ICRA 1993: Atlanta, Georgia, USA
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, Atlanta, Georgia, USA, May 1993. IEEE Computer Society Press 1993 ISBN 0-8186-3450-2
Mobile Robots
- Johann Borenstein: Multi-Layered Control of a Four-Degree-of-Freedom Mobile Robot with Compliant Linkage. 7-12
- Yutaka Kanayama, David MacPherson, Gary Krahn: Two Dimensional Transformations and Its Application to Vehicle Motion Control and Analysis. 13-18
Obstacle Avoidance
- Jen-Hui Chuang: Potential-Based Modeling of Three Dimensional Workspace for Obstacle Avoidance. 19-24
- Steven Ratering, Maria L. Gini: Robot Navigation in a Known Environment with Unknown Moving Obstacles. 25-30
- Thomas S. Wikman, Michael S. Branicky, Wyatt S. Newman: Reflexive Collision Avoidance: A Generalized Approach. 31-36
- Benoit Dacre-Wright, Thierry Siméon: Free Space Representation for a Mobile Robot Moving on a Rough Terrain. 37-43
Design of Manufacturing Systems
- Christoph Woenckhaus, Joachim Milberg: Planning of Three-Dimensional Layouts Using Numerical Optimization Methods. 44-49
- G. G. Rogers: Modular Production Systems: A Concurrent Manufacturing Philosophy. 50-55
- Jean-Michel Henrioud, Viorel Mînzu: Systematic Method for the Design of Flexible Assembly Systems. 56-62
Manageing Dynamic Changes in manufacturing Systems
- Da-Yin Liao, Shi-Chung Chang, Shou-Ren Yen, Cheng-Chung Chien: Daily Scheduling for R&D Semiconductor Fabrication. 77-82
- Douglas A. Bodner, Suyanne Dilley-Schneider, S. Narayanan, Uday Sreekanth, T. Govindaraj, Leon F. McGinnis, Christine M. Mitchell: Object-Oriented Modeling and Simulation of Automated Control in Manufacturing. 83-88
- Nukala Viswanadham, Krishna R. Pattipati, V. Gopalakrishna: Composite Perormance-Dependability Analysis of Manufacturing Systems Producing Multiple Part Types Using Markov Reward Models. 89-94
Redundant Mannipulators I
- Bruno Siciliano: Closed-Loop Inverse Kinematics Algorithms for Redundant Spacecraft/Manipulator Systems. 95-100
- Joel W. Burdick, Jim Radford, Gregory S. Chirikjian: A "Sidewinding" Locomotion Gait for Hyper-Redundant Robots. 101-106
- Gregory S. Chirikjian: A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics. 107-112
3-D Scene Analysis
- Chi-Yin Lee, David B. Cooper: Structure from Motion: A Region Based Approach Using Afflne Transformations and Moment Invanants. 120-127
- Keiichi Kemmotsu, Takeo Kanade: Uncertainty in Object Pose Determination with Three Light-Stripe Range Measurements. 128-134
- José Neira, Luis Montano, Juan D. Tardós: Constraint-Based Object Recognition in Multisensor Systems. 135-142
- Philippe Ballard, François Vacherand: The Manhattan Method: A Fast Cartesian Elevation Map Reconstruction from Range Data. 143-148
Robot Controller Architecutre
- Yoshichika Fujioka, Michitaka Kameyama: 2400-MFLOPS Reconfigurable Parallel VLSI Processor for Robot Control. 149-154
- R. Hui, Nenad Kircanski, Andrew A. Goldenberg, Chin Zhou, P. Kuzan, J. Wiercienski, D. Gershon, P. Sinha: Design of the IRIS Facility - A Modular, Reconfigurable and Expandable Robot Test Bed. 155-160
- Aleksandar Timcenko, Alec J. Cameion, Frank C. Guida: Distributed General-Purpose Robot Controller. 161-166
- Tsuyoshi Ueyama, Toshio Fukuda: Knowledge Acquisition and Distributed Decision Making - Cellular Robotics Approach Using Genetic Algorithm. 167-172
Fine Motion Planning and Grasping
- W. Paetsch, Georg von Wichert: Solving Insertion Tasks with a Multifingered Gripper by Fumbling. 173-179
- Nak Young Chong, Donghoon Choi, Il Hong Suh: A Finite Motion Planning Strategy for Multifingered Robotic Hands Considering Sliding and Rolling Contacts. 180-187
- Yu-Che Chen, Ian D. Walker: An Analysis of Squeezing and Twisting for Multi-fingered Grasping. 188-195
- P. Baiardi, Giorgio Cannata, Giuseppe Casalino, P. Pagano: Modelling Contact Phenomena Within the Dynamic Simulation of Advanced Robotic Structures. 196-203
Dexperiments in Control of Flexible LinkManipulators
- Stefano Panzieri, Giovanni Ulivi: Design and Implementation of a State Observer for a Flexible Robot. 204-209
- Tsuneo Yoshikawa, Kohtaro Hosoda, Toshitsugu Doi, Hiroki Murakami: Quasi-Static Trajectory Tracking Control of flexible Manipulator by Macro-Micro Manipulator System. 210-215
- Vincent Drapeau, David Wang: Verification of a Closed-Loop Shaped-Input Controller for a Five-Bar-Linkage Manipulator. 216-221
- Farshad Khorrami, Issam Zeinoun, Eric Tome: Experimental Results on Active Control of Flexible-Link Manipulators with Embedded Piezoceramics. 222-227
Mobile Robots 4
- Jonathan M. Cameron, Douglas C. MacKenzie, Keith R. Ward, Ronald C. Arkin, Wayne J. Book: Reactive Control for Mobile Manipulation. 228-235
- Kung Chris Wu: A Sensor-Based Direct Search Algorithm for Autonomous Path Planning on 3-D Terrain Surfaces. 236-242
- Sjur J. Vestli, Nadine N. Tschichold-Gürman, Martin Adams, Sandra Sulzberger: Integration of Path Planning, Sensing and Control in Mobile Robotics. 243-248
- Jean-Yves Tigli, Michel Occello, M.-C. Thomas: Toward a New Intelligent Reactive Controller for Autonomous Mobile Robots. 249-254
Obstacle Computation and Avoidance
- Lydia E. Kavraki: Computation of Configuration-Space Obstacles Using the Fast Fourier Transform. 255-261
- Fan-Tien Cheng, Tsing-Hua Chen, Yuh-Shyang Wang, York-Yih Sun: Obstacle Avoidance for Redundant Manipulators Using the Compact QP Method. 262-269
- Guy Bessonnet, Jean-Paul Lallemand: Planning of Optimal Free Paths of Robotic Manipulators with Bounds on Dynamic Forces. 270-275
- Bruce Randall Donald: Information Invariants in Robotics: Part I - State, Communication, and Side-Effects. 276-283
- Bruce Randall Donald: Information Invariants in Robotics: Part II - Sensors and Computation. 284-290
Produt/Process Design
- Cheng-Hua Wang, Robert H. Sturges: Concurrent Product/Process Design with Multiple Representations of Parts. 298-304
- Y. L. Xiong: The Theory and Methodology for Concurrent Design and Planning of Reconfiguration Fixture. 305-311
Integration of Intelligent Robots with Manufacturing System
- Sukhan Lee, Gerard Jounghyun Kim, George A. Bekey: Combining Assembly Planning with Redesign: An Approach for More Effective DFA. 319-325
- Qin Chen, J. Y. S. Luh: Task Level Optimum Scheduling by Truncated Petri Nets Applied to Operation of Multi-Robot Workcells. 326-331
Legged Robots
- Friedrich Pfeiffer, Hans-Jürgen Weidemann, Jürgen Eltze: Leg Design Based on Biological Principles. 352-358
- Patti M. Koenig, George A. Bekey: Generation and Control of Gait Patterns in a Simulated Horse. 359-366
- Ben-Sheng Lin, Shin-Min Song: Dynamic Modeling, Stability and Energy Efficiency of a Quadrupedal Walking Machine. 367-373
Redundant Manupulators 2
- Yu-Che Chen, Ian D. Walker: A Consistent Null-Space Based Approach to Inverse Kinematics of Redundant Robots. 374-381
- C. L. Boddy, J. D. Taylor: Whole-Arm Reactive Collision Avoidance Control of Kinematically Redundant Manipulators. 382-387
- Arati S. Deo, Ian D. Walker: Minimum Infinity-Norm Inverse Kinematic Solution For Redundant Manipulators. 388-394
- Tan Fung Chan, Rajiv V. Dubey: A Weighted Least-Norm Solution Based Scheme for Avoiding Joint Limits for Redundant Manipulators. 395-402
Tracking
- Daryl T. Lawton, Warren F. Gardner, Junhoy Kim: An Interactive Model Based Vison System for Vehicle Tracking. 403-409
- Albert J. Wavering, John C. Fiala, Karen J. Roberts, Ronald Lumia: TRICLOPS: A High-Performance Trinocular Active Vision System. 410-417
- Bradley J. Nelson, Pradeep K. Khosla: Increasing the Tracking Region of an Eye-In-Hand System by Singularity and Joint Limit Avoidance. 418-423
Friction Modeling and Compensation
- Mark E. Dohring, Eunjeong Lee, Wyatt S. Newman: A Load-Dependent Transmission Friction Model: Theory and Experiments. 430-436
- W. Stamps Howard, Vijay Kumar: A Minimum Principle for the Dynamic Analysis of Systems with Frictional Contacts. 437-442
- Joseph M. Schimmels, Michael A. Peshkin: The Space of Admittance Control Laws that Guarantee Force-Assembly with Friction. 443-448
Part Orientation and Grasping
- Anil S. Rao, Kenneth Y. Goldberg: On the Relation Between Friction and Part Shape in Parallel-Jaw Grasping. 461-466
- Louis J. Everett, James C. Colson: Automatic Reteach of Manipulators for Manufacturing Multiple Product Lines. 474-477
Control of Flexible Link Manipuators 1
- W. Beres, J. Z. Sasiadek, G. S. Vukovich: Control and Dyanamic Analysis of a Multilink flexible Manipulator. 478-483
- Fei-Yue Wang, Jeffery L. Russell: Minimum-Weight Robot Arm for a Specified Fundamental Frequency. 490-495
- B. J. Rhody, Glenn R. Heppler: Controlling the Dynamics of Mass Capture by a Single Flexible Link. 496-501
Telrobotics and Teleoperation
- Yasuyoshi Yokokohji, Akira Ogawa, Hitoshi Hasunuma, Tsuneo Yoshikawa: Operation Modes for Cooperating with Autonomous Functions in Intelligent Teleoperation Systems. 510-515
- Yuichi Sato, Mitsunori Hirata, Fumio Nagashima, Tsugito Maruyama, Takashi Uchiyama: Reducing Attitude Disturbances While Teleoperating a Space Manipulator. 516-523
- Paul G. Backes, Mark K. Long, Robert D. Steele: The Modular Telerobot Task Execution System for Space Telerobotics. 524-530
Probabilistic Modeling and Planning
- Aleksandar Timcenko, Peter K. Allen: Planning Velocity Profiles from Task-Level Constraints and Environment Uncertainties. 537-542
- Michael Spreng: A Probabilistic Method to Analyze Ambiguous Contact Situations. 543-548
- Randy C. Brost, Alan D. Christiansen: Probabilistic Analysis of Manipulation Tasks: A Research Agenda. 549-556
Petri Nets 2
- Chengche Feng, Alan A. Desrochers: Sensitivity Analysis of a EMS by a Petri Net-based Perturbation Method. 564-569
- Christoph Lindemann, Gianfranco Ciardo, Reinhard German, Günter Hommel: Performabilty Modeling of an Automated Manufacturing System with Deterministic and Stochastic Petri Nets. 576-581
Multi-Agent and Distributed Robotics Systems 1
- Lynne E. Parker: Designing Control Laws for Cooperative Agent Teams. 582-587
- Elizabeth Nitz, Ronald C. Arkin, Tucker R. Balch: Communication of Behavioral State in Multi-agent Retrieval Tasks. 588-594
- Tsuyoshi Ueyama, Toshio Fukuda: Self-Organization of Celluar Robots Using Random Walk with Simple Rules. 595-600
- Lawrence E. Pfeffer, Robert H. Cannon Jr.: Experiments with a Dual-Armed, Cooperative, Flexible-Drivetrain Robot System. 601-608
Space manipulators
- Yangsheng Xu: The Measure of Dynamic Coupling of Space Robot Systems. 615-620
- Daniel T. Wick, Nagy M. Shehad, Ankur R. Hajare: An Automated Test Facility for Space Robots. 621-625
Redundant Manupulators
- Carol E. Lück, Sukhan Lee: Self-Motion Topology for Redundant Manipulators with Joint Limits. 626-631
- Charles A. Klein, Caroline Chu-Jenq, Shamim Ahmed: Use of an Extended Jacobian Method to Map Algorithmic Singularities. 632-637
- A. Ait Mohamed, Christine Chevallereau: Resolution of Robot Redundancy in the Cartesian Space By Criteria Optimization. 646-651
Sensing and Position Estimation
- Y. D. Chen, J. Ni, S. M. Wu: Dynamic Calibration and Compensation of a 3D Laser Radar Scanning System. 652-658
Robotic System Design and Control
- Anton C. Pil, Haruhiko Asada: A Computer Integrated Development System for High Speed Robot Design Incorporating Structural Reconfiguration. 677-683
- Yung Ting, Sabri Tosunoglu, Delbert Tesar: A Control Structure for Fault-Tolerant Operation of Robotic Manipulators. 684-690
- Kam S. Tso, Myron Hecht, Neville I. Marzwell: Fault-Tolerant Robotic System for Critical Applications. 691-696
- Stephen J. Grotzinger, Jehuda Ish-Shalom: Task Independent Relationship of System to Actuator Performance via Scaling. 697-704
Robot Hands
- M. S. Ali, Kostas J. Kyriakopoulos, Harry E. Stephanou: The Kinematics of the Anthrobot-2 Dextrous Hand. 705-710
- Wen-Yeuan Chung, Kenneth J. Waldron: Force Distribution by Optimizing Friction Angles for Multifinger System. 717-722
- Nancy S. Pollard: Planning Grasps for a Robot Hand in the Presence of Obstacles. 723-728
Control of Flexible Link Manipulations 2
- Frank L. Lewis, M. W. Vandegrift: Flexible Robot Arm Control by a Feedback Linearization/Singular Perturbation Approach. 729-736
- Yannick Aoustin, Christine Chevallereau: The Singular Perturbation Control of a Two-Flexible-Link Robot. 737-742
- F. Xi, A. G. Fenton: A Sequential Integration Method for Inverse Dynamic Analysis of Flexible Link Manipulators. 743-748
Teleoperation
- Koichi Funaya, Nobuaki Takanasi: Predictive Bilateral Master-Slave Manipulation with Statistical Environment Model. 755-760
- Won S. Kim: Graphical Operator Interface for Space Telerobotics. 761-768
- Robert Rohling, John M. Hollerbach: Optimlzed Fingertip Mapping for Teleoperation of Dextrous Robot Hands. 769-775
- C. Andrew Lawn, Blake Hannaford: Performance Testing of Passive Communication and Control in Teleoperation with Time Delay. 776-783
Planning and Control Under Constraints
- David J. Cannon, Collin Wang: A Virtual End-Effector Pointing System in Point-and-Direct Robotics for Inspection of Surface Flaws Using a Neural Network Based Skeleton Transform. 784-789
- Ole Jakob Sørdalen, M. Dalsmo, Olav Egeland: An Exponentially Convergent Control Law for a Nonholonomic Underwater Vehicle. 790-795
Manufacturing Scheduling
- Luis Rabelo, Yuehwern Yih, Albert Jones, Jay-Shinn Tsai: Intelligent Scheduling for Flexible Manufacturing Systems. 810-815
- Federico Della Croce, Roberto Tadei, Paolo Baracco, Raffaele Di Tullio: On Minimizing the Weighted Sum Of Quadratic Completion Times on a Single Machine. 816-820
- Doo Yong Lee, Frank DiCesare: Integrated Models for Scheduling Flexible Manufacturing Systems. 827-832
Multil-Agent and Distributed Robotic Systems 2
- Yoshio Kawauchi, Makoto Inaba, Toshio Fukuda: A Principle of Distributed Decision Making of Celluar Robotic System (CEBOT). 833-838
- Toru Ishida: Towards Organizational Problem Solving. 839-845
- Giovanni Lucarini, Marco Varoli, Riccardo Cerutti, Giulio Sandini: Celluar Robotics: Simulation and HW Implementation. 846-852
- Jing Wang: Establish a Globally Consistent Order of Discrete Events in Distributed Robotic Systems. 853-858
Robot Applications 2
- Jin-Oh Kim, Pradeep K. Khosla: Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design. 867-874
- Samad Hayati, J. Bob Balaram, Homayoun Seraji, Won S. Kim, Kam S. Tso, K. Venkatesh Prasad: Remote Surface Inspection System. 875-882
- K. Venkatesh Prasad, J. Bob Balaram: Automated Inspection for Remote Telerobotic Operations. 883-888
Redundant Manipulators 4
- Dan Reznik, Vladimir J. Lumelsky: Sensor-Based Motion Planning for Highly Redundant Kinematic Structures: II. The Case of a Snake Arm Manipulator. 889-894
- Manja V. Kircanski: Symbolical Singular Value Decomposition for a 7-DOF Manipulator and Its Application to Robot Control. 895-900
- Philippe Wenger, Patrick Chedmail, Fabienne Reynier: A Global Analysis of Following Trajectories by Redundant Manipulators in the Presence of Obstacles. 901-906
Juggling
- Stefan Schaal, Christopher G. Atkeson: Open Loop Stable Control Strategies for Robot Juggling. 913-918
- Alfred A. Rizzi, Daniel E. Koditschek: Further Progress in Robot Juggling: The Spatial Two-Juggle. 919-924
- T. Sakaguchi, Masahiro Fujita, Hiroshi Watanabe, Fumio Miyazaki: Motion Planning and Control for a Robot Performer. 925-931
- Giorgio C. Buttazzo, Benedetto Allotta, Felice P. Fanizza: Mousebuster: A Robot System for Catching Fast Moving Objects by Vision. 932-937
Control Application for Robotic Systems
- D. Ben-Dov, S. E. Salcudean: A Force-Controlled Pneumatic Actuator for Use in Teleoperation Masters. 938-943
- Robert G. Bonitz, Tien C. Hsia: Internal Force-Based Impedance Control for Cooperating Manipulators. 944-949
- Yoshimi Takeuchi, Dongfang Ge, Naoki Asakawa: Automated Polishing Process with a Human-Like Dextrous Robot. 950-956
Grasping ad Manipulation
- Yu-Che Chen, Jeffrey C. Trinkle: On the Form-Closure of Polygonal Objects with Frictional and Frictionless Contact Models. 963-970
- Gongliang Guo, William A. Gruver: Optimal Distribution of Fingertip Force Functions in Dynamic Grasping. 971-977
- Nilanjan Sarkar, Xiaoping Yun, Vijay Kumar: Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation. 978-983
Control of Flexible Joint Manipulators
- Jung-Hua Yang, Li-Chen Fu: Analysis and Control for Manipulators with Both Joint and Link Flexibility. 984-989
- Leonardo Lanari, Pierre Sicard, John T. Wen: Stability Analysis for Feedforward Approximations in the Control of Flexible Joint Robots. 990-995
- Krzysztof P. Jankowski, Hoda A. ElMaraghy, Waguih H. ElMaraghy: Inverse Dynamics Control of Multiple Robot Arms with Flexible Joints. 996-1003
- Zhihua Qu: Globally Stable I/0 Robust Control of Flexible Joint Robots. 1004-1010
Poster Papers
- Gouli Wang, Guizhang Lu: Integrated Structure/Trajectory-Tracking-Control Design of Flexible Robot Arms. 1013
- Tien C. Hsia, Ziqiang Mao: Obstacle Avoidance Inverse Kinematics Solution of Redundant Manipulators by Neural Networks. 1014
- Nak Yong Ho, Bum Hee Lee: Motion Planning of an Articulated Robot Manipulator Avoiding Time-Varying Obstacles. 1015
- Tarek M. Sobh, Christopher O. Jaynes, Thomas C. Henderson: A Discrete Event Framework for Intelligent Inspection. 1017
- Yugeng Xi, Wenhong Zhu, Xianguang Han, Zhongjun Zhang: Posture Analysis of the Cross-Country Autonomous Land Vehicle. 1018-1033
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