toshiba Corp., Kawasaki, Japan
pp. 1675-1682

A Bayes-maximum entropy method for multi-sensor data fusion (PDF)

M. Beckerman , Oak Ridge Nat. Lab., TN, USA
pp. 1668-1674

Constraint solving methods and sensor-based decision-making (PDF)

G.D. Hager , Dept of Comput. Sci., Yale Univ., New Haven, CT, USA
pp. 1662-1667

On sensor feedback for gripping an object within prescribed posture tolerances (PDF)

A. Wernersson , Linkoping Univ., Sweden
B. Boberg , Linkoping Univ., Sweden
B. Nilsson , Linkoping Univ., Sweden
J. Nygards , Linkoping Univ., Sweden
T. Rydberg , Linkoping Univ., Sweden
pp. 1654-1660

Haptic aspect graph representation of 3-D object shapes (PDF)

G. Kinoshita , Fac. of Sci. & Eng., Chuo Univ., Tokyo, Japan
pp. 1648-1653

Coarse-fine residual gravity cancellation system with magnetic levitation (PDF)

S.E. Salcudean , British Columbia Univ., Vancouver. BC, Canada
H. Davis , British Columbia Univ., Vancouver. BC, Canada
C.T. Chen , British Columbia Univ., Vancouver. BC, Canada
D.E. Goertz , British Columbia Univ., Vancouver. BC, Canada
pp. 1641-1647

Learning reactive admittance control (PDF)

V. Gullapalli , Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
R.A. Grupen , Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
A.G. Barto , Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
pp. 1475-1480

Hybrid linguistic/numeric control of deburring robots based on human skills (PDF)

B.-H. Yang , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
H. Asada , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 1467-1474

A fine contact motion of manipulators based on learning control (PDF)

T. Suzuki , Dept. of Electron. Mech. Eng., Nagoya Univ., Japan
K. Yamada , Dept. of Electron. Mech. Eng., Nagoya Univ., Japan
S. Okuma , Dept. of Electron. Mech. Eng., Nagoya Univ., Japan
pp. 1461-1466

Learning hybrid force and position control of robot manipulators (PDF)

D. Jeon , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
M. Tomizuka , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
pp. 1455-1460

Frictional lag and stick-slip (PDF)

B. Armstrong-Helouvry , Dept. of Electr. Eng. & Comput. Sci., Wisconsin Univ., Milwaukee, WI, USA
pp. 1448-1453

The detrimental effect of friction on space microgravity robotics (PDF)

W.S. Newman , Center for Autom. & Intelligent Syst. Res., Case Western Reserve Univ., Cleveland, OH, USA
G.D. Glosser , Center for Autom. & Intelligent Syst. Res., Case Western Reserve Univ., Cleveland, OH, USA
pp. 1436-1441

Dynamic modelling and friction compensated control of a robot manipulator joint (PDF)

S.C.P. Gomes , CERT/DERA, Toulouse, France
J.P. Chretien , CERT/DERA, Toulouse, France
pp. 1429-1435

A force-reflecting teleoperation system with magnetically levitated master and wrist (PDF)

S.E. Salcudean , Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
N.M. Wong , Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
pp. 1420-1426

Developments of new force reflecting control schemes and an application to a teleoperation training simulator (PDF)

W.S. Kim , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 1412-1419

Designing teleoperator architectures for transparency (PDF)

D.A. Lawrence , Dept. of Aerosp. Eng. Sci., Colorado Univ., Boulder, CO, USA
pp. 1406-1411

Iterative self-improvement of force feedback control in contour tracking (PDF)

F. Lange , Inst. of Flight Syst. Dynamics, DLR, Oberpfaffenhofen, Germany
G. Hirzinger , Inst. of Flight Syst. Dynamics, DLR, Oberpfaffenhofen, Germany
pp. 1399-1404

Exact decoupling of the force-position control using the operational space formulation (PDF)

B. Bona , Dipartimento di Autom. e Inf., Politecnico di Torino, Ont., Italy
M. Indri , Dipartimento di Autom. e Inf., Politecnico di Torino, Ont., Italy
pp. 1394-1398

An experimental evaluation and comparison of explicit force control strategies for robotic manipulators (Abstract)

R. Volpe , Carnegie Mellon Univ., Pittsburgh, PA, USA
P. Khosla , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1387-1393 vol.2

Simplification of inverse kinematics routine of robot manipulators using disturbance observer in task space (PDF)

S. Komada , Dept. of Electr. & Electron. Eng., Mie Univ., Japan
J. Shin , Dept. of Electr. & Electron. Eng., Mie Univ., Japan
M. Ishida , Dept. of Electr. & Electron. Eng., Mie Univ., Japan
pp. 1381-1386

Introducing active linear and nonlinear damping to enable stable high gain force control in case of stiff contact (PDF)

H.P. Qian , Div. of Production Eng., Katholieke Univ. Leuven, Heverlee, Belgium
J. De Schutter , Div. of Production Eng., Katholieke Univ. Leuven, Heverlee, Belgium
pp. 1374-1379

The role of damping and low pass filtering in the stability of discrete time implemented robot force control (PDF)

H.P. Qian , Div. of Production Eng., Katholieke Univ., Leuven, Heverlee, Belgium
J. De Schutter , Div. of Production Eng., Katholieke Univ., Leuven, Heverlee, Belgium
pp. 1368-1373

Robust force control based on estimation of environment (PDF)

S. Komada , Dept. of Electr. & Electron. Eng., Mie Univ., Japan
K. Nomura , Dept. of Electr. & Electron. Eng., Mie Univ., Japan
M. Ishida , Dept. of Electr. & Electron. Eng., Mie Univ., Japan
pp. 1362-1367

Force control without force sensor based on mixed sensitivity H/sup infinity / design method (PDF)

K. Ohishi , Dept. of Electr. Eng., Osaka Inst. of Technol., Japan
M. Miyazaki , Dept. of Electr. Eng., Osaka Inst. of Technol., Japan
M. Fujita , Dept. of Electr. Eng., Osaka Inst. of Technol., Japan
Y. Ogino , Dept. of Electr. Eng., Osaka Inst. of Technol., Japan
pp. 1356-1361

Analysis of force control based on linear models (PDF)

A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 1348-1353

Coupled stability characteristics of nearly passive robots (PDF)

J.D. Chapel , Martin Marietta Astronautics, Denver, CO, USA
pp. 1342-1347

Sufficient stability condition for hybrid position/force control (PDF)

W.D. Fisher , Hewlett-Packard Lab., Palo Alto, CA, USA
M.S. Mujtaba , Hewlett-Packard Lab., Palo Alto, CA, USA
pp. 1336-1341

Development of a finger-shaped tactile sensor and its evaluation by active touch (PDF)

H. Maekawa , Mech. Eng. Lab., AIST-MITI, Ibaraki, Japan
K. Tanie , Mech. Eng. Lab., AIST-MITI, Ibaraki, Japan
K. Komoriya , Mech. Eng. Lab., AIST-MITI, Ibaraki, Japan
pp. 1327-1334

A tactile sensing method for employing force/torque information through insensitive probes (PDF)

T. Tsujimura , NTT Telecommun. Field Syst. R&D Center, Ibaraki, Japan
T. Yabuta , NTT Telecommun. Field Syst. R&D Center, Ibaraki, Japan
pp. 1315-1320

Development of an automatic adjustment system for integrated tube components (PDF)

Zeungnam Bien , Dept. of Electr. Eng., KAIST, Seoul, South Korea
Sungrak Kim , Dept. of Electr. Eng., KAIST, Seoul, South Korea
Dongil Han , Dept. of Electr. Eng., KAIST, Seoul, South Korea
Jong-Woon Lee , Dept. of Electr. Eng., KAIST, Seoul, South Korea
pp. 993-998

Multi-sensor integration in intelligent robotic workstation (PDF)

Q. Chen , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
J.Y.S. Luh , Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
pp. 987-992

Solving tool interference problem for four-axis NC machining (PDF)

Suk-Hwan Suh , Dept. of Ind. Eng., POSTECH, Pohang, South Korea
Kee-Sang Lee , Dept. of Ind. Eng., POSTECH, Pohang, South Korea
pp. 981-986

Fault detection in manufacturing systems with data network partitions (PDF)

A. Adlemo , Chalmers Univ. of Technol., Goteborg, Sweden
S.-A. Andreasson , Chalmers Univ. of Technol., Goteborg, Sweden
pp. 975-980

A shape metric for design-for-assembly (PDF)

G.J. Kim , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
G.A. Bekey , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
K.Y. Goldberg , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
pp. 968-973

Application of concurrent engineering in design for one-of-a-kind production (PDF)

G. Kovacs , Comput. & Autom. Inst., Hungarian Acad. of Sci., Budapest, Hungary
I. Mezgar , Comput. & Autom. Inst., Hungarian Acad. of Sci., Budapest, Hungary
E. Szelke , Comput. & Autom. Inst., Hungarian Acad. of Sci., Budapest, Hungary
pp. 956-961

A new software environment for design of automated workcells (PDF)

B.G. Welz , Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
T.C. Lueth , Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
pp. 950-955

Cellular control of flexible manufacturing systems (PDF)

C.F. Della , Dept. de Autom. e Inf., Politecnico di Torino, Italy
G. Menga , Dept. de Autom. e Inf., Politecnico di Torino, Italy
R. Tadei , Dept. de Autom. e Inf., Politecnico di Torino, Italy
M. Cavalotto , Dept. de Autom. e Inf., Politecnico di Torino, Italy
L. Petri , Dept. de Autom. e Inf., Politecnico di Torino, Italy
pp. 937-948

Manufacturing cell supervisory control-a timed discrete event system approach (PDF)

B.A. Brandin , Comput. Integrated Manuf. Lab., Toronto Univ., Ont., Canada
W.M. Wonham , Comput. Integrated Manuf. Lab., Toronto Univ., Ont., Canada
B. Benhabib , Comput. Integrated Manuf. Lab., Toronto Univ., Ont., Canada
pp. 931-936

Information system and distributed control for a control loop cell architecture (PDF)

J.-F. Couturier , Centre de Recherche en Autom. Nancy Univ., Vandieuvre-les-Nancy, France
F. Lepage , Centre de Recherche en Autom. Nancy Univ., Vandieuvre-les-Nancy, France
J. Richard , Centre de Recherche en Autom. Nancy Univ., Vandieuvre-les-Nancy, France
E. Rondeau , Centre de Recherche en Autom. Nancy Univ., Vandieuvre-les-Nancy, France
pp. 925-930

A new graph-based method dealing with blocking in supervisory control of discrete event systems (PDF)

Yang Xiaojun , Inst. of Autom. Chinese Acad. of Sci., Beijing, China
Zheng Yingping , Inst. of Autom. Chinese Acad. of Sci., Beijing, China
pp. 920-924

Manipulator system for module re docking on the Mir Orbital Complex (PDF)

V.S. Syromiatnikov , Dept. of Sci. Eng., Electromech. & Large Deployable Structures NPO Energia, Kaliningrad, Russia
pp. 913-918

Efficient computation scheme for the kinematics and inverse dynamics of a satellite-based manipulator (PDF)

F. Nagashima , Fujitsu Lab. Ltd., Kawasaki, Japan
Y. Nakamura , Fujitsu Lab. Ltd., Kawasaki, Japan
pp. 905-912

Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor (PDF)

K. Yoshida , Dept. of Mech. Eng. Sci., Tokyo Inst. of Technol., Japan
N. Sashida , Dept. of Mech. Eng. Sci., Tokyo Inst. of Technol., Japan
pp. 899-904

Attitude control of space platform/manipulator system using internal motion (PDF)

C. Fernandes , Robotics Res. Lab., Courant Inst. of Math. Sci., New York, NY, USA
L. Gurvits , Robotics Res. Lab., Courant Inst. of Math. Sci., New York, NY, USA
Z.X. Li , Robotics Res. Lab., Courant Inst. of Math. Sci., New York, NY, USA
pp. 893-898

Operator vision aids for telerobotic assembly and servicing in space (PDF)

T.L. Brooks , Hughes STX Robotics, Lanham, MD, USA
I. Ince , Hughes STX Robotics, Lanham, MD, USA
pp. 886-891

Shared and traded telerobotic visual control (PDF)

N.P. 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
pp. 878-885

Real time simulation of the Space Station Freedom Mobile Servicing Center (PDF)

L.A. Nguyen , Lockheed Eng. & Sci. Co., Houston, TX, USA
pp. 872-877

Control system of Self-Mobile Space Manipulator (PDF)

Y. Xu , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
B. Brown , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
M. Friedman , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Kanade , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 866-871

An advanced teleoperator control system: design and evaluation (PDF)

S. Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 859-864

Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment (PDF)

Y. Yokokohji , Dept. of Mech. Eng., Kyoto Univ., Japan
T. Yoshikawa , Dept. of Mech. Eng., Kyoto Univ., Japan
pp. 849-858

Man-equivalent telepresence through four fingered human-like hand system (PDF)

B.M. Jau , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 843-848

A new control scheme for bilateral teleoperating systems: Lyapunov stability analysis (PDF)

Y. Strassberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
J.K. Mills , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 837-842

Minimizing complexity in controlling a mobile robot population (PDF)

M.J. Mataric , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 830-835

An algorithm for the scheduling of setups and production to meet due dates (PDF)

M.H. Burman , Lab. for Manuf. & Productivity., MIT, Cambridge, MA, USA
S.B. Gershwin , Lab. for Manuf. & Productivity., MIT, Cambridge, MA, USA
pp. 1150-1156

Quality and speed trade-offs in manufacturing systems (PDF)

R.K. Nurani , Carnegie Mellon Univ., Pittsburgh, PA, USA
R. Akella , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 1145-1149

Hoist scheduling problem: an approach based on constraint logic programming (PDF)

P. Baptiste , CNRS, Besnacon, France
B. Legeard , CNRS, Besnacon, France
C. Varnier , CNRS, Besnacon, France
pp. 1139-1144

Task assignment in pipeline assembly systems (PDF)

A. Agnetis , Dipartimento Inf. e Sistemistica, Rome Univ., Italy
F. Nicolo , Dipartimento Inf. e Sistemistica, Rome Univ., Italy
pp. 1133-1138

Generation of polished-sculptured surfaces by advanced machining center-robot complex (PDF)

Y. Takeuchi , Dept. of Mech. & Control Eng., Electro-Commun. Univ., Tokyo, Japan
D.-f. Ge , Dept. of Mech. & Control Eng., Electro-Commun. Univ., Tokyo, Japan
pp. 1126-1131

Development of a robotic assembly complex (PDF)

D.E. Okhotsimsky , Keldysh Inst. of Appl. Math., Moscow, Russia
V.A. Kartashev , Keldysh Inst. of Appl. Math., Moscow, Russia
pp. 1122-1125

An architecture for application oriented robot programming (PDF)

K. Nilsson , Dept. of Autom. Control, Lund Inst. of Technol., Sweden
pp. 1115-1121

Online planning of action sequences for a two-arm manipulator system (PDF)

A. Hormann , Karlsruhe Univ., Germany
U. Rembold , Karlsruhe Univ., Germany
R. Dillmann , Karlsruhe Univ., Germany
pp. 1109-1114

Automated planning of robot workcell layouts (PDF)

T.C. Lueth , Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
pp. 1103-1108

Simulation and graphical interface for programming and visualization of sensor-based robot operation (PDF)

C.X. Chen , Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
M.M. Trivedi , Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
C.R. Bidlack , Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
pp. 1095-1101

Robot off-line programming and simulation as a true CIME-subsystem (PDF)

L.F. Nielsen , Control Eng. Inst., Tech. Univ. of Denmark, Lyngby, Denmark
S. Trostmann , Control Eng. Inst., Tech. Univ. of Denmark, Lyngby, Denmark
E. Trostmann , Control Eng. Inst., Tech. Univ. of Denmark, Lyngby, Denmark
F. Conrad , Control Eng. Inst., Tech. Univ. of Denmark, Lyngby, Denmark
pp. 1089-1094

Robotic assembly operation based on task-level teaching in virtual reality (PDF)

T. Takahashi , NTT Human Interface Lab., Tokyo, Japan
H. Ogata , NTT Human Interface Lab., Tokyo, Japan
pp. 1083-1088

Constraint-based scheduling: a recursive approach (PDF)

Jiaxin Wang , Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China
pp. 1077-1082

Inducing patterns of behavior in distributed system processes (PDF)

V.G. Kountouris , Sch. of Inf. Technol. & Eng., George Mason Univ., Fairfax, VA, USA
pp. 1070-1075

Sensor-based error recovery for robotic task sequences using fuzzy Petri nets (PDF)

T. Cao , Rensselaer Polytech. Inst., Troy, NY, USA
A.C. Sanderson , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1063-1069

FMS scheduling using Petri nets and heuristic search (PDF)

D.Y. Lee , Rensselaer Polytech. Inst., Troy, NY, USA
F. DiCesare , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1057-1062

Asymptotic continuous Petri nets: an efficient approximation of discrete event systems (PDF)

J. Le Bail , Lab. d'Autom. de Grenoble, Inst. Nat. Polytech. de Grenoble, France
H. Alla , Lab. d'Autom. de Grenoble, Inst. Nat. Polytech. de Grenoble, France
R. David , Lab. d'Autom. de Grenoble, Inst. Nat. Polytech. de Grenoble, France
pp. 1050-1056

Modular approach for Petri-net modeling of flexible manufacturing systems adaptable to various task-flow requirement (PDF)

Chin-Jung Tsai , Dept. of Comput. Sci. & Inf. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Li-Chen Fu , Dept. of Comput. Sci. & Inf. Eng., Nat. Taiwan Univ., Taipei, Taiwan
pp. 1043-1048

State-space size estimation of conservative Petri nets (PDF)

J.F. Watson , Rensselaer Polytech. Inst., Troy, NY, USA
A.A. Desrochers , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1037-1042

Methods for estimating state-space size of Petri nets (PDF)

J.F. Watson , Rensselaer Polytech. Inst., Troy, NY, USA
A.A. Desrochers , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1031-1036

Synthesis method using deviation bounds in automated manufacturing systems (PDF)

I. Koh , Rensselaer Polytech. Inst., Troy, NY, USA
F. DiCesare , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 1025-1030

Analytical performance evaluation of closed transfer lines with limited number of pallets (PDF)

Y. Frein , Lab. d'Autom. de Grenoble, ENSIEG, Saint Martin d'Heres, France
C. Commault , Lab. d'Autom. de Grenoble, ENSIEG, Saint Martin d'Heres, France
pp. 1018-1023

Analysis of the behaviour of a circular conveyor (PDF)

T. Atmaca , Inst. Nat. des Telecommun., Telecom, Evry, France
pp. 1012-1017

Analysis of queueing networks with population constraints and applications to manufacturing (PDF)

B. Baynat , Lab. MASI, CNRS, Univ. Pierre et Marie Curie, Paris, France
Y. Dallery , Lab. MASI, CNRS, Univ. Pierre et Marie Curie, Paris, France
pp. 1006-1011

Response time approximation for the performance analysis of manufacturing systems modeled with stochastic marked graphs (PDF)

H. Jungnitz , Dept. de Ingenieria Electr. e Inf., Centro Politecnico Superior, Univ. de Zaragoa, Spain
B. Sanchez , Dept. de Ingenieria Electr. e Inf., Centro Politecnico Superior, Univ. de Zaragoa, Spain
M. Silva , Dept. de Ingenieria Electr. e Inf., Centro Politecnico Superior, Univ. de Zaragoa, Spain
pp. 1000-1005

Experimental evaluation of a new traction-drive robotic transmission (PDF)

W.S. Newman , Case Western Reserve Univ., Cleveland, OH, USA
Y. Zhang , Case Western Reserve Univ., Cleveland, OH, USA
pp. 652-657

Force analysis for automation of the loading operation in an LHD-loader (PDF)

A. Hemami , C.C.A.R.M., Ecole Polytech. de Montreal, Que., Canada
pp. 645-650

Optical guidance system for underground mine vehicles (PDF)

R. Hurteau , Dept. of Electr. & Comput. Eng., Ecole Polytech. de Montreal, Que., Canada
M. St-Amant , Dept. of Electr. & Comput. Eng., Ecole Polytech. de Montreal, Que., Canada
pp. 639-644

A robotic system for underground coal mining (PDF)

G. Shaffer , Carnegie Mellon Univ., Pittsburgh, PA, USA
A. Stentz , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 633-638

Image guided operating robot: a clinical application in stereotactic neurosurgery (PDF)

S. Lavallee , TIMB-TIM3-IMAG, Fac. de Medecine de Grenoble, La Tronche, France
J. Troccaz , TIMB-TIM3-IMAG, Fac. de Medecine de Grenoble, La Tronche, France
L. Gaborit , TIMB-TIM3-IMAG, Fac. de Medecine de Grenoble, La Tronche, France
P. Cinquin , TIMB-TIM3-IMAG, Fac. de Medecine de Grenoble, La Tronche, France
pp. 618-624

Force sensing and control for a surgical robot (PDF)

P. Kazanzides , Integrated Surg. Syst., Sacramento, CA, USA
J. Zuhars , Integrated Surg. Syst., Sacramento, CA, USA
B. Mittelstadt , Integrated Surg. Syst., Sacramento, CA, USA
pp. 612-617

A surgical robot for total hip replacement surgery (PDF)

H.A. Paul , Integrated Surg. Syst. Inc., Sacramento, CA, USA
B. Mittlestadt , Integrated Surg. Syst. Inc., Sacramento, CA, USA
W.L. Bargar , Integrated Surg. Syst. Inc., Sacramento, CA, USA
B. Musits , Integrated Surg. Syst. Inc., Sacramento, CA, USA
pp. 606-611

A dedicated pipeline processor for target tracking applications (PDF)

J. Frau , Dept. ESAII, Univ. Politecnica de Catalunya, Barcelona, Spain
S. Casas , Dept. ESAII, Univ. Politecnica de Catalunya, Barcelona, Spain
L. Balcells , Dept. ESAII, Univ. Politecnica de Catalunya, Barcelona, Spain
pp. 599-604

A photoelectric range scanner using an array of LED chips (PDF)

J.A. Marszalec , VTT-Tech. Res. Centre of Finland, Oulu, Finland
pp. 593-598

Estimation of angular velocity and acceleration from shaft encoder measurements (PDF)

P.R. Belanger , Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 585-592

Analysis of ultrasonic differentiation of three dimensional corners, edges and planes (PDF)

M.L. Hong , Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
L. Kleeman , Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
pp. 580-584

Simulation of multiprocessor robot controllers (PDF)

C. Astraudo , INRIA Sophia Antipolis, Valbonne, France
J.-J. Borrelly , INRIA Sophia Antipolis, Valbonne, France
pp. 573-578

Control of redundant robots on cyclic trajectories (PDF)

A. De Luca , Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
L. Lanari , Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
G. Oriolo , Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
pp. 500-506

Fingerlike biomechanical robots (PDF)

D.C. Deno , California Univ., Berkeley, CA, USA
R.M. Murray , California Univ., Berkeley, CA, USA
K.S.J. Pister , California Univ., Berkeley, CA, USA
S.S. Sastry , California Univ., Berkeley, CA, USA
pp. 566-572

An efficient algorithm for the inverse dynamics computation of space manipulators (PDF)

R. Mukherjee , Dept. of Mech. Eng., US Naval Postgraduate Sch., Monterey, CA, USA
pp. 560-565

Remarks on robot dynamics: canonical transformations and Riemannian geometry (PDF)

M.W. Spong , Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
pp. 554-559

Experimental results with the dynamic urgency algorithm (PDF)

Y. Ghallab , Res. Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
V. Hayward , Res. Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 547-552

The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system (PDF)

J.M. McCarthy , Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
J.E. Bobrow , Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
pp. 542-546

Control of a hummingbird minipositioner with a multi-transputer MARC controller (PDF)

L.C. Zai , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
L.F. Durfee , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
D.G. Manzer , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
J.P. Karadis , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
M.P. Mastro , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
L.W. Landerman , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 534-541

Improved computed torque control for industrial robots (PDF)

M. Uebel , Hughes-STX: Robotics & Autom., Lanham, MD, USA
pp. 528-533

Joint torque optimization of redundant manipulators via the null space damping method (PDF)

H.-J. Kang , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
R.A. Freeman , Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
pp. 520-525

A comparison of two methods for choosing repeatable control strategies for kinematically redundant manipulators (PDF)

R.G. Roberts , Sch. of Electr. Eng., Purudue Univ., West Lafayette, IN, USA
A.A. Maciejewski , Sch. of Electr. Eng., Purudue Univ., West Lafayette, IN, USA
pp. 514-519

On the design of the kinematic structure of seven-axes redundant manipulators for maximum conditioning (PDF)

J. Angeles , Dept. of Mech. Eng., McRCIM-McGill Univ., Montreal, Que., Canada
F. Ranjbaran , Dept. of Mech. Eng., McRCIM-McGill Univ., Montreal, Que., Canada
pp. 494-499

Robot modeling and control over extended configurational manifold (PDF)

C.D. Mladenova , Inst. of Mech. & Biomech., Bulgarian Acad. of Sci., Sofia, Bulgaria
pp. 326-331

Two numerical issues in simulating constrained dynamics (PDF)

R.E. Ellis , Dept. of Comput. & Inf. Sci., Queen's Univ., Kingston, Ont., Canada
S.L. Ricker , Dept. of Comput. & Inf. Sci., Queen's Univ., Kingston, Ont., Canada
pp. 312-318

Numerical stability of forward-dynamics algorithms (PDF)

R.E. Ellis , Dept. of Comnput. & Inf. Sci., Queen's Univ., Kingston, Ont., Canada
O.M. Ismaeil , Dept. of Comnput. & Inf. Sci., Queen's Univ., Kingston, Ont., Canada
I.H. Carmichael , Dept. of Comnput. & Inf. Sci., Queen's Univ., Kingston, Ont., Canada
pp. 305-311

Efficient dynamic simulation of multiple manipulator systems with singularities (PDF)

S. McMillan , Ohio State Univ., Columbus, OH, USA
P. Sadayappan , Ohio State Univ., Columbus, OH, USA
D.E. Orin , Ohio State Univ., Columbus, OH, USA
pp. 299-304

A new approach to the numerical solution of constrained mechanical system dynamics (PDF)

S.S. Keerthi , Dept. of Comput. Sci. & Atom., Indian Inst. of Sci., Bangalore, India
R. Sudarsan , Dept. of Comput. Sci. & Atom., Indian Inst. of Sci., Bangalore, India
N.K. Sancheti , Dept. of Comput. Sci. & Atom., Indian Inst. of Sci., Bangalore, India
pp. 293-298

Control of a two-link robot to achieve sliding and hopping gaits (PDF)

M.D. Berkemeier , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
R.S. Fearing , Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
pp. 286-291

Wall-following control of a mobile robot (PDF)

P. van Turennout , Dept. of Electr. Eng., Delft Univ. of Technol., Netherlands
G. Honderd , Dept. of Electr. Eng., Delft Univ. of Technol., Netherlands
L.J. van Schelven , Dept. of Electr. Eng., Delft Univ. of Technol., Netherlands
pp. 280-285

ROBAT: a sonar-based mobile robot for bat-like prey capture (PDF)

B. Barshan , Dept. of Eng. Sci., Oxford Univ., UK
pp. 274-279

The VAHM project: a cooperation between an autonomous mobile platform and a disabled person (PDF)

A. Pruski , Lab. d'Autom. et d'Electron. Ind., Metz Univ., France
G. Bourhis , Lab. d'Autom. et d'Electron. Ind., Metz Univ., France
pp. 268-273

A fast, on-line collision avoidance method for a kinematically redundant manipulator based on reflex control (PDF)

T.S. Wikman , Case Western Reserve Univ., Cleveland, OH, USA
W.S. Newman , Case Western Reserve Univ., Cleveland, OH, USA
pp. 261-266

Automatic guidance and control laws for helicopter obstacle avoidance (PDF)

V.H.L. Cheng , NASA Ames Res. Center, Moffett Field, CA, USA
pp. 252-260

A new representation for collision avoidance and detection (PDF)

A.P. del Pobil , Dept. of Comput. Sci., Jaume I Univ., Castello, Spain
pp. 246-251

Local motion planning avoiding obstacles with dual quaternions (PDF)

T. Horsch , Darmstadt Inst. of Technol., Germany
H. Nolzen , Darmstadt Inst. of Technol., Germany
pp. 241-245

Motion planning of mobile multi-limb robotic systems subject to force and friction constraints (PDF)

A. Madhani , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
S. Dubowsky , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 233-239

Performance-functional based controller design for a mobile manipulator (PDF)

W. Miksch , Dept. of Electr. Eng., Tech. Univ. Muenchen, Germany
D. Schroeder , Dept. of Electr. Eng., Tech. Univ. Muenchen, Germany
pp. 227-232

Robotic exploration of surfaces and its application to legged locomotion (PDF)

P.R. Sinha , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
R.K. Bajcsy , Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
pp. 221-226

A new navigation concept for mobile vehicles (PDF)

R. Gutsche , Inst. for Robotics & Comput. Control, Tech. Univ. of Braunschweig, Germany
F.M. Wahl , Inst. for Robotics & Comput. Control, Tech. Univ. of Braunschweig, Germany
pp. 215-220

Real-time velocity feedback obstacle avoidance via complex variables and conformal mapping (PDF)

D. Megherbi , Div. of Eng., Brown Univ., Providence, RI, USA
W.A. Wolovich , Div. of Eng., Brown Univ., Providence, RI, USA
pp. 206-213

Feedforward control for curve steering for an autonomous road vehicle (PDF)

N. Muller , Inst. fuer Systemdynamik und Flugmech., Univ. der Bundeswehr Munich, Neubiberg, Germany
pp. 200-205

An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments (PDF)

K.J. Kyriakopoulos , Rensselaer Polytech. Inst., Troy, NY, USA
G.N. Saridis , Rensselaer Polytech. Inst., Troy, NY, USA
pp. 194-199

A guidance control scheme for accurate track following of AGVs (PDF)

R. Rajagopalan , Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada
R.M.H. Cheng , Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada
pp. 188-193

Autonomous planetary rover (VAP): on-board perception system concept and stereovision by correlation approach (PDF)

L. Boissier , Centre Nat. d'Etudes Spatiales, Toulouse, France
B. Hotz , Centre Nat. d'Etudes Spatiales, Toulouse, France
C. Proy , Centre Nat. d'Etudes Spatiales, Toulouse, France
pp. 181-186

Robotic vehicles for planetary exploration (PDF)

B. Wilcox , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
L. Matthies , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
D. Gennery , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
B. Cooper , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
T. Nguyen , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
T. Litwin , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
A. Mishkin , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
H. Stone , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 175-180

Performance of a six-legged planetary rover: power, positioning, and autonomous walking (PDF)

E. Krotkov , Carnegie Mellon Univ., Pittsburgh, PA, USA
R. Simmons , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 169-174

Self-organization of sensors for swarm intelligence (PDF)

S. Hackwood , Coll. of Eng., California Univ., Riverside, CA, USA
G. Beni , Coll. of Eng., California Univ., Riverside, CA, USA
pp. 819-829

Stabilizing law for a flexible arm in torsion (PDF)

S. Icart , INRIA-Prisme & I3S-Lassy, Valbonne, France
J. Leblond , INRIA-Prisme & I3S-Lassy, Valbonne, France
C. Samson , INRIA-Prisme & I3S-Lassy, Valbonne, France
pp. 794-799

Feedforward control of flexible manipulators (PDF)

K.S. Rattan , Dept. of Electr. Eng., Wright State Univ., Dayton, OH, USA
pp. 788-793

Closed loop shaped-input control of a class of manipulators with a single flexible link (PDF)

K. Zuo , Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
D. Wang , Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
pp. 782-787

Progress in spatial robot juggling (PDF)

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. 775-780

Real and virtual coarse-fine robot bracing strategies for precision assembly (PDF)

R.L. Hollis , IBM Thomas J. Watson Res. Ceter, Yorktown Heights, NY, USA
R. Hammer , IBM Thomas J. Watson Res. Ceter, Yorktown Heights, NY, USA
pp. 767-774

Human induced instability in powered hand controllers (PDF)

H. Kazerooni , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
P.M. Bobgan , Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
pp. 755-760

Nonlinear control laws for a 2 flexible link robot: comparison of applicability domains (PDF)

C. Chevallereau , Lab. d'Autom. de Nantes, CNRS, Ecole Centrale de Nantes, France
Y. Aoustin , Lab. d'Autom. de Nantes, CNRS, Ecole Centrale de Nantes, France
pp. 748-753

Experimental results on an inner/outer loop controller for a two-link flexible manipulator (PDF)

F. Khorami , Sch. of Electr. Eng. & Comput. Sci., Polytech. Univ., Brooklyn, NY, USA
S. Jain , Sch. of Electr. Eng. & Comput. Sci., Polytech. Univ., Brooklyn, NY, USA
pp. 742-747

Integrated structure/control design of a two-link nonrigid robot arm for high-speed positioning (PDF)

J.-H. Park , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
H. Asada , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 735-741

A control design approach for slew maneuver of elastic multibody systems (PDF)

Dong Li , Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
pp. 729-734

Adaptive integral manifold control of flexible joint robot manipulators (PDF)

F. Ghorbel , Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
M.W. Spong , Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
pp. 707-714

A method to design adaptive controllers for flexible joint robots (PDF)

S. Nicosia , Dipartimento di Ingegneria Elettronica, Roma Univ., Italy
P. Tomei , Dipartimento di Ingegneria Elettronica, Roma Univ., Italy
pp. 701-706

3D structure of an insect-based microrobot with an external skeleton (PDF)

I. Shimoyama , Dept. of Mechano-Inf., Tokyo Univ., Japan
H. Miura , Dept. of Mechano-Inf., Tokyo Univ., Japan
K. Suzuki , Dept. of Mechano-Inf., Tokyo Univ., Japan
Y. Ezura , Dept. of Mechano-Inf., Tokyo Univ., Japan
pp. 693-698

The Hummingbird minipositioner-providing three-axis motion at 50 g's with low reactions (PDF)

J.P. Karidis , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
G. McVicker , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
J.P. Pawletko , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
L.C. Zai , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
M. Goldowsky , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
R.E. Brown , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
R.R. Comulada , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 685-692

Design and control of an air-bearing supported three degree-of-freedom fine positioner (PDF)

R. Hammer , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
R.L. Hollis , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
C.H. An , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
F. Henriks , IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
pp. 677-684

Structure and parameter optimization of an active adsorber for decentralized vibration control (PDF)

U. Hirsch , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, Germany
H.-B. Kuntze , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, Germany
R. Brecht , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, Germany
A. Kilthau , Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, Germany
pp. 670-675

A new parallelogram linkage configuration for gravity compensation using torsional springs (PDF)

A. Gopalswamy , Centre for Artificial Intellience & Robotics, Bangalore, India
P. Gupta , Centre for Artificial Intellience & Robotics, Bangalore, India
M. Vidyasagar , Centre for Artificial Intellience & Robotics, Bangalore, India
pp. 664-669

Two miniature pan-tilt devices (PDF)

B.B. Bederson , Vision Applications, New York, NY, USA
R.S. Wallace , Vision Applications, New York, NY, USA
E.L. Schwartz , Vision Applications, New York, NY, USA
pp. 658-663

A parallel algorithm and architecture for the control of kinematically redundant manipulators (PDF)

A.A. Maciejewski , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
J.M. Reagin , Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
pp. 488-493

A compact inverse velocity solution for redundant robots (PDF)

V. Kumar , Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
pp. 482-487

Real-time multi-robot path planner based on a heuristic approach (PDF)

H. Chu , Centre for Flexible Manuf. Res. & Dev., McMaster Univ., Hamilton, Ont., Canada
H.A. ElMaraghy , Centre for Flexible Manuf. Res. & Dev., McMaster Univ., Hamilton, Ont., Canada
pp. 475-480

Task definition, decoupling and redundancy resolution by nonlinear feedback in multi-robot object handling (PDF)

A.K. Ramadorai , 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. 467-474

An application of force ellipsoid to the optimal load distribution for two cooperating robots (PDF)

M.H. Choi , Dept. of Control & Instrum. Eng., Seoul Nat. Univ., South Korea
B.H. Lee , Dept. of Control & Instrum. Eng., Seoul Nat. Univ., South Korea
M.S. Ko , Dept. of Control & Instrum. Eng., Seoul Nat. Univ., South Korea
pp. 461-466

Performance analysis of token bus LAN in coordinating multiple robots (PDF)

Q. Yin , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Y.F. Zheng , Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
pp. 455-460

A recursive method for finding revolute-jointed manipulator singularities (PDF)

J.W. Burdick , Dept. of Mech. Eng., California Inst. of Technol., CA, USA
pp. 448-453

A new general formalism for the kinematic analysis of all nonredundant manipulators (PDF)

P. Wenger , Lab. d'Autom., Ecole Centrale de Nantes, France
pp. 442-447

Robot subtask performance with singularity robustness using optimal damped least-squares (PDF)

A.S. Deo , Dept. of Electr. Eng., Rice Univ., Houston, TX, USA
I.D. Walker , Dept. of Electr. Eng., Rice Univ., Houston, TX, USA
pp. 434-441

Kinematically optimal hyper-redundant manipulator configurations (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. 415-420

Unit invariant characterization of spatial redundant manipulator singularities (PDF)

K. Flueckiger , Charles Stark Draper Lab. Inc., Cambridge, MA, USA
N.S. Bedrossian , Charles Stark Draper Lab. Inc., Cambridge, MA, USA
pp. 409-414

On the N-bar mechanism, or how to find global solutions to redundant single loop spatial kinematic chains (PDF)

F. Thomas , Institut de Cibernetica, Univ., Politecnica de Cataluna, Barcelona, Spain
pp. 403-408

A kinematic design optimization of robot manipulators (PDF)

R.V. Mayorga , Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
pp. 396-401

A pantograph linkage parallel platform master hand controller for force-reflection (PDF)

G.L. Long , Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
C.L. Collins , Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
pp. 390-395

Real time inverse kinematics for general 6R manipulators (PDF)

D. Manocha , Div. of Comput. Sci., California Univ., Berkeley, CA, USA
J.F. Canny , Div. of Comput. Sci., California Univ., Berkeley, CA, USA
pp. 383-389

Best estimates for the construction of robots in environments with obstacles (PDF)

K. Kolarov , Dept. of Mech. Eng., Stanford Univ., CA, USA
B. Roth , Dept. of Mech. Eng., Stanford Univ., CA, USA
pp. 377-382

Calculation of the base inertial parameters of closed-loops robots (PDF)

F. Bennis , Lab. d'Autom. de Nantes, CNRS, France
W. Khalil , Lab. d'Autom. de Nantes, CNRS, France
M. Gautier , Lab. d'Autom. de Nantes, CNRS, France
pp. 370-375

Bayesian estimation of inertial parameters of robots (PDF)

C. Presse , Lab. d'Autom. de Nantes, CNRS, France
M. Gautier , Lab. d'Autom. de Nantes, CNRS, France
pp. 364-369

Identification of kinematic parameters of multiple closed chain robotic manipulators working in coordination (PDF)

S.P. Ananthanarayanan , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
C. Szymczyk , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
A.A. Goldenberg , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 358-363

Kinematic calibration by direct estimation of the Jacobian matrix (PDF)

D.J. Bennett , Artificial Intelligence Lab., MIT, Cambridge, MA, USA
pp. 351-357

The role of rotation representations in computational robot kinematics (PDF)

M. Tandirci , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
J. Angeles , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
J. Darcovich , Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
pp. 344-349

Singular configurations and direct kinematics of a new parallel manipulator (PDF)

N. Mouly , INRIA, Valbonne, France
J.-P. Merlet , INRIA, Valbonne, France
pp. 338-343

Statistical analysis of muscle-actuated manipulators (PDF)

A.M. Galhano , Fac. of Eng., Porto Univ., Portugal
J.A.T. Machado , Fac. of Eng., Porto Univ., Portugal
J.L.M. de Carvalho , Fac. of Eng., Porto Univ., Portugal
pp. 332-337

Small Marsokhod configuration (PDF)

A. Kemurdjian , Vniitransmash, St. Petersburg, Russia
V. Gromov , Vniitransmash, St. Petersburg, Russia
V. Mishkinyuk , Vniitransmash, St. Petersburg, Russia
V. Kucherenko , Vniitransmash, St. Petersburg, Russia
P. Sologub , Vniitransmash, St. Petersburg, Russia
pp. 165-168

MECANT I: a six legged walking machine for research purposes in outdoor environment (PDF)

K.K. Hartikainen , Autom. Technol. Lab., Helsinki Univ. of Technol., Espoo, Finland
A.J. Halme , Autom. Technol. Lab., Helsinki Univ. of Technol., Espoo, Finland
pp. 157-163

A walking prescription for statically-stable walkers based on walker/terrain interaction (PDF)

P.V. Nagy , Carnegie Mellon Univ., Pittsburgh, PA, USA
W.L. Whittaker , Carnegie Mellon Univ., Pittsburgh, PA, USA
S. Desa , Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 149-156

Dynamic and static fusion gait of a quadruped walking vehicle on a winding path (PDF)

K. Yoneda , Tokyo Inst. of Technol., Japan
S. Hirose , Tokyo Inst. of Technol., Japan
pp. 143-148

Generalizing the hop: object-level programming for legged motion (PDF)

J.K. Kearney , Dept. of Comput. Sci., Iowa Univ., Iowa City, IA, USA
S. Hansen , Dept. of Comput. Sci., Iowa Univ., Iowa City, IA, USA
pp. 136-142

A hybrid strategy for the feedback stabilization of nonholonomic mobile robots (PDF)

J.-B. Pomet , Center for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium
B. Thuilot , Center for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium
G. Bastin , Center for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium
G. Campion , Center for Syst. Eng. & Appl. Mech., Univ. Catholique de Louvain, Belgium
pp. 129-134

Hierarchical control for autonomous mobile robots with behavior-decision fuzzy algorithm (PDF)

Y. Maeda , Lab. for Int. Fuzzy Eng. Res., Yokohama, Japan
M. Tanabe , Lab. for Int. Fuzzy Eng. Res., Yokohama, Japan
M. Yuta , Lab. for Int. Fuzzy Eng. Res., Yokohama, Japan
T. Takagi , Lab. for Int. Fuzzy Eng. Res., Yokohama, Japan
pp. 117-122

Learning momentum: online performance enhancement for reactive systems (PDF)

R.J. Clark , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
R.C. Arkin , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
A. Ram , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 111-116

Locomotion of an all-terrain mobile robot (PDF)

M. Iagolnitzer , Alcatel Alsthom Recherche, Marcoussis, France
F. Richard , Alcatel Alsthom Recherche, Marcoussis, France
pp. 104-109

Design of a holonomic omnidirectional vehicle (PDF)

M. West , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
H. Asada , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 97-103

Kinematics, dynamics and control of wheeled mobile robots (PDF)

Yilin Zhao , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
S.L. BeMent , Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
pp. 91-96

Design of an omnidirectional and holonomic wheeled platform prototype (PDF)

S.M. Killough , Oak Ridge Nat. Lab., TN, USA
F.G. Pin , Oak Ridge Nat. Lab., TN, USA
pp. 84-90

Remote-controlled robots for repair and recovery in the zones of high radiation levels (PDF)

E. Potemkin , Vniitransmash, St. Petersburg, Russia
P. Astafurov , Vniitransmash, St. Petersburg, Russia
A. Osipov , Vniitransmash, St. Petersburg, Russia
M. Malenkov , Vniitransmash, St. Petersburg, Russia
V. Mishkinyuk , Vniitransmash, St. Petersburg, Russia
P. Sologub , Vniitransmash, St. Petersburg, Russia
pp. 80-82

Manipulator/vehicle system for man-robot cooperation (PDF)

T. Fukuda , Dept. of Mech. Eng., Nagoya Univ., Nagoya, Japan
Y. Fujisawa , Dept. of Mech. Eng., Nagoya Univ., Nagoya, Japan
K. Kosuge , Dept. of Mech. Eng., Nagoya Univ., Nagoya, Japan
F. Arai , Dept. of Mech. Eng., Nagoya Univ., Nagoya, Japan
pp. 74-79

HAZBOT: a hazardous materials emergency response mobile robot (PDF)

H.W. Stone , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
G. Edmonds , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 67-73

The use of teleoperators in hostile environment applications (PDF)

R.F. Fogle , Westinghouse Savannah River Co., Aiken, SC, USA
pp. 61-66

Selecting distinctive scene features for landmarks (PDF)

S. Li , Dept. of Control Eng., Osaka Univ., Japan
S. Tsuji , Dept. of Control Eng., Osaka Univ., Japan
pp. 53-59

Map based navigation of the mobile robot using omnidirectional image sensor COPIS (PDF)

Y. Yagi , Dept. of Inf. & Comput. Sci., Osaka Univ., Japan
Y. Nishizawa , Dept. of Inf. & Comput. Sci., Osaka Univ., Japan
M. Yachida , Dept. of Inf. & Comput. Sci., Osaka Univ., Japan
pp. 47-52

Indoor scene terrain modeling using multiple range images for autonomous mobile robots (PDF)

F. Nashashibi , LAAS-CNRS, Toulouse, France
M. Devy , LAAS-CNRS, Toulouse, France
P. Fillatreau , LAAS-CNRS, Toulouse, France
pp. 40-46

Robust monocular depth perception using feature pairs and approximate motion (PDF)

Y. Fujii , Michigan Univ., Ann Arbor, MI, USA
D.K. Wehe , Michigan Univ., Ann Arbor, MI, USA
T.E. Weymouth , Michigan Univ., Ann Arbor, MI, USA
pp. 33-39

A user-friendly manufacturing system for 'hyper-environments' (PDF)

M. Mitsuishi , Dept. of Eng. Synthesis, Tokyo Univ., Japan
S. Warisawa , Dept. of Eng. Synthesis, Tokyo Univ., Japan
Y. Hatamura , Dept. of Eng. Synthesis, Tokyo Univ., Japan
T. Nagao , Dept. of Eng. Synthesis, Tokyo Univ., Japan
pp. 25-31

An environment for more easily programming a robot (PDF)

M.G. Smith , Hewlett-Packard Lab., Palo Alto, CA, USA
pp. 10-16

Seeing, understanding and doing human task (PDF)

Y. Kuniyoshi , Electrotech. Lab., Ibaraki, Japan
pp. 2-9
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