ICRA 1993: Atlanta, Georgia, USA

Navigation

• Karen T. Sutherland, William B. Thompson: Inexact Navigation. 1-7
• A. Curran, Kostas J. Kyriakopoulos: Sensor-Based Self-Localization for Wheeled Mobile Robots. 8-13
• Zhongfei Zhang, Richard S. Weiss, Allen R. Hanson: Automatic Calibration and Visual Servoing for a Robot Navigation System. 14-19
• Fawzi Nashashibi, Michel Devy: 3D Incremental Modeling and Robot Localization in a Structured Environment Using a Laser Range Finder. 20-27

Real-Time Control/Collision Avoidance

• Homayoun Seraji: An On-Line Approach to Coordinated Mobility and Manipulation. 28-35
• Kristin Glass, Richard Colbaugh, David Lim, Homayoun Seraji: On-Line Collision Avoidance for Redundant Manipulators. 36-43
• S. Kalaycioglu, M. Tandirci, Dan S. Necsulescu: Real-Time Collision Avoidance of Robot Manipulators for Unstructured Environments. 44-51
• Judson P. Jones: Real-Time Construction of Three-Dimensional Occupancy Maps. 52-57

Assembly Planning I

• Hiroyuki Ogata, Tomoichi Takahashi: A Geometric Approach to Task Understanding for Robotic Assembly Operations. 58-64
• Jing Xiao: Automatic Determination of Topological Contacts in the Presence of Sensing Uncertainties. 65-70
• Jungfu Tsao, Jan Wolter: Assembly Planning with Intermediate States. 71-76
• Shun-Feng Su, C. S. George Lee: Automatic Generation of Goal Regions for Assembly Tasks in the Presence of Uncertainity. 77-82

Robust Control of Robot Manipulators

• Lilong Cai, Ahmad Abdalla: Smooth Robust Tracking Controllers for Uncertain Robotic Manipulators. 83-88
• Kang-Bark Park, Ju-Jang Lee: Variable Structure Controller for Robot Manipulators using Time-Varying Sliding Surface. 89-93
• James J. Carroll, Darren M. Dawson: Robust Tracking Control of a Brushless DC Motor with Application to Direct-Drive Robotics. 94-99
• John T. Wen, Lee S. Wilfinger, S. Murphy: Integral Force Control with Robustness Enhancement. 100-105

Applications: End Effectors

• Kai Liu, R. Glenn, T. J. Lawley, Frank L. Lewis: Stewart-Platform-Based Inlet Duct Painting System. 106-113
• Jian Wang, Oren Masory: On the Accuracy of a Stewart Platform Part I: The Effect of Manufacturing Tolerances. 114-120
• Zhiming Ji: Study of the Effect of Leg Inertia in Stewart Platforms. 121-126
• Sang-Rok Oh, Ralph L. Hollis, S. E. Salcudean: Precision Assembly with a Magnetically Levitated Wrist. 127-134

Neural and Fuzzy Systems

• R. Todd Newton, Yangsheng Xu: Real-Time Implementation of Neural Network Learning Control of a Flexible Space Manipulator. 135-141
• Jian M. Tao, J. Y. S. Luh: Application of Neural Network with Real-Time Training to Robust Position, Force Control of Multiple Robots. 142-148
• Jeffrey J. Farah, Robert B. Kelley: Utilizing Semantic Networks and Fuzzy Logic for the Creation of the Planning Coordinator's Primitive Structure Database. 149-154
• Fumihito Arai, Lili Rong, Toshio Fukuda: Trajectory Control of Flexible Plate Using Neural Network. 155-160

Calibration/Registration

• Anil S. Rao, Kenneth Y. Goldberg: Placing Registration Marks. 161-167
• Ambarish Goswami, Arthur E. Quaid, Michael A. Peshkin: Complete Parameter Identification of a Robot from Partial Pose Information. 168-173
• Louis J. Everett, Thomas W. Ives: A Sensor Used for Measurements in the Calibration of Production Robots. 174-179
• J. P. Prenninger, Markus Vincze, H. Gander: Contactless Position and Orientation Measurement of Robot End-Effectors. 180-185

Manipulator Kinematics I

• Arati S. Deo, Ian D. Walker: Adaptive Non-linear Least Squares for Inverse Kinematics. 186-193
• David R. Smith, Harvey Lipkin, George W. Woodruff: Higher Order Singularities of Regional Manipulators. 194-199
• Jean-Pierre Merlet: Closed-Form Resolution of the Direct Kinematics of Parallel Manipulators Using Extra Sensors Data. 200-204
• David DeMers, Kenneth Kreutz-Delgado: Issues in Learning Global Properties of the Robot Kinematic Mapping. 205-212

Force Control of Robot Manipulators

• Eric Dégoulange, Pierre Dauchez, François Pierrot: Force Control of an Industrial Puma 560 Robot under Environmental Constraints: Implementation Issues and Experimental Results. 213-218
• Philippe Fraisse, François Pierrot, Pierre Dauchez: Virtual Environment for Robot Force Control. 219-224
• H. Wapenhans, W. Seyfferth, Friedrich Pfeiffer: Robotic Force Control for Flexible Assembly. 225-231
• H. Kazerooni, M. G. Her: A Virtual Exercise Machine. 232-238

Planning for Multiple Manipulators I

• Kazuhiro Kosuge, Yoshio Fujisawa, Toshio Fukuda: Mechanical System Control with Man-Machine-Environment Interactions. 239-244
• Fei-Yue Wang, Bing Pu: Planning Time-Optimal Trajectory for Coordinated Robot Arms. 245-250
• Ning Xi, Tzyh Jong Tarn, Antal K. Bejczy: Event-Based Planning and Control for Multi-Robot Coordination. 251-258
• Ping Hsu: Adaptive Coordination of a Multiple Manipulator System. 259-264

Mobile Robot Navigation I

• Herbert Peremans, Jan Van Campenhout: Tri-Aural Perception on a Mobile Robot. 265-270
• Thomas R. Collins, Ronald C. Arkin, Andrew M. Henshaw: Integration of Reactive Navigation with a flexible Parallel Hardware Architecture. 271-276
• J. Vaganay, Marie-José Aldon, A. Fournier: Mobil Robot Attitude Estimation by Fusion of Inertial Data. 277-282
• Subir Kumar Saha, Jorge Angeles, John Darcovich: The Kinematic Design of a 3-dof Isotropic Mobile Robot. 283-288

Motion Planning

• Kiriakos N. Kutulakos, Vladimir J. Lumelsky, Charles R. Dyer: Vision-Guided Exploration: A Step Toward General Motion Planning in Three Dimensions. 289-296
• A. Frank van der Stappen, Dan Halperin, Mark H. Overmars: Efficient Algorithms for Exact Motion Planning Amidst Fat Obstacles. 297-304
• Armando Fox, Seth Hutchinson: Exploiting Visual Constraints in the Synthesis of Uncertainty-Tolerant Motion Plans I: The Directional Backprojection. 305-310
• Armando Fox, Seth Hutchinson: Exploiting Visual Constraints in the Synthesis of Uncertainty-Tolerant Motion Plans II: The Nondirectional Backprojection. 311-316

Petri Nets and Discrete Event Systems

• Tiehua Cao, Arthur C. Sanderson: A Fuzzy Petri Net Approach to Reasoning About Uncertainty in Robotic Systems. 317-322
• Srinivasan Ramaswamy, Kimon P. Valavanis: Modeling, Analysis and Simulation of Failures in a Materials Handling System with Extended Petri Nets. 323-330
• Brenan J. McCarragher, Haruhiko Asada: A Discrete Event Approach to the Control of Robotic Assembly Tasks. 331-336
• Joon Hwa Lee, Wook Hyun Kwon, Hyeokgi Park, Hong Sung Park: Supervisor Synthesis Using Boolean Matrix Computation. 337-342

Control of Manipulators in Contact with the Environment

• Pramath R. Sinha, Andrew A. Goldenberg: A Unified Theory for Hybrid Control of Manipulators. 343-348
• Herman Bruyninckx, Joris De Schutter, Stefan Dutré: The "Reciprocity" and "Consistency" Based Approaches to Uncertainty Identification for Compliant Motions. 349-354
• G. T. Marth, Tzyh Jong Tarn, Antal K. Bejczy: Stable Phase Transition Control for Robot Arm Motion. 355-362
• James M. Hyde, Mark R. Cutkosky: Contact Transition Control: An Experimental Study. 363-368

Robot Applications I

• A. Fedele, A. Fioretti, C. Manes, Giovanni Ulivi: On-Line Processing of Position and Force Measures for Contour Identification and Robot Control. 369-374
• N. Parker, S. E. Salcudean, Peter D. Lawrence: Application of Force Feedback to Heavy Duty Hydraulic Machines. 375-381
• Ole Jakob Sørdalen: Conversion of the Kinematics of a Car with n Trailers into a Chained Form. 382-387
• Yilong Chen, You-Liang Gu: Optimal Path Generation of a (6+1)-Axis Robot for Auto-Industrial Applications. 388-395

Learning Control I

• Jie Yang, Yangsheng Xu, C. S. Chen: Hidden Markov Model Approach to Skill Learning and Its Application in Telerobotics. 396-402
• Jeff G. Schneider, Christopher M. Brown: Robot Skill Learning, Basic Functions, and Control Regimes. 403-410
• W. Cheng, John T. Wen: Feedforward Learning Control with Application to Trajectory Tracking of a Flexible Beam. 411-416
• Masayoshi Wada, Takashi Tsukahara, Kiichiro Tsuda: Learning Control of Elastic Joint Robot and Its Application to the Industrial Robot Manipulator. 417-422

Tactile Sensing I

• R. Andrew Russell, Simon Parkinson: Sensing Surface Shape by Touch. 423-428
• Marc R. Tremblay, Mark R. Cutkosky: Estimating Friction Using Incipient Slip Sensing During a Manipulation Task. 429-434
• Hiroyuki Shinoda, Masahiro Uehara, Shigeru Ando: A Tactile Sensor Using Three-Dimensional Structure. 435-441
• Rajive Joshi, Arthur C. Sanderson: Shape Matching from Grasp Using a Minimal Representation Size Criterion. 442-449

Robot Dynamics and Kinematics

• M. A. González-Palacios, Jorge Angeles, Farzam Ranjbaran: The Kinematic Synthesis of Serial Manipulators with a Prescribed Jacobian. 450-455
• Ming Z. Huang, Shou-Hung Ling, Yang Sheng: A Study of Velocity Kinematics for Hybrid Manipulators with Parallel-Series Configurations. 456-461
• Gianni Campion, Georges Bastin, Brigitte d'Andréa-Novel: Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots. 462-469
• Ou Ma, Jorge Angeles: Optimum Design of Manipulators Under Dynamic Isotropy Conditions. 470-475

Compliance Control

• Ambarish Goswami, Michael A. Peshkin: Mechanical Computation for Passive Force Control. 476-483
• Edward J. Nicolson, Ronald S. Fearing: Compliant Control of Threaded Fastener Insertion. 484-490
• Stavros G. Vougioukas, Susan N. Gottschlich: Automatic Synthesis and Verification of Compliance Mappings. 491-496
• Dale A. Lawrence, Jim D. Chapel: Quantitative Compliant Control. 497-504

Multiple Robot Control

• Gordon I. Dodds, George W. Irwin: Multi-Arm Robotics in a Practical Application Under Transputer Based Control. 505-510
• Martin Damm: Realisation of an Adaptive Real-Time Joint Controller for a Closely Coupled Two-Arm Manipulator System. 511-516
• Eric Paljug, Xiaoping Yun: Experimental Results of Two Robot Arms Manipulating Large Objects. 517-522
• W.-S. Lu, Max Q.-H. Meng: An Improved Load Distribution Scheme for Coordinating Manipulators. 523-528

Mobile Robot Navigation and Path Planning

• Regis Hoffman, Eric Krotkov: Terrain Mapping for Outdoor Robots: Robust Perception for Walking in the Grass. 529-533
• Markus Buchberger, Klaus-Werner Jörg, Ewald von Puttkamer: Laserradar and Sonar Based World Moleling and Motion Control for Fast Obstacle Avoidance of the Autonomous Mobile Robot MOBOT-IV. 534-540
• Erann Gat: Navigation Templates: Enhancements, Extensions, and Experiments. 541-547
• François G. Pin, Yutaka Watanabe: Using Fuzzy Behaviors for the Outdoor Navigation of a Car with Low-Resolution Sensors. 548-553

Path Planning I

• K. Sridharan, Harry E. Stephanou, S. Sathiya Keerthi: On Computing a Distance Measure for Path Planning. 554-559
• Paolo Fiorini, Zvi Shiller: Motion Planning in Dynamic Environments Using the Relative Velocity Paradigm. 560-565
• Michael Barbehenn, Seth Hutchinson: Efficient Search and Hierarchical Motion Planning Using Dynamic Single-Source Shortest Paths Trees. 566-571
• K. Chaudhury, R. Mehrotra: Optical Flow from an Extended Frame Sequence. 572-577

Petri Nets I

• Alessandro Giua, Frank DiCesare: A Class of Petri Nets with a Convex Reachability Set. 578-583
• Denis Gracanin, Padmini Srinivasan, Kimon P. Valavanis: Fundamentals of Parameterized Petri Nets. 584-591
• James F. Watson, Alan A. Desrochers: A Bottom-Up Algorithm for State-Space Size Estimation of Petri Nets. 592-597
• Jianguo Long, Bernard Descotes-Genon: Flow Optimization Method for Control Synthesis of flexible Manufacturing Systems Modeled by Controlled Timed Petri Nets. 598-603

Adaptive Control I

• Richard Colbaugh, Homayoun Seraji, Kristin Glass: A New Approach to Adaptive Manipulator Control. 604-611
• H. Yu, Lakmal D. Seneviratne, S. W. E. Earles: Robust Adaptive Control for Robot Manipulators Using a Combined Method. 612-617
• Suguru Arimoto, Yun-Hui Liu, Tomohide Naniwa: Model-Based Adaptive Hybrid Control for Geometrically Constrained Robots. 618-623
• Bin Yao, Masayoshi Tomizuka: Adaptive Coordinated Control Of Multiple Manipulators Handling A Constrained Object. 624-629

Medical Robots I

• Kenneth W. Grace, J. Edward Colgate, Matthew R. Glucksberg, John H. Chun: A Six Degree of Freedom Micromanipulator for Opthalmic Surgery. 630-635
• Mohamed Ouerfelli, Vijay Kumar, William Harwin: An Inexpensive Pneumatic Manipulator for Rehabilitation Robotics. 636-641
• Patricia Brown, Diana Jones, Sunil K. Singh, Joseph M. Rosen: The Exoskeleton Glove for Control of Paralyzed Hands. 642-647
• David S. Lees, Larry J. Leifer: A Graphical Programming Language for Robots Operating in Lightly Unstructured Environments. 648-653

Learning Control II

• Pasquale Lucibello: A Learning Algorithm for Hybrid Force Control of Robot Arms. 654-658
• Kennon Guglielmo, Nader Sadegh: Theory and Implementation of a Hybrid Learning Force Control Scheme. 659-664
• Samer S. Saab, William G. Vogt, Marlin H. Mickle: Theory of P-Type Learning Control with Implication for the Robot Manipulator. 665-671
• Michele Aicardi, Giorgio Cannata, Giuseppe Casalino: Hybrid Learning Control Techniques for the Manipulation of Rigid Objects. 672-677

Registration and Localization

• Tucker R. Balch, Ronald C. Arkin: Avoiding the Past: A Simple but Effective Strategy for Reactive Navigation. 678-685
• Glenn H. Tarbox, Susan N. Gottschlich, L. A. Gerhardt: Registration of Dissimilar Featureless Models for Inspection. 686-691
• Aaron S. Wallack, John F. Canny, Dinesh Manocha: Object Localisation Using Crossbeam Sensing. 692-699
• Leonard P. Wesley: Autonomous Locative Reasoning: An Evidential Approach. 700-707

Parallel-Link Manipulators

• Kevin Cleary, Thurston Brooks: Kinematic Analysis of a Novel 6-DOF Parallel Manipulator. 708-713
• Kazuhiro Kosuge, Minoru Okuda, Hiroyuki Kawamata, Toshio Fukuda: Input/Output Force Analysis of Parallel Link Manipulators. 714-719
• Hong-You Lee, Bernhard Roth: A Closed-Form Solution of the Forward Displacement Analysis of a Class of In-Parallel Mechanisms. 720-724
• Oren Masory, Jian Wang, Hanqi Zhuang: On the Accuracy of a Stewart Platform - Part II: Kinematic Calibration and Compensation. 725-731

Force Control

• Zdravko Balorda: Automatic Planning of Robot Pushing Operations. 732-737
• Shin-yo Muto, Ken-ichiro Shimokura: Accurate Contact Point Detecting Using Force and Velocity Information Complementarily. 738-744
• Kevin M. Lynch, Matthew T. Mason: Pulling by Pushing, Slip with Infinite Friction, and Perfectly Rough Surfaces. 745-751
• Yangming Xu, Donghai Ma, John M. Hollerbach: Nonlinear Proportional and Derivative Control for High Disturbance Rejection and High Gain Force Control. 752-759

Distributed Robotics

• Takanori Shibata, Toshio Fukuda: Coordinative Behavior by Genetic Algorithm and Fuzzy in Evolutionary Multi-Agent System. 760-765
• Daniel J. Stilwell, John S. Bay: Toward the Development of a Material Transport System using Swarms of Ant-Like Robots. 766-771
• Hiroshi Ishiguro, Koji Kalo, Saburo Tsuji: Multiple Vison Agents Navigating a Mobile Robot in a Real World. 772-777
• Keith L. Doty, Ronald E. Van Aken: Swarm Robot Materials Handling Paradigm for a Manufacturing Workcell. 778-782

Mobile Robot Navigation II

• David Dai, Daryl T. Lawton: Range-Free Robot Navigation. 783-790
• Johan Forsberg, Ulf Larsson, Per Åhman, Åke Wernersson: The Hough Transform Inside the Feedback Loop of a Mobile Robot. 791-798
• Hiroshi Ishiguro, Kenji Ueda, Saburo Tsuji: Omnidirectional Visual Information for Navigating a Mobile Robot. 799-804
• Ahmad A. Masoud, Mohamed M. Bayoumi: Robot Navigation Using the Vector Potential Approach. 805-811

Path Planning II

• Miguel A. Torres, Steven Dubowsky: Path-Planning for Elastically Constrained Space Manipulator Systems. 812-817
• Ashok K. Goel, Michael W. Donnellan, Nancy Vazquez, Todd J. Callantine: An Integrated Experience-Based Approach to Navigational Path Planning for Autonomous Mobile Robots. 818-825
• Sudhaker Samuel, S. Sathiya Keerthi: Numerical Determination of Optimal Non-Holonomic Paths in the Presence of Obstacles. 826-831
• Sara Fleury, Philippe Souères, Jean-Paul Laumond, Raja Chatila: Primitives for Smoothing Mobile Robot Trajectories. 832-839

Manufacturing Systems

• Frédérique Biennier, Joël Favrel, Guillaume Beslon: Integration of Information and Knowledge from the Engineering Activity to the Workshop Control. 840-845
• Bertil A. Brandin, W. Murray Wonham, Beno Benhabib: Manufacturing Cell Supervisory Control - A Modular Timed Discrete-Event System Approach. 846-851
• Thomas Kaeppel Tsukada, Kang G. Shin: Intelligent Disruption Recovery for Decentralized Manufacturing Systems. 852-857
• Sándor Kopácsi, George L. Kovács: A Knowledge Based Simulation System for Flexible Manufacturing. 858-863

Robot Control Architectures and Algorithms

• T. Hoshino, Kazuo Furuta: Transputer Network for Dynamic Control of Multiple Manipulators. 864-869
• Ian D. Walker, Joseph R. Cavallaro: Parallel VLSI Architectures for Real-Time Kinematics of Redundant Robots. 870-877
• Z. Zheng, H. Lecocq, R. Jordant: Adaptive Manipulator Control - A Parallel Implementation on a Network of Microprocessors. 878-882
• Clément Gosselin: Parallel Computational Algorithms for the Kinematics and Dynamics of Parallel Manipulators. 883-888

Medical Robotics II

• Thomas C. Kienzle III, S. David Stulberg, Michael A. Peshkin, Arthur E. Quaid, Chi-haur Wu: An Integrated CAD-Robotics System for Total Knee Replacement Surgery. 889-894
• Chi-haur Wu, S. David Stulberg, John Papaioannou, Hsiang-Yun Huang, Kao-Shing Hwang, Tom Kienzle: An Integrated CT-Imaging, CAD-Based System for Orthopedic Surgery. 895-900
• Leo Joskowicz, Russell H. Taylor: Hip Implant Insertability Analysis: A Medical Instance of the Peg-In-Hole Problem. 901-908
• Achim Schweikard, John R. Adler Jr., Jean-Claude Latombe: Motion Planning in Stereotaxic Radiosurgery. 909-916

Intelligent Machines

• Pedro U. Lima, George N. Saridis: Measuring Complexity of Intelligent Machines. 917-922
• Chi-Cheng Jou, Nan-Ching Wang: Training a Fuzzy Controller to Back Up an Autonomous Vehicle. 923-928
• Takashi Kimoto, Daiki Masumoto, Hiroshi Yamakawa, Shigemi Nagata: Hierarchical Sensory Information Processing Model with Neural Networks. 929-934
• John E. McInroy, George N. Saridis: Entropy Searches for Robotic Reliability Assessment. 935-940

Tactile Sensing

• S. L. Ricker, R. E. Ellis: 2-D Finite-Element Models Of Tactile Sensors. 941-947
• Makoto Shimojo, Masatoshi Ishikawa: An Active Touch Sensing Method Using a Spatial Filtering Tactile Sensor. 948-954
• Darwin G. Caldwell, Clarence Gosney: Enhanced Tactile Feedback (Tele-Taction) Using a Multi-Functional Sensory System. 955-960
• Makoto Kaneko: A New Design of Six-Axis Force Sensors. 961-967

Manipulator Kinematics II

• Robert G. Fenton, F. Xi: On the Efficiency of Computations for Robot Kinematics, Dynamics and Control Using the Algebra of Rotations. 968-973
• Manja V. Kircanski: Inverse Kinematic Problem Near Singularities for Simple Manipulators: Symbolical Damped Least-Squares Solution. 974-979
• Péter Kovács, Günter Hommel: Fast Functional Decomposition of Sine-Cosine-Polynomials. 980-987
• Gregory L. Long, Scott W. Reed, Joseph P. Donoghue: Regional Structure Kinematic Modules for Singularity Avoidance. 988-993

Force Planning and Control

• Elon Rimon, Joel W. Burdick: Towards Planning with Force Constraints: On the Mobility of Bodies in Contact. 994-1000
• Sunil K. Singh: Adaptive Control of Manipulator Interaction with Environment: Theory and Experiments. 1001-1006
• Herman Bruyninckx, Joris De Schutter: Kinematic Models of Rigid Body Interactions for Compliant Motion Tasks in the Presence of Uncertainties. 1007-1012
• Nukala V. R. K. N. Murthy, S. Sathiya Keerthi: Optimal Control of a Somersaulting Platform Diver: A Numerical Approach. 1013-1018

Planning for Multiple Manipulators II

• Yuan F. Zheng, Ming Z. Chen: Trajectory Planning for Two Manipulators to Deform Flexible Beams. 1019-1024
• David Williams, Oussama Khatib: The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation. 1025-1030
• J. R. Dooley, J. Michael McCarthy: On the Geometric Analysis of Optimum Trajectories for Cooperating Robots Using Dual Quatemion Coordinates. 1031-1036
• Seungbin B. Moon, Shaheen Ahmad: Sub-Time-Optimal Trajectory Plannings for Cooperative Multi-Manipulator Systems Using the Load Distribution Scheme. 1037-1042

Last update Mon May 20 23:42:28 2013 CET by the DBLP Team — Data released under the ODC-BY 1.0 license — See also our legal information page