ICRA 2000: San Francisco, CA, USA

Volume 1

Kinematics

• Jean-Pierre Merlet: Kinematics' Not Dead! 1-6
• Manfred L. Husty, Adolf Karger: Self-Motions of Griffis-Duffy Type Parallel Manipulators. 7-12
• Stefano Stramigioli, Herman Bruyninckx: Nonintrinsicity of References in Rigid Body Motions. 13-18
• Ian A. Gravagne, Ian D. Walker: Kinematic Transformations for Remotely-Actuated Planar Continuum Robots. 19-26
• Jadran Lenarcic, Michael M. Staniaie, Vincenzo Parenti-Castelli: Kinematic Design of a Humanoid Robotic Shoulder Complex. 27-32

Mechanisms

• Shigeo Hirose, Keisuke Arikawa: Coupled and Decoupled Actuation of Robotic Mechanisms. 33-39
• Kenneth J. Waldron, Christopher J. Hubert: Scaling of Robotic Mechanisms. 40-45
• Gerd Hirzinger, Jörg Butterfaß, Max Fischer, Markus Grebenstein, Matthias Hähnle, Hong Liu, Ingo Schäfer, Norbert Sporer: A Mechatronics Approach to the Design of Light-Weight Arms and Multifingered Hands. 46-54
• J. Michael McCarthy: Mechanism Synthesis Theory and the Design of Robots. 55-60
• Richard M. Voyles: TerminatorBot: A Robot with Dual-Use Arms for Manipulation and Locomotion. 61-66

Architectures

• Ève Coste-Manière, Reid G. Simmons: Architecture, the Backbone of Robotic Systems. 67-72
• Tucker R. Balch, Maria Hybinette: Social Potentials for Scalable Multi-Robot Formations. 73-80
• Olivier Stasse, Yasuo Kuniyoshi: PredN: Achieving Efficiency and Code Re-Usability in a Programming System for Complex Robotic Applications. 81-87
• Rachid Alami, Raja Chatila, Sara Fleury, Matthieu Herrb, François Felix Ingrand, Maher Khatib, Benoit Morisset, Philippe Moutarlier, Thierry Siméon: Around the Lab in 40 Days. 88-94
• David J. Musliner, Robert P. Goldman, Michael J. S. Pelican: Using Model Checking to Guarantee Safety in Automatically-Synthesized Real-Time Controllers. 95-101

Range Sensing

• Martial Hebert: Active and Passive Range Sensing for Robotics. 102-110
• Marc Rioux, François Blais, J.-Angelo Beraldin, Guy Godin, Pierre Boulanger, Michael A. Greenspan: Beyond Range Sensing: XYZ-RGB Digitizing and Modeling. 111-115
• Dirk Langer, Markus Mettenleiter, Franz Härtl, Christoph Fröhlich: Imaging Laser Scanners for 3-D Modeling and Surveying Applications. 116-121
• Ken Owens, Larry Matthies: Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation. 122-131
• Andrew Edie Johnson, A. Miguel San Martin: Motion Estimation from Laser Ranging for Autonomous Comet Landing. 132-138

Part Feeding and Fixturing

• Tao Zhang, Gordon Smith, Robert-Paul Berretty, Mark H. Overmars, Kenneth Y. Goldberg: The Toppling Graph: Designing Pin Sequences for Part Feeding. 139-146
• Sebastien J. Blind, Christopher C. McCullough, Srinivas Akella, Jean Ponce: A Reconfigurable Parts Feeder with an Array of Pins. 147-153
• Michael S. Branicky, Greg C. Causey, Roger D. Quinn: Modeling and Throughput Prediction for Flexible Parts Feeders. 154-161
• David E. Stewart, Jeffrey C. Trinkle: An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction. 162-169
• Qiao Lin, Joel W. Burdick: On Well-Defined Kinematic Metric Functions. 170-177
• Florent Lamiraux, Lydia E. Kavraki: Positioning and Orienting a Class of Symmetric Parts Using a Combination of a Unit-Radial and a Constant Force Fields. 178-183

Prototyping Design and Automation

• Kok-Meng Lee, Tarek M. Sobh: New Trends in Prototyping Design and Automation. 184-191
• Toshio Fukuda, Fumihito Arai: Prototyping Design and Automation of Micro/nano Manipulation System. 192-197
• Deirdre R. Meldrum, Stephen E. Moody: Automating High-Throughput Fluid Sample Handling for Biotechnology and Chemistry. 198-205
• Andrew Kusiak, Bill T. L. Tseng: Data Mining in Engineering Design: A Case Study. 206-211
• Mark Bloomenthal, Richard F. Riesenfeld, Elaine Cohen, Russell Fish: An Approach to Rapid Manufacturing with Custom Fixturing. 212-219

Robot Control

• Tsuneo Yoshikawa: Force Control of Robot Manipulators. 220-226
• Suguru Arimoto: Passivity-Based Control. 227-232
• Alessandro De Luca: Feedforward/Feedback Laws for the Control of Flexible Robots. 233-240
• Jan Swevers, Chris Ganseman, Xavier Chenut, Jean-Claude Samin: Experimental Identification of Robot Dynamics for Control. 241-246
• Yoshihiko Nakamura, Hideaki Ezaki, Yuegang Tan, Woojin Chung: Design of Steering Mechanism and Control of Nonholonomic Trailer Systems. 247-254

Dexterous Manipulation

• Allison M. Okamura, Niels Smaby, Mark R. Cutkosky: An Overview of Dexterous Manipulation. 255-262
• Li Han, Zexiang Li, Jeffrey C. Trinkle, Zhiqiang Qin, Shilong Jiang: The Planning and Control of Robot Dextrous Manipultation. 263-269
• Francisco J. Valero Cuevas: Applying Principles of Robotics to Understand the Biomechanics, Neuromuscular Control and Clinical Rehabilitation of Human Digits. 270-275
• Martin Buss, Thomas Schlegl: A Discrete-Continuous Control Approach to Dextrous Manipulation. 276-281
• Antonio Bicchi, Alessia Marigo: Rolling Contacts and Dexterous Manipulation. 282-287

Robot Learning

• Stefan Schaal, Christopher G. Atkeson, Sethu Vijayakumar: Real-Time Robot Learning with Locally Weighted Statistical Learning. 288-293
• Gaurav Tevatia, Stefan Schaal: Inverse Kinematics for Humanoid Robots. 294-299
• Andrew W. Moore, Jeff G. Schneider, Justin A. Boyan, Mary S. Lee: Q2: Memory-Based Active Learning for Optimizing Noisy Continuous Functions. 4096-
• Ferdinando A. Mussa-Ivaldi, James L. Patton: Robots Can Teach People How to Move Their Arm. 300-305
• Sebastian Thrun: Towards Programming Tools for Robots that Integrate Probabilistic Computation and Learning. 306-312

Mobile Robotics

• Masahiro Tomono, Shin'ichi Yuta: Mobile Robot Navigation in Indoor Environments using Object and Character Recognition. 313-320
• Sebastian Thrun, Wolfram Burgard, Dieter Fox: A Real-Time Algorithm for Mobile Robot Mapping With Applications to Multi-Robot and 3D Mapping. 321-328
• Yutaka Kanayama, C. Thomas Wu: It's Time to Make Mobile Robots Programmable. 329-334
• Alberto Elfes, Marcel Bergerman, José R. H. Carvalho: Towards Dynamic Target Identification Using Optimal Design of Experiments. 335-341
• Adam Hoover, Bent David Olsen: Sensor Network Perception for Mobile Robotics. 342-347

Grasping and Contact

• Antonio Bicchi, Vijay Kumar: Robotic Grasping and Contact: A Review. 348-353
• Prasun Choudhury, Kevin M. Lynch: Controllability of Single Input Rolling Manipulation. 354-360
• Jong-Shi Pang, Jeffrey C. Trinkle: Stability Characterizations of Fixtured Rigid Bodies with Coulomb Friction. 361-368
• Tsuneo Yoshikawa: Control Algorithm for Grasping and Manipulation by Multifingered Robot Hands Using Virtual Truss Model Representation of Internal Force. 369-376
• Yan-Bin Jia: Grasping Curved Objects through Rolling. 377-382

Flexible Automation

• Daniel E. Whitney: Research Issues in Manufacturing Flexibility - An Invited Review Paper for ICRA 2000 Symposium on Flexibility. 383-388
• Haoxun Chen, Peter B. Luh: Scheduling and Coordination in Manufacturing Enterprise Automation. 389-394
• Pingtao Yan, MengChu Zhou, Reggie J. Caudill: A Life Cycle Engineering Approach to FMS Development. 395-400
• Satoshi Kanai, Takeshi Kishinami, Toyoaki Tomura: Object-Oriented Graphical Specification and Seamless Design Procedure for Manufacturing Cell Control Software Development. 401-407
• Nukala Viswanadham: Supply Chain Engineering and Automation. 408-413

Locomotion

• Shigeo Hirose, Keisuke Kato: Study on Quadruped Walking Robot in Tokyo Institute of Technology - Past, Present and Future. 414-419
• Eric Hale, Nathan Schara, Joel W. Burdick, Paolo Fiorini: A Minimally Actuated Hopping Rover for Exploration of Celestial Bodies. 420-427
• Richard Mason, Joel W. Burdick: Experiments in Carangiform Robotic Fish Locomotion. 428-435
• Hiroshi Kimura, Yasuhiro Fukuoka: Adaptive Dynamic Walking of the Quadruped on Irregular Terrain - Autonomous Adaptation Using Neural System Model. 436-443
• Didier Papadopoulos, Martin Buehler: Stable Running in a Quadruped Robot with Compliant Legs. 444-449

Cooperative Robots

• Bruce Randall Donald, Larry Gariepy, Daniela Rus: Distributed Manipulation of Multiple Objects using Ropes. 450-457
• Yasuhisa Hirata, Kazuhiro Kosuge: Distributed Robot Helpers Handling a Single Object in Cooperation with a Human. 458-463
• Daisuke Kurabayashi, Hajime Asama: Knowledge Sharing and Cooperation of Autonomous Robots by Intelligent Data Carrier System. 464-469
• Kyong-Sok Chang, Robert Holmberg, Oussama Khatib: The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics. 470-475
• Wolfram Burgard, Mark Moors, Dieter Fox, Reid G. Simmons, Sebastian Thrun: Collaborative Multi-Robot Exploration. 476-481
• Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama: Experiments on Capturing a Floating Object by Two Flexible Manipulators. 482-487

Mechatronics

• Mihoko Otake, Masayuki Inaba, Hirochika Inoue: Kinematics of Gel Robots made of Electro-Active Polymer PAMPS Gel. 488-493
• M. Anthony Lewis, Ralph Etienne-Cummings, Avis H. Cohen, Mitra J. Hartmann: Toward Biomorphic Control Using Custom aVLSI CPG Chips. 494-500
• Dean F. Hougen, Saifallah Benjaafar, Jordan Bonney, John Budenske, Mark Dvorak, Maria L. Gini, Howard French, Donald G. Krantz, Perry Y. Li, Fred Malver, Bradley J. Nelson, Nikolaos Papanikolopoulos, Paul E. Rybski, Sascha Stoeter, Richard M. Voyles, Kemal Berk Yesin: A Miniature Robotic System for Reconnaissance and Surveillance. 501-507
• Dimitris Hristu-Varsakelis, Nicola J. Ferrier, Roger W. Brockett: The Performance of a Deformable-Membrane Tactile Sensor: Basic Results on Geometrically-Defined Tasks. 508-513
• Mark Yim, David Duff, Kimon Roufas: PolyBot: A Modular Reconfigurable Robot. 514-520

Motion Planning

• Robert Bohlin, Lydia E. Kavraki: Path Planning Using Lazy PRM. 521-528
• O. Burçhan Bayazit, Guang Song, Nancy M. Amato: Enhancing Randomized Motion Planners: Exploring with Haptic Hints. 529-536
• Robert Kindel, David Hsu, Jean-Claude Latombe, Stephen M. Rock: Kinodynamic Motion Planning Amidst Moving Obstacles. 537-543
• Libo Yang, Steven M. LaValle: A Framework for Planning Feedback Motion Strategies Based on a Random Neighborhood Graph. 544-549
• Oliver Brock, Oussama Khatib: Real-Time Replanning in High-Dimensional Configuration Spaces using Sets of Homotopic Paths. 550-555

Human Augmentation and Assist Devices

• Joseph Spano, Haruhiko Asada: Surface Waves for Active Transport of Bedridden Patients. 556-562
• Peter Neuhaus, H. Kazerooni: Design and Control of Human Assisted Walking Robot. 563-569
• Steven Dubowsky, Frank Génot, Sara Godding, Hisamitsu Kozono, Adam Skwersky, Haoyong Yu, Long Shen Yu: PAMM - A Robotic Aid to the Elderly for Mobility Assistance and Monitoring: A Helping-Hand for the Elderly. 570-576
• Mitsuichi Hiratsuka, Haruhiko Asada: Detection of Human Mistakes and Misperception for Human Perceptive Augmentation: Behavior Monitoring Using Hybrid Hidden Markov Models. 577-582
• Kazuhiro Kosuge, Manabu Sato, Norihide Kazamura:
  Mobile Robot Helper. 583-588
  
• Shin Sato, Shigeyuki Sakane: A Human-Robot Interface Using an Interactive Hand Pointer that Projects a Mark in the Real Work Space. 589-595

Medical Robotics

• Guillaume Picinbono, Jean-Christophe Lombardo, Hervé Delingette, Nicholas Ayache: Anisotropic Elasticity and Force Extrapolation to Improve Realism of Surgery Simulation. 596-602
• Fuji Lai, Robert D. Howe: Evaluating Control Modes for Constrained Robotic Surgery. 603-609
• Rajesh Kumar, Peter J. Berkelman, Puneet K. Gupta, Aaron C. Barnes, Patrick S. Jensen, Louis L. Whitcomb, Russell H. Taylor: Preliminary Experiments in Cooperative Human/Robert Force Control for Robot Assisted Microsurgical Manipulation. 610-617
• Gary Guthart, John Kenneth Salisbury Jr.: The Intuitive^TM Telesurgery System: Overview and Application. 618-621
• Brian L. Davies, Stephen Starkie, Simon J. Harris, E. Agterhuis, Volker Paul, Ludwig M. Auer: Neurobot: A Special-Purpose Robot for Neurosurgery. 4104-

Real-Time Visual Servoing and Tracking

• Peter I. Corke, Seth Hutchinson: Real-Time Vision, Tracking and Control. 622-629
• François Chaumette, Ezio Malis: 2 1/2 D Visual Servoing: A Possible Solution to Improve Image-Based and Position-Based Visual Servoings. 630-635
• Gregory D. Hager, Zachary Dodds: On Specifying and Performing Visual Tasks with Qualitative Object Models. 636-643
• Markus Vincze: Dynamics and System Performance of Visual Servoing. 644-649
• Yoshihiro Nakabo, Masatoshi Ishikawa, Haruyoshi Toyoda, Seiichiro Mizuno: 1ms Column Parallel Vision System and It s Application of High Speed Target Tracking. 650-655

Dynamic Simulation of Humanoid Motion

• Wayne L. Wooten, Jessica K. Hodgins: Simulating Leaping, Tumbling, Landing, and Balancing Humans. 656-662
• Nancy S. Pollard, Fareed Behmaram-Mosavat: Force-Based Motion Editing for Locomotion Tasks. 663-669
• Zoran Popovic: Editing Dynamic Properties of Captured Human Motion. 670-675
• Marcus G. Pandy, Frank C. Anderson: Dynamic Simulation of Human Movement Using Large-Scale Models of the Body. 676-681
• Michiel van de Panne, Joseph Laszlo, Pedro Huang, Petros Faloutsos: Towards Agile Animated Characters. 682-687
• Katsu Yamane, Yoshihiko Nakamura: Dynamics Filter - Concept and Implementation of On-Line Motion Generator for Human Figures. 688-695

Industrial Robots

• Hadi A. Akeel, Steve Holland: Product and Technology Trends for Industrial Robots. 696-700
• Brian Carlisle: Robot Mechanisms. 701-708
• Louis L. Whitcomb: Underwater Robotics: Out of the Research Laboratory and Into the Field. 709-716
• Gary J. Rutledge: The PC and its Influence on Robot Controllers. 717-721

Constrained Motion Planning and Control

• Hirohisa Hirukawa, Yves Papegay: Motion Planning of Objects in Contact by the Silhouette Algorithm. 722-729
• Brenan J. McCarragher: Hybrid Dynamic Control and Adaptation of Constrained Manipulation Systems. 730-735
• Haruhiko Asada, Bei Gu, Brandon W. Gordon: A Unified Approach to Modeling and Realization of Constraint Robot Motion using Singularly Perturbed Sliding Manifolds. 736-743
• Heiko Mosemann, T. Bierwirth, Friedrich M. Wahl, Sascha Stoeter: Generating Polyhedral Convex Cones from Contact Graphs for the Identification of Assembly Process States. 744-749
• Jing Xiao, Xuerong Ji: A Divide-and-Merge Approach to Automatic Generation of Contact States and Planning of Contact Motion. 750-756

Haptics

• John M. Hollerbach: Some Current Issues in Haptics Research. 757-762
• S. E. Salcudean, Leo J. Stocco: Isotropy and Actuator Optimization in Haptic Interface Design. 763-769
• Richard J. Adams, Daniel Klowden, Blake Hannaford: Stable Haptic Interaction Using the Excalibur Force Display. 770-775
• Gabriel Moy, Ujjwal Singh, Eden Tan, Ronald S. Fearing: Human Tactile Spatial Sensitivity for Tactile Feedback. 776-782
• Karon E. MacLean: Designing with Haptic Feedback. 783-788
• Mohammad Reza Sirouspour, Simon P. DiMaio, S. E. Salcudean, Purang Abolmaesumi, Cliff B. Jones: Haptic Interface Control - Design Issues and Experiments with a Planar Device. 789-794

Entertainment

• Minoru Asada, Raffaello D'Andrea, Andreas Birk, Hiroaki Kitano, Manuela M. Veloso: Robotics in Edutainment. 795-800
• Masahiro Fujita: Digital Creatures for Future Entertainment Robotics. 801-806
• Hiroaki Kitano, Sho'ji Suzuki, Junichi Akita: RoboCup Jr.: RoboCup for Edutainment. 807-812
• Henrik Hautop Lund, Luigi Pagliarini: RoboCup Jr. with LEGO Mindstorms. 813-819
• Eiji Nakano, Minoru Asada, Satoshi Tadokoro, Koichi Osuka, Kiyoshi Nagai, Yasuhiro Masutani, Hiroaki Kitano: The Outline of the International Robot Games Festival. 820-825
• Allison Bruce, Jonathan Knight, Samuel Listopad, Brian Magerko, Illah R. Nourbakhsh: Robot Improv: Using Drama To Create Believable Agents. 4003-

Robot Dynamics

• Roy Featherstone, David E. Orin: Robot Dynamics: Equations and Algorithms. 826-834
• Wayne J. Book, Klaus Obergfell: Practical Models for Practical Flexible Arms. 835-842
• Abhinandan Jain, Guillermo Rodriguez: Computational Robot Dynamics Using Spatial Operators. 843-849
• Kyong-Sok Chang, Oussama Khatib: Operational Space Dynamics: Efficient Algorithms for Modeling and Control of Branching Mechanisms. 850-856
• Dinesh K. Pai, Uri M. Ascher, Paul G. Kry: Forward Dynamics Algorithms for Multibody Chains and Contact. 857-863

Visual Modeling and Reconstruction

• Johan Montagnat, Hervé Delingette, N. Scapel, Nicholas Ayache: Surface Simplex Meshes for 3D Medical Image Segmentation. 864-870
• Jean Ponce, Yakup Genc, Steve Sullivan: Constructing Geometric Object Models from Images. 871-878
• Robert Mandelbaum, Garbis Salgian, Harpreet S. Sawhney, Michael W. Hansen: Terrain Reconstruction for Ground and Underwater Robots. 879-884
• Jong-Eun Ha, Jin-Young Yang, Kuk-Jin Yoon, In-So Kweon: Self-Calibration Using the Linear Projective Reconstruction. 885-890
• Daniel F. Huber, Owen T. Carmichael, Martial Hebert: 3-D Map Reconstruction from Range Data. 891-897

Human Frontier Environments

• Gerd Hirzinger, Bernhard Brunner, Roberto Lampariello, Klaus Landzettel, Jörg Schott, Bernhard-Michael Steinmetz: Advances in Orbital Robotics. 898-907
• Paolo Fiorini: Ground Mobility Systems for Planetary Exploration. 908-913
• Mitsushige Oda: Experiences and Lessons Learned from the ETS-VII Robot Satellite. 914-919
• Julio Rosenblatt, Stefan B. Williams, Hugh F. Durrant-Whyte: Behavior-Based Control for Autonomous Underwater Exploration. 920-925
• Richard Volpe, Tara A. Estlin, Sharon L. Laubach, Clark F. Olson, J. Balaram: Enhanced Mars Rover Navigation Techniques. 926-931
• Junku Yuh: Underwater Robotics. 932-937

MEMS

• Peter M. Will: MEMS and Robotics: Promises and Problems. 938-946
• Fumihito Arai, Tomohiko Sugiyama, Poom Luangjarmekorn, Akiko Kawaji, Toshio Fukuda, Kouichi Itoigawa, Atsushi Maeda: 3D Viewpoint Selection and Bilateral Control for Bio-Micromanipulation. 947-952
• Yunfeng Li, Roberto Horowitz: Track-Following Controller Design of MEMS Based Dual-Stage Servos in Magnetic Hard Disk Drives. 953-958
• Hannes Bleuler, Reymond Clavel, Jean-Marc Breguet, Hans Langen, Eric Pernette: Issues in Precision Motion Control and Microhandling. 959-964
• Bharath Mukundakrishnan, Bradley J. Nelson: Micropart Feature Design for Visually Servoed Microassembly. 965-970

Volume 2

Path Planning

• Tim Danner, Lydia E. Kavraki: Randomized Planning for Short Inspection Paths. 971-976
• Yunfeng Wang, Gregory S. Chirikjian: A New Potential Field Method for Robot Path Planning. 977-982
• Liu Chengqing, Marcelo H. Ang, Hariharan Krishnan, Ser Yong Lim: Virtual Obstacle Concept for Local-Minimum Recovery in Potential-Field Based Navigation. 983-988
• Zvi Shiller: Obstacle Traversal for Space Exploration. 989-994
• James J. Kuffner Jr., Steven M. LaValle: RRT-Connect: An Efficient Approach to Single-Query Path Planning. 995-1001
• Stefano Caselli, Monica Reggiani: ERPP: An Experience-Based Randomized Path Planner. 1002-1008

Mapping and Localization 1

• Gamini Dissanayake, Hugh F. Durrant-Whyte, Tim Bailey: A Computationally Efficient Solution to the Simultaneous Localisation and Map Building (SLAM) Problem. 1009-1014
• Eric Prigge, Jonathan P. How: An Indoor Absolute Positioning System with No Line of Sight Restrictions and Building-Wide Coverage. 1015-1022
• Iwan Ulrich, Illah R. Nourbakhsh: Appearance-Based Place Recognition for Topological Localization. 1023-1029
• Gregory Dudek, Deeptiman Jugessur: Robust Place Recognition using Local Appearance Based Methods. 1030-1035
• David J. Austin, Patric Jensfelt: Using Multiple Gaussian Hypotheses to Represent Probability Distributions for Mobile Robot Localization. 1036-1041
• Matthew Deans, Martial Hebert: Invariant Filtering for Simultaneous Localization and Mapping. 1042-1047

Grasping and Manipulation

• Geng Wang, Imin Kao: Intelligent Soft Contact Surface Technology with MEMS in Robotic and Human Augmented Systems. 1048-1053
• Douglas P. Perrin, Christopher E. Smith, Osama Masoud, Nikolaos Papanikolopoulos: Unknown Object Grasping Using Statistical Pressure Models. 1054-1059
• Makoto Kaneko, Kensuke Harada, Toshio Tsuji: A Sufficient Condition for Manipulation of Envelope Family. 1060-1067
• Attawith Sudsang, Jean Ponce: A New Approach to Motion Planning for Disc-Shaped Robots Manipulating a Polygonal Object in the Plane. 1068-1075
• C. Serkan Karagöz, H. Isil Bozma, Daniel E. Koditschek: Event-Driven Parts' Moving in 2D Endogeneous Environments. 1076-1081
• Peng Song, Masahito Yashima, Vijay Kumar: Dynamic Simulation for Grasping and Whole Arm Manipulation. 1082-1087

Micro Robots

• Sathaporn Laksanacharoen, Alan J. Pollack, Gabriel M. Nelson, Roger D. Quinn, Roy E. Ritzmann: Biomechanics and Simulation of Cricket for Microrobot Design. 1088-1094
• Tatsuya Nakamura, Yoshiyuki Kogure, Koichiro Shimamura: A Micro Operation Hand and its Application to Microdrawing. 1095-1100
• John W. Suh, R. Bruce Darling, Karl-Friedrich Böhringer, Bruce Randall Donald, Henry Baltes, Gregory T. A. Kovacs: Fully Programmable MEMS Ciliary Actuator Arrays for Micromanipulation Tasks. 1101-1108
• Matthew C. Birch, Roger D. Quinn, Geon Hahm, Stephen M. Phillips, Barry Drennan, Andrew Fife, Hiten Verma, Randall D. Beer: Design of a Cricket Microrobot. 1109-1114
• Yu Zhou, Bradley J. Nelson: The Effect of Material Properties and Gripping Force on Micrograsping. 1115-1120
• Sergej Fatikow, Airat Faizullin, Joerg Seyfried: Planning of a Microassembly Task in a Flexible Microrobot Cell. 1121-1126

Manufacturing System Design

• Rick Guptill, Mei-Chu Cheng, Yasuyuki Yamagiwa: Using Assembly Scoring as an Entry into Production Line Design. 1127-1131
• Ramesh Kolluru, Stanford A. Smith, Paul Meredith, Rasiah Loganantharaj, Terrence L. Chambers, Gunasekara Seetharaman, T. D'Souza: A Framework for the Development of Agile Manufacturing Enterprises. 1132-1137
• Kok-Meng Lee: Design Criteria for Developing an Automated Live-Bird Transfer System. 1138-1143
• Jun Ota, Tamio Arai, Kousuke Inoue, Ryosuke Chiba, Tomokazu Hirano: Flexible Transport System by Cooperation of Conveyer-Loaded AGVs. 1144-1150
• Y. Narahari, Nukala Viswanadham, R. Bhattacharya: Design of Synchronized Supply Chains: A Six Sigma Tolerancing Approach. 1151-1156
• Weihua Sheng, Ning Xi, Mumin Song, Yifan Chen, James S. Rankin III: Automated CAD-Guided Automobile Part Dimensional Inspection. 1157-1162

Space Robots and Rovers

• Olivier Aycard, Richard Washington: State Identification for Planetary Rovers: Learning and Recognition. 1163-1168
• Noriyasu Inaba, Mitsushige Oda: Autonomous Satellite Capture by a Space Robot. 1169-1174
• Richard Washington: On-Board Real-Time State and Fault Identification for Rovers. 1175-1181
• Il-Jun Jeong, George P. Papavassilopoulos, David S. Bayard: On-Board Task Scheduling Algorithm for Spacecraft. 1182-1187
• Craig R. Carignan, David L. Akin, J. Corde Lane: Dynamic Tool Vectors for Robo-Centric Control. 1188-1193
• Sanjiv Singh, Reid G. Simmons, Trey Smith, Anthony Stentz, Vandi Verma, Alex Yahja, Kurt Schwehr: Recent Progress in Local and Global Traversability for Planetary Rovers. 1194-1200

Autonomous Robots

• Stephen Balakirsky, Alberto Lacaze: World Modeling and Behavior Generation for Autonomous Ground Vehicle. 1201-1206
• Shourov Bhattacharya, Sunil Kumar Agrawal: Design, Experiments and Motion Planning of a Spherical Rolling Robot. 1207-1212
• Igor E. Paromtchik, Hajime Asama: A Motion Generation Approach for an Onmidirectional Vehicle. 1213-1218
• Arnaud Clerentin, Laurent Delahoche, Claude Pégard, Eric Brassart: A Localization Method Based on Two Omnidirectional Perception Systems Cooperation. 1219-1224
• Scott Lenser, Manuela M. Veloso: Sensor Resetting Localization for Poorly Modelled Mobile Robots. 1225-1232
• Herbert G. Tanner, Kostas J. Kyriakopoulos: Nonholonomic Motion Planning for Mobile Manipulators. 1233-1238

Space and Underwater Robots

• Eckhard Freund, Katharina Hoffmann, Jürgen Rossmann: Application of Automatic Action Planning for Several Work Cells to the German ETS-VII Space Robotics Experiments. 1239-1244
• Robert E. Mahony, Rogelio Lozano: (Almost) Exact Path Tracking Control for an Autonomous Helicopter in Hover Manoeuvres. 1245-1250
• Tarun Kanti Podder, Gianluca Antonelli, Nilanjan Sarkar: Fault Tolerant Control of an Autonomous Underwater Vehicle Under Thruster Redundancy: Simulations and Experiments. 1251-1256
• Datta N. Godbole, Tariq Samad, Vipin Gopal: Active Multi-Model Control for Dynamic Maneuver Optimization of Unmanned Air Vehicles. 1257-1262
• Yong Cui, Nilanjan Sarkar: A Unified Force Control Approach to Autonomous Underwater Manipulation. 1263-1268
• José R. Azinheira, Ely Carneiro de Paiva, Josué Jr. Guimarães Ramos, Samuel Siqueira Bueno: Mission Path Following for an Autonomous Unmanned Airship. 1269-1275

Control 1

• Mohammad Reza Sirouspour, S. E. Salcudean: On the Nonlinear Control of Hydraulic Servo-Systems. 1276-1282
• Shih-Feng Chen, Imin Kao: Simulation of Conservative Congruence Transformation: Conservative Properties in the Joint and Cartesian Spaces. 1283-1288
• Javier Campos, Frank L. Lewis, Rastko R. Selmic: Backlash Compensation in Discrete Time Nonlinear Systems Using Dynamic Inversion by Neural Networks. 1289-1295
• Nghe Huan Quach, Ming Liu: A 3-Step Set-Point Control Algorithm for Robot Arms. 1296-1301
• Ignacy Duleba: Channel Algorithm of Transversal Passing through Singularities for Non-Redundant Robot Manipulators. 1302-1307
• Prabhakar R. Pagilla, Biao Yu: Design and Experimental Evaluation of a Stable Transition Controller for Geometrically Constrained Robots. 1308-1313

Actuators 1

• Danny Grant, Vincent Hayward: Constrained Force Control of Shape Memory Alloy Actuators. 1314-1320
• David W. Robinson, Gill A. Pratt: Force Controllable Hydro-Elastic Actuator. 1321-1327
• Naoyuki Takesue, Guoguang Zhang, Masamichi Sakaguchi, Junji Furusho, Yoshihide Kiyosawa: Development and Analysis of Actuator with ER Damper. 1328-1333
• Minoru Hashimoto, Takashi Ishizuka, Ivan Godler, Masashi Horiuchi: Velocity Dependence of the Characteristics of Harmonic Drive Built-in Torque Sensing. 1334-1339
• Satoshi Tadokoro, Shinji Yamagami, Toshi Takamori: An Actuator Model of ICPF for Robotic Applications on the Basis of Physicochemical Hypotheses. 1340-1346
• Masamichi Sakaguchi, Guoguang Zhang, Junji Furusho: Modeling and Motion Control of an Actuator Unit using ER Clutches. 1347-1353

Rehabilitation Robotics

• Shane MacNamara, Gerard Lacey: A Smart Walker for the Frail Visually Impaired. 1354-1359
• Yoshihiko Takahashi, Shinobu Ogawa, Shigenori Machida: Step Climbing Using Power Assist Wheel Chair Robot with Inverse Pendulum Control. 1360-1365
• Hiroaki Seki, S. Kobayashi, Yoshitsugu Kamiya, Masatoshi Hikizu, Hisanao Nomura: Autonomous/Semi-Autonomous Navigation System of a Wheelchair by Active Ultrasonic Beacons. 1366-1371
• Michelle J. Johnson, H. F. Machiel Van der Loos, Charles G. Burgar, Peggy Shor, Larry J. Leifer: Control Strategies for a Split-Wheel Car-Steering Simulator for Upper Limb Stroke Therapy. 1372-1377
• Han-Pang Huang, Chun-Ying Chiang: DSP-Based Controller for a Multi-Degree Prosthetic Hand. 1378-1383
• Hideaki Takanobu, Takeo Maruyama, Atsuo Takanishi, Kayoko Ohtsuki, Masatoshi Ohnishi: Mouth Opening and Closing Training with 6-DOF Parallel Robot. 1384-1389

Assembly and Motion Planning

• Xuerong Ji, Jing Xiao: Towards Random Sampling with Contact Constraints. 1390-1395
• Barry B. Goeree, Ernest D. Fasse, Michael M. Marefat: Determining Feasible Contact States of Pairs of Spatial Polyhedra. 1396-1401
• Jason Chen, Brenan J. McCarragher: Programming by Demonstration - Constructing Task Level Plans in a Hybrid Dynamic Framework. 1402-1407
• Christopher Holleman, Lydia E. Kavraki: A Framework for Using the Workspace Medial Axis in PRM Planners. 1408-1413
• Li Xu, Yuan F. Zheng: Real-Time Motion Planning for Personal Robots Using Primitive Motions. 1414-1419
• Hong Qiao: Attractive Regions in the Environment. 1420-1427

Landmarks and Environmental Modeling

• Amy J. Briggs, Daniel Scharstein, Darius Braziunas, Cristian Dima, Peter Wall: Mobile Robot Navigation using Self-Similar Landmarks. 1428-1434
• Ioannis Stamos, Peter K. Allen: Integration of Range and Image Sensing for Photorealistic 3D Modeling. 1435-1440
• Satoshi Kagami, Kei Okada, Masayuki Inaba, Hirochika Inoue: Design and Implementation of Onbody Real-Time Depthmap Generation System. 1441-1446
• Clark F. Olson: Landmark Selection for Terrain Matching. 1447-1452
• Marina Kolesnik, Gregory Baratoff: Interpretation of Sewer Circular Structures. 1453-1458
• Wen-Jing Li, Tong Lee: Object Recognition by Sub-Scene Graph Matching. 1459-1464

Flexible Robots

• Sungsoo Rhim, Wayne J. Book: Adaptation of Generalized Time-Delay Command Shaper for Flexible Manipulator Control. 1465-1471
• L. Li, Glenn R. Heppler, K. Huseyin: Stability of A Flexible Link with an Arbitrarily Oriented Tip Rotor and a Conservative Tip Load. 1472-1477
• Joono Cheong, Wan Kyun Chung, Youngil Youm: Bandwidth Modulation of Rigid Subsystem for the Class of Flexible Robots. 1478-1483
• Tong Zhou, Jean W. Zu, Andrew A. Goldenberg: Vibration Controllability of Flexible Robot-Payload Systems. 1484-1489
• Fumitoshi Matsuno, Akifumi Hayashi: PDS Cooperative Control of Two One-Link Flexible Arms. 1490-1495
• David G. Wilson, Gregory P. Starr, Gordon G. Parker, Rush D. Robinett III: Robust Control Design for Flexible-Link/Flexible-Joint Robots. 1496-1501

Novel Transmission Methods

• Hiroki Tokashiki, Kenji Kaneko, Kazuo Tanie: Development of Independently-Controlled Position and Orientation Manipulator for Minute Work. 1502-1508
• Ronald S. Fearing, Ken H. Chiang, Michael H. Dickinson, D. L. Pick, Metin Sitti, Joseph Yan: Wing Transmission for a Micromechanical Flying Insect. 1509-1516
• Jaydeep Roy, Randal P. Goldberg, Louis L. Whitcomb: Structural Design and Analysis of a New Semi-Direct Drive Robot Arm: Theory and Experiment. 1517-1524
• Hyoukryeol Choi, SungMoo Ryew: Anthropomorphic Joint Mechanism with Two Degrees of Freedom. 1525-1530
• Masayoshi Wada, Akira Takagi, Shunji Mori: Caster Drive Mechanisms for Holonomic and Omnidirectional Mobile Platforms with no Over Constraint. 1531-1538
• Jungyun Kim, Hanjun Yeom, Frank C. Park, Yeongil I. Park, Munsang Kim: On the Energy Efficiency of CVT-Based Mobile Robots. 1539-1544

Robotics in Manufacturing

• Vivek A. Sujan, Steven Dubowsky: Application of a Model-Free Algorithm for the Packing of Irregular Shaped Objects in Semiconductor Manufacture. 1545-1550
• Sangeun Choi, Wyatt S. Newman: Design and Evaluation of a Laser-Cutting Robot for Laminated, Solid Freeform Fabrication. 1551-1556
• Zhiming Gong, Xiaoqi Chen, Han Huang: Optimal Profile Generation in Distorted Surface Finishing. 1557-1562
• Wenrui Dai, Markus Kampker: User Oriented Integration of Sensor Operations in a Offline Programming System for Welding Robots. 1563-1567
• Yin-Tien Wang, Yann-Jyi Jan: A Robot-Assisted Finishing System with an Active Torque Controller. 1568-1573
• Raoul Farer, Edward Grant, Tushar Ghosh, Abdelfattah Seyam, Gordon K. Lee: On the Use of Robotics for Melt-Blowing to Form Shaped/Molded Fabric Structures. 1574-1579

Surgical Robots

• Wen-Hong Zhu, S. E. Salcudean, Simon Bachmann, Purang Abolmaesumi: Motion/Force/Image Control of a Diagnostic Ultrasound Robot. 1580-1585
• Simona D'Attanasio, Oliver Tonet, Giuseppe Megali, Maria Chiara Carrozza, Paolo Dario: A Semi-Automatic Handheld Mechatronic Endoscope with Collision-Avoidance Capabilities. 1586-1591
• V. Vuskovic, M. Kauer, Gábor Székely, M. Reidy: Realistic Force Feedback for Virtual Reality Based Diagnostic Surgery Simulators. 1592-1598
• H. D. Hoeg, A. Brett Slatkin, Joel W. Burdick, Warren S. Grundfest: Biomechanical Modeling of the Small Intestine as Required for the Design and Operation of a Robotic Endoscope. 1599-1606
• Mamoru Mitsuishi, Shin Tomisaki, Takumi Yoshidome, Hiroyuki Hashizume, Kazuo Fujiwara: Tele-Micro-Surgery System with Intelligent User Interface. 1607-1614
• François Pierrot, Etienne Dombre, Luc Téot, Eric Dégoulange: Robotized Reconstructive Surgery: Ongoing Study and First Results. 1615-1620

Sensing Strategies and Control 1

• Wing-Choi Ma, Alfred A. Rizzi, Ralph L. Hollis: Optical Coordination Sensor for Precision Cooperating Robots. 1621-1626
• Tomoyuki Kaga, Toshio Fukuda: Generation of Observation Behavior in Distributed Robotic System. 1627-1632
• Minh-Chinh Nguyen, Volker Graefe: Self-Learning Vision-Guided Robots for Searching and Grasping Objects. 1633-1638
• Christian Robl, Georg Färber: System Architecture for Synchronizing, Signal Level Fusing, Simulating and Implementing Sensors. 1639-1644
• Tomasz Celinski, Brenan J. McCarragher: An Adaptive Sensory Perception Controller for Robotic Systems. 1645-1650
• Michael L. Chen, Shinji Kume, Alfred A. Rizzi, Ralph L. Hollis: Visually Guided Coordination for Distributed Precision Assembly. 1651-1656

Target Tracking

• Borislav H. Simov, Giora Slutzki, Steven M. LaValle: Pursuit-Evasion Using Beam Detection. 1657-1662
• Danica Kragic, Henrik I. Christensen: Tracking Techniques for Visual Servoing Tasks. 1663-1669
• Jenelle Armstrong Piepmeier, Gary V. McMurray, Andrew Pfeiffer, Harvey Lipkin: Uncalibrated Target Tracking with Obstacle Avoidance. 1670-1675
• Ziyi Lu, Bertram Emil Shi: Visual Tracking with Subpixel Resolution using an Analog VLSI Computational Sensor. 1676-1681
• Parvaneh Saeedi, Peter D. Lawrence, David G. Lowe: 3D Motion Tracking of a Mobile Robot in a Natural Environment. 1682-1687
• Fabienne Lathuilière, Jean-Yves Hervé: Visual Hand Posture Tracking in a Gripper Guiding Application. 1688-1694

Redundant Manipulators

• Kenneth A. McIsaac, James P. Ostrowski: Motion Planning for Dynamic Eel-Like Robots. 1695-1700
• Kai-Ulrich Scholl, Volker Kepplin, Karsten Berns, Rüdiger Dillmann: Controlling a Multijoint Robot for Autonomous Sewer Inspection. 1701-1706
• Ann Ramos Gravagne, Ian D. Walker: Towards Impulsive Manipulation: A General Algebraic Collision Model for Spatial Robots. 1707-1713
• Fernando B. M. Duarte, José António Tenreiro Machado: Chaos Dynamics in the Trajectory Control of Redundant Manipulators. 4110-
• Jinhyun Kim, Wan Kyun Chung, Youngil Youm: Normalized Impact Geometry and Performance Index for Redundant Manipulators. 1714-1719
• François Chaumette, Éric Marchand: A New Redundancy-Based Iterative Scheme for Avoiding Joint Limits Application to Visual Servoing. 1720-1725

Reconfigurable Robots

• Daniela Rus, Marsette Vona: A Physical Implementation of the Self-Reconfiguring Crystalline Robot. 1726-1733
• Hristo Bojinov, Arancha Casal, Tad Hogg: Emergent Structures in Modular Self-Reconfigurable Robots. 1734-1741
• Cem Ünsal, Pradeep K. Khosla: Mechatronic Design of a Modular Self-Reconfiguring Robotic System. 1742-1747
• Mehmet Durna, Aydan M. Erkmen, Ismet Erkmen: Self-Localization of a Holon in the Reconfiguration Task Space of a Robotic Colony. 1748-1754
• Wei Kang, Ning Xi, Andy Sparks: Formation Control of Autonomous Agents in 3D Workspace. 1755-1760
• Hod Lipson, Jordan B. Pollack: Towards Continuously Reconfigurable Self-Designing Robotics. 1761-1766

Underwater Robotics

• Hanumant Singh, Oscar Pizarro, Louis L. Whitcomb, Dana R. Yoerger: In-Situ Attitude Calibration for High Resolution Bathymetric Surveys with Underwater Robotic Vehicles. 1767-1774
• Goo Bong Chung, Kwang Sik Eom, Byung-Ju Yi, Il Hong Suh, Sang-Rok Oh, Young-Jo Cho: Disturbance Observer-Based Robust Control for Underwater Robotic Systems with Passive Joints. 1775-1780
• Xiaoping Yun, Eric R. Bachmann, Suat Arslan: An Inertial Navigation System for Small Autonomous Underwater Vehicles. 1781-1786
• Dana R. Yoerger, Albert M. Bradley, Barrie B. Walden, Marie-Helene Cormier, William B. F. Ryan: Fine-Scale Seafloor Survey in Rugged Deep-Ocean Terrain with an Autonomous Robot. 1787-1792
• Stefan B. Williams, Paul M. Newman, Gamini Dissanayake, Hugh F. Durrant-Whyte: Autonomous Underwater Simultaneous Localisation and Map Building. 1793-1798
• Massimo Caccia, Gabriele Bruzzone, Gianmarco Veruggio: Guidance of Unmanned Underwater Vehicles: Experimental Results. 1799-1804

Nonholonomic Motion Planning

• Tsuneo Yoshikawa, Keigo Kobayashi, Tetsuyoh Watanabe: Design of a Desirable Trajectory and Convergent Control for 3-D.O.F. Manipulator with a Nonholonomic Constraint. 1805-1810
• Makoto Iwamura, Motoji Yamamoto, Akira Mohri: Near-Optimal Motion Planning for Nonholonomic Systems Using Time-Axis Transformation and Gradient Method. 1811-1816
• Marilena Vendittelli, Giuseppe Oriolo: Stabilization of the General Two-Trailer System. 1817-1823
• Brett J. Young, Jonathan R. Lawton, Randal W. Beard: Two Hybrid Control Schemes for Nonholonomic Robots. 1824-1829
• Luigi Palopoli, Fabio Conticelli, Benedetto Allotta: Multi-Level Stabilizing Control of an Nonholonomic Vehicle and Its Discrete-Time Multirate Implementation. 1830-1835
• Ignacy Duleba: Small Radius Attainability Spheres for Driftless Non-Holonomic Systems. 1836-1841

Applications of Sensing

• Yalin Xiong, Larry Matthies: Vision-Guided Autonomous Stair Climbing. 1842-1847
• Kentaro Kawamura, Kiminori Hasegawa, Yasuyuki Someya, Yoichi Sato, Katsushi Ikeuchi: Robust Localization for 3D Object Recognition Using Local EGI and 3D Template Matching with M-Estimators. 1848-1855
• Ryo Kurazume, Shigeo Hirose: Development of Image Stabilization System for Remote Operation of Walking Robots. 1856-1861
• Markus Ehrenmann, Despina Ambela, Peter Steinhaus, Rüdiger Dillmann: A Comparison of Four Fast Vision Based Object Recognition Methods for Programing by Demonstration Applications. 1862-1867
• David G. Falconer, Robert W. Ficklin, Kurt Konolige: Robot-Mounted Through-Wall Radar for Detecting, Locating, and Identifying Building Occupants. 1868-1875
• Claudio Altafini, Ruggero Frezza, Johann Galie: Observing the Load Dynamic of an Overhead Crane with Minimal Sensor Equipment. 1876-1881

Neural Network Systems

• Mehmet Önder Efe, Okyay Kaynak: Stabilizing and Robustifying the Error Backpropagation Method in Neurocontrol Applications. 1882-1887
• Artur M. Arsenio: Tuning of Neural Oscillators for the Design of Rhythmic Motions. 1888-1893
• Sethu Vijayakumar, Stefan Schaal: Fast and Efficient Incremental Learning for High-Dimensional Movement Systems. 1894-1899
• Youwei Fu, Rajeev Sharma, Michael Zeller: Vision-Based Motion Planning for a Robot Arm Using Topology Representing Networks. 1900-1905
• Shenghai Hu, Marcelo H. Ang, Hariharan Krishnan: Neural Network Controller for Constrained Robot Manipulators. 1906-1911
• Bruno Lara, Lakmal D. Seneviratne, Kaspar Althoefer: Radial Basis Artificial Neural Networks for Screw Insertions Classification. 1912-1917

Parallel Manipulators

• Sönke Kock, Walter Schumacher: A Mixed Elastic and Rigid-Body Dynamic Model of an Actuation Redundant Parallel Robot with High-Reduction Gears. 1918-1923
• Sönke Kock, Walter Schumacher: Control of a Fast Parallel Robot with a Redundant Chain and Gearboxes: Experimental Results. 1924-1929
• Marcel Honegger, Roberto Brega, Gerhard Schweitzer: Application of a Nonlinear Adaptive Controller to a 6 DOF Parallel Manipulator. 1930-1935
• Yixin Chen, John E. McInroy: Identification and Decoupling Control of Flexure Jointed Hexapods. 1936-1941
• Jin Wook Kim, Frank C. Park, Munsang Kim: Geometric Design Tools for Stiffness and Vibration Analysis of Robotic Mechanisms. 1942-1947
• Wei-Jung Shiang, David J. Cannon, Jason Gorman: Optimal Force Distribution Applied to a Robotic Crane with Flexible Cables. 1948-1954

Applications of Grasping

• Toshio Fukuda, Takayuki Matsuno, Fumihito Arai: Flexible Object Manipulation by Dual Manipulator System. 1955-1960
• Hitoshi Arisumi, Kazuhito Yokoi, Kiyoshi Komoriya: Casting Manipulation (Braking Control for Catching Motion). 1961-1968
• Vivek A. Sujan, Steven Dubowsky, Yoshiaki Ohkami: Design and Implementation of a Robot Assisted Crucible Charging System. 1969-1975
• Erika Ottaviano, Maria Toti, Marco Ceccarelli: Grasp Force Control in Two-Finger Grippers with Pneumatic Actuation. 1976-1981
• Werner E. Friedrich, Patrick P. K. Lim, Howard Nicholls: Sensory Gripping System for Variable Products. 1982-1987
• Ramesh Kolluru, Kimon P. Valavanis, Stanford A. Smith, Nikos Tsourveloudis: Design and Analysis of a Reconfigurable Robotic Gripper for Limp Material Handling. 1988-1993

Teleoperation 1

• Igor Ivanisevic, Vladimir J. Lumelsky: Human Augmentation in Teleoperation of Arm Manipulators in an Environment with Obstacles. 1994-1999
• Robert J. Anderson, David L. Shirey, William D. Morse: A Telerobot Control System for Accident Response. 2000-2006
• Sébastien Grange, Terrence Fong, Charles Baur: Effective Vehicle Teleoperation on the World Wide Web. 2007-2012
• Philippe Even, Raymond Fournier, R. Gelin: Using Structural Knowledge for Interactive 3-D Modeling of Piping Environments. 2013-2018
• Kenneth Y. Goldberg, Billy Chen, Rory Solomon, Steve Bui, Bobak Farzin, Jacob Heitler, Derek Poon, Gordon Smith: Collaborative Teleoperation via the Internet. 2019-2024
• Paul G. Backes, Kam S. Tso, Jeffrey S. Norris, Gregory K. Tharp, Jeffrey T. Slostad, Robert G. Bonitz, Khaled S. Ali: Internet-Based Operations for the Mars Polar Lander Mission. 2025-2032

Volume 3

Mobile Robots 1

• Dongsung Kim, Hyun Chul Lee, Wook Hyun Kwon: Geometric Kinematics Modeling of Omni-Directional Autonomous Mobile Robot and Its Applications. 2033-2038
• R. James Milgram, Stephen G. Kaufman: Topological Characterization of Safe Coordinated Vehicle Motions. 2039-2045
• Alain Lambert, Thierry Fraichard: Landmark-Based Safe Path Planning for Car-Like Robots. 2046-2051
• Timothy B. Gold, James K. Archibald, Richard L. Frost: A Utility Approach to Multi-Agent Coordination. 2052-2057
• Gabriel Ramírez, Saïd Zeghloul: A New Local Path Planner for Nonholonomic Mobile Robot Navigation in Cluttered Environments. 2058-2063
• Lauro Ojeda, Hakyoung Chung, Johann Borenstein: Precision-Calibration of Fiber-Optics Gyroscopes for Mobile Robot Navigation. 2064-2069

Visual Servoing 1

• Nicolas Andreff, Bernard Espiau, Radu Horaud: Visual Servoing from Lines. 2070-2075
• Minoru Asada, Takamaro Tanaka, Koh Hosoda: Adaptive Binocular Visual Servoing for Independently Moving Target Tracking. 2076-2081
• Ken Ito, Shigeyuki Sakane: Visual Tracking using Dynamic Transition in Groups of Affine Transformed Templates. 2082-2087
• Philippe Zanne, Guillaume Morel, Franck Plestan: Robust Vision Based 3D Trajectory Tracking Using Sliding Mode Control. 2088-2093
• Paul Y. Oh, Peter K. Allen: Joint Coupled Compensation Effects in Visually Servoed Tracking. 2094-2099
• Bart Lamiroy, Bernard Espiau, Nicolas Andreff, Radu Horaud: Controlling Robots with Two Cameras: How to Do it Properly. 2100-2105

Fuzzy Logic Systems

• Kazuo Kiguchi, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda: Application of Multiple Fuzzy-Neuro Force Controllers in an Unknown Environment Using Genetic Algorithms. 2106-2111
• Victor Santibañez, Rafael Kelly, Miguel A. Llama: Fuzzy PD+ Control for Robot Manipulators. 2112-2117
• Tse Min Chen, Ren C. Luo: Mobile Target Tracking Using Hierarchical Grey-Fuzzy Motion Decision-Making Method. 2118-2123
• Seok Jo Go, Min Cheol Lee: Fuzzy-Sliding Mode Control with the Self Tuning Fuzzy Inference Based on Genetic Algorithm. 2124-2129
• Yih-Guang Leu, Tsu-Tian Lee: Adaptive Fuzzy-Neural Observer for a Class of Nonlinear Systems. 2130-2135
• Jean Bosco Mbede, Xinhan Huang, Min Wang: Robust Fuzzy and Recurrent Neural Network Motion Control among Dynamic Obstacles for Robot Manipulators. 2136-2145

Static and Dynamic Contact

• Joshua L. Richmond, Dinesh K. Pai: Active Measurement of Contact Sounds. 2146-2152
• Wesley H. Huang: A Tapping Micropositioning Cell. 2153-2158
• Kensuke Harada, Makoto Kaneko: Neighborhood Equilibrium Grasp for Multiple Objects. 2159-2164
• Friedrich Pfeiffer, Thomas Roßmann: About Friction in Walking Machines. 2165-2172
• Hiroyuki Shinoda, Shinya Sasaki, Katsuhiko Nakamura: Instantaneous Evaluation of Friction Based on ARTC Tactile Sensor. 2173-2178
• Nicholas Xydas, Milind Bhagavat, Imin Kao: Study of Soft-Finger Contact Mechanics Using Finite Elements Analysis and Experiments. 2179-2184

Discrete Event Dynamic Systems 1

• MuDer Jeng, Xiaolan Xie, Yi-Sheng Huang: Manufacturing Modeling using Process Nets with Resources. 2185-2190
• Chung-Hsien Kuo, Han-Pang Huang: Modeling and Performance Evaluation of a Controlled IC Fab using Distributed Colored Timed Petri Net. 2191-2196
• Ying Tang, MengChu Zhou, Eyal Zussman, Reggie J. Caudill: Disassembly Modeling, Planning, and Application: A Review. 2197-2202
• Houshang Darabi, Mohsen A. Jafari: Adaptive Supervisory Control under Sensor Unavailability. 4116-
• Fan-Tien Cheng, Meng-Tsang Lin, Rong-Shean Lee: Developing a Web-Enabled Equipment Driver for Semiconductor Equipment Communications. 2203-2210
• Alessandro Giua, Aldo Piccaluga, Carla Seatzu: Incremental Optimization of Cyclic Timed Event Graphs. 2211-2216

Humanoids

• Kenji Inoue, Haruyuki Yoshida, Tatsuo Arai, Yasushi Mae: Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability. 2217-2222
• Ales Ude, Christopher G. Atkeson, Marcia Riley: Planning of Joint Trajectories for Humanoid Robots Using B-Spline Wavelets. 2223-2228
• Toshio Morita, Hiroyasu Iwata, Shigeki Sugano: Human Symbiotic Robot Design Based on Division and Unification of Functional Requirements. 2229-2234
• Gordon Cheng, Yasuo Kuniyoshi: Complex Continuous Meaningful Humanoid Interaction: A Multi Sensory-Cue Based Approach. 2235-2242
• Atsuo Takanishi, Kensuke Sato, Kunio Segawa, Hideaki Takanobu, Hiroyasu Miwa: An Anthropomorphic Head-Eye Robot Expressing Emotions Based on Equations of Emotion. 2243-2249
• Masafumi Okada, Yoshihiko Nakamura, Shin'ichiro Hoshino: Design of Active/Passive Hybrid Compliance in the Frequency Domain - Shaping Dynamic Compliance of Humanoid Shoulder Mechanism. 2250-2257

Sensing and Motion Planning

• Jun Miura, Yoshiaki Shirai: Modeling Motion Uncertainty of Moving Obstacles for Robot Motion Planning. 2258-2263
• Wen Li, Takashi Tsubouchi, Shin'ichi Yuta: Manipulative Difficulty Index of a Mobile Robot with Multiple Trailers in Pushing and Towing with Imperfect Measurement. 2264-2269
• Howie Choset, Ercan U. Acar, Alfred A. Rizzi, Jonathan E. Luntz: Exact Cellular Decompositions in Terms of Critical Points of Morse Functions. 2270-2277
• Enrique J. Bernabeu, Josep Tornero: Real-Time Generation of Collision-Free Paths for a Mobile Sphere. 2278-2283
• David Johnston, Jing Xiao: On Relating the Disconnectedness of a Contact Formation to the Geometric Properties of its Constituent Objects. 2284-2289
• Elliot Anshelevich, Scott Owens, Florent Lamiraux, Lydia E. Kavraki: Deformable Volumes in Path Planning Applications. 2290-2295

Navigation and Mapping

• Issa A. D. Nesnas, Mark W. Maimone, Hari Das Nayar: Rover Maneuvering for Autonomous Vision-Based Dexterous Manipulation. 2296-2301
• Puneet Goel, Göksel Dedeoglu, Stergios I. Roumeliotis, Gaurav S. Sukhatme: Fault Detection and Identification in a Mobile Robot using Multiple Model Estimation and Neural Network. 2302-2309
• Eric Bourque, Gregory Dudek: On-Line Construction of Iconic Maps. 2310-2315
• Y. H. Chow, Ronald Chung: Obstacle Avoidance of Legged Robot without 3D Reconstruction of the Surroundings. 2316-2321
• Steven N. Spitz, Aristides A. G. Requicha: Multiple-Goals Path Planning for Coordinate Measuring Machines. 2322-2327
• Darío Maravall Gómez-Allende, Javier de Lope Asiaín, Francisco Serradilla: Combination of Model-Based and Reactive Methods in Autonomous Navigation. 2328-2333

Control and Applications 1

• Keisuke Kato, Shigeo Hirose: Proposition and Basic Experiments of Shape Feedback Master-Slave Arm - On the Application for the Demining Robots. 2334-2339
• Hooshang Hemami, Behzad Dariush: Single Rigid Body Representation, Control and Stability for Robotic Applications. 2340-2345
• Eric Guillo, Maxime Gautier: Dynamic Modeling and Identification of Earthmoving Engines without Kinematic Constraints: Application to the Compactor. 2346-2351
• Marcelo H. Ang, Wei Lin, Ser Yong Lim: An Industrial Application of Control of Dynamic Behavior of Robots A Walk-Through Programmed Welding Robot. 2352-2357
• Daniel J. Stilwell, Bradley Bishop: A Framework for Decentralized Control of Autonomous Vehicles. 2358-2363
• Erwin Prassler, Dirk Schwammkrug, Bertram Rohrmoser, G. Schmidl: A Robotic Road Sweeper. 2364-2369

Parallel Mechanisms

• Jorge Angeles, Alexei Morozov, Oscar Navarro: A Novel Manipulator Architecture for the Production of SCARA Motions. 2370-2375
• Doik Kim, Wan Kyun Chung, Youngil Youm: Analytic Jacobian of In-Parallel Manipulators. 2376-2381
• Tian Huang, B. Jiang, David J. Whitehouse: Determination of the Carriage Stroke of 6-PSS Parallel Manipulators having the Specific Orientation Capability in a Prescribed Workspace. 2382-2385
• Xin-Jun Liu, Jinsong Wang, Feng Gao: On the Optimum Design of Planar 3-DOF Parallel Manipulators with Respect to the Workspace. 4122-4127
• Mikhail M. Svinin, Kanji Ueda, Masaru Uchiyama: On the Stability Conditions for a Class of Parallel Manipulators. 2386-2391
• Yuesong Wang, Wyatt S. Newman, Robert S. Stoughton: Workspace Analysis of the ParaDex Robot - A Novel, Closed-Chain, Kinematically-Redundant Manipulator. 2392-2397

Manufacturing Scheduling

• Antonio Reyes-Moro, Hongnian Yu, Gerry Kelleher: Advanced Scheduling Methodologies for Flexible Manufacturing Systems using Petri Nets and Heuristic Search. 2398-2403
• Joaquín Bautista, Raúl Suárez, Manuel Mateo, Ramón Companys: Local Search Heuristics for the Assembly Line Balancing Problem with Incompatibilities Between Tasks. 2404-2409
• Yuan-Wei Ho, Li-Chen Fu: Dynamic Scheduling Approach to Group Control of Elevator Systems with Learning Ability. 2410-2415
• Djamila Ouelhadj, Chihab Hanachi, Brahim Bouzouia: Multi-Agent Architecture for Distributed Monitoring in Flexible Manufacturing Systems (FMS). 2416-2421
• Richard Crowder, Rob MacKendrick, Roger Rowe, Eric Auriol, Morten Tellefsen: Maintenance of Robotic Systems Using Hypermedia and Case-Based Reasoning. 2422-2427

Haptic Interface 1

• Yan Zhuang, John F. Canny: Haptic Interaction with Global Deformations. 2428-2433
• Brian E. Miller, J. Edward Colgate, Randy Freeman: Environment Delay in Haptic Systems. 2434-2439
• Daniela Constantinescu, Icarus Chau, Simon P. DiMaio, Luca Filipozzi, S. E. Salcudean, Farhad Ghassemi: Haptic Rendering of Planar Rigid-Body Motion using a Redundant Parallel Mechanism. 2440-2445
• Oliver R. Astley, Vincent Hayward: Design Constraints for Haptic Surgery Simulation. 2446-2451
• Diego d'Aulignac, Remis Balaniuk, Christian Laugier: A Haptic Interface for a Virtual Exam of the Human Thigh. 2452-2457
• Murat Cenk Cavusoglu, Frank Tendick: Multirate Simulation for High Fidelity Haptic Interaction with Deformable Objects in Virtual Environments. 2458-2465

Mobile Vehicle Mechanics

• Karim A. Tahboub, Haruhiko Asada: Dynamics Analysis and Control of a Holonomic Vehicle with a Continuously Variable Transmission. 2466-2472
• Philippe Souères, Andrea Balluchi, Antonio Bicchi: Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle. 2473-2478
• Devin J. Balkcom, Matthew T. Mason: Extremal Trajectories for Bounded Velocity Differential Drive Robots. 2479-2484
• Byung-Ju Yi, Whee Kuk Kim: The Kinematics for Redundantly Actuated Omni-Directional Mobile Robots. 2485-2492
• Krzysztof Tchon, Robert Muszynski: Instantaneous Kinematics and Dexterity of Mobile Manipulators. 2493-2498
• Devin J. Balkcom, Matthew T. Mason: Time Optimal Trajectories for Bounded Velocity Differential Drive Robots. 2499-2504

Mapping and Localization 2

• Iwan Ulrich, Johann Borenstein: VFH*: Local Obstacle Avoidance with Look-Ahead Verification. 2505-2511
• Tim Bailey, Eduardo Mario Nebot, Julio Rosenblatt, Hugh F. Durrant-Whyte: Data Association for Mobile Robot Navigation: A Graph Theoretic Approach. 2512-2517
• Patric Jensfelt, Olle Wijk, David J. Austin, Magnus Andersson: Experiments on Augmenting Condensation for Mobile Robot Localization. 2518-2524
• Denis Bouvet, Gaëtan Garcia: Improving the Accuracy of Dynamic Localization Systems using RTK GPS by Identifying the GPS Latency. 2525-2530
• Patric Jensfelt, David J. Austin, Olle Wijk, Magnus Andersson: Feature Based Condensation for Mobile Robot Localization. 2531-2537
• Li Zhang, Bijoy K. Ghosh: Line Segment Based Map Building and Localization Using 2D Laser Rangefinder. 2538-2543

Redundancy

• Ian A. Gravagne, Ian D. Walker: On the Kinematics of Remotely-Actuated Continuum Robots. 2544-2550
• Marco Ceccarelli, Jorge Angeles: A Numerical Evaluation of the Workspace of a Seven-Axis, Redundant Manipulator. 2551-2556
• Paolo Baerlocher, Ronan Boulic: Kinematic Control of the Mass Properties of Redundant Articulated Bodies. 2557-2562
• Herman Bruyninckx, Oussama Khatib: Gauss' Principle and the Dynamics of Redundant and Constrained Manipulators. 2563-2568
• Young-Seob Hwang, Jihong Lee, Tien C. Hsia: A Recursive Dimension-Growing Method for Computing Robotic Manipulability Polytope. 2569-2574
• Kevin A. O'Neil, Yu-Che Chen: Instability of Pseudoinverse Acceleration Control of Redundant Mechanisms. 2575-2582

Legged Locomotion 1

• Edwardo F. Fukushima, Noriyuki Kitamura, Shigeo Hirose: A New Flexible Component for Field Robotic System. 2583-2588
• Uluc Saranli, Martin Buehler, Daniel E. Koditschek: Design, Modeling and Preliminary Control of a Compliant Hexapod Robot. 2589-2596
• J. Balaram: Kinematic Observers for Articulated Rovers. 2597-2604
• Shaoping Bai, Kin Huat Low, Weimiao Guo: Kinematographic Experiments on Leg Movements and Body Trajectories of Cockroach Walking on Different Terrain. 2605-2610
• Makoto Kaneko, Tatsuya Shirai, Toshio Tsuji: Hugging Walk. 2611-2616
• Henrik Rehbinder, Xiaoming Hu: Nonlinear Pitch and Roll Estimation for Walking Robots. 2617-2622

Production Control

• Angela Di Febbraro, Riccardo Minciardi, Simona Sacone: Optimal Control Law for Lot-Sizing in a Single Production Facility. 2623-2628
• Vassilis S. Kouikoglou, Yannis A. Phillis: Design of Product Specifications and Control Policies in a Single-Stage Production System. 2629-2634
• Jingshan Li, Semyon M. Meerkov: Bottlenecks with Respect to Due-Time Performance in Pull Serial Production Lines. 2635-2640
• Li-Chen Fu, Teng-Jei Shih: Holonic Supervisory Control and Data Acquisition Kernel for 21st Century Intelligent Building System. 2641-2646
• Fabio Balduzzi: Fluid Models and Hybrid Automata in Manufacturing. 2647-2653
• T. Kesavadas, Abhishek Sudhir: Computational Steering in Simulation of Manufacturing Systems. 2654-2658

Teleoperation 2

• Alexander Schlotter, Friedrich Pfeiffer: Modeling, Control and Optimization of a New Tele Robot. 2659-2664
• Paolo Fiorini, Gene Chalfant, Yuichi Tsumaki, Enrico Di Bernardo, Pietro Perona: An Intelligent Vision-Only Operator Interface for Dexterous Robots. 2665-2670
• John E. Speich, Kevin Fite, Michael Goldfarb: A Method for Simultaneously Increasing Transparency and Stability Robustness in Bilateral Telemanipulation. 2671-2676
• Franck Geffard, Claude Andriot, Alain Micaelli, Guillaume Morel: On the use of a Base Force/Torque Sensor in Teleoperation. 2677-2683
• Yasuyoshi Yokokohji, Takashi Imaida, Tsuneo Yoshikawa: Bilateral Control with Energy Balance Monitoring under Time-Varying Communication Delay. 2684-2689
• A. Rubio, A. Avello, J. Florez: On the Use of Virtual Springs to Avoid Singularities and Workspace Boundaries in Force-Feedback Teleoperation. 2690-2695

Robotics Cooperation 1

• Paolo Pirjanian, Maja Matarie: Multi-Robot Target Acquisition using Multiple Objective Behavior Coordination. 2696-2702
• Mehran Mehrandezh, Kamal K. Gupta: Time-Optimal Rendezvous Planning for Pick-and-Place Task Sharing. 2703-2708
• Kevin M. Lynch, Caizhen Liu: Designing Motion Guides for Ergonomic Collaborative Manipulation. 2709-2715
• Silvia Silva da Costa Botelho, Rachid Alami: A Multi-Robot Cooperative Task Achievement System. 2716-2721
• Zack J. Butler, Alfred A. Rizzi, Ralph L. Hollis: Cooperative Coverage of Rectilinear Environments. 2722-2727
• Jonathan R. Lawton, Brett J. Young, Randal W. Beard: A Decentralized Approach to Elementary Formation Maneuvers. 2728-2733

Visual Servoing 2

• Camillo J. Taylor, James P. Ostrowski: Robust Vision-Based Pose Control. 2734-2740
• Grégory Flandin, François Chaumette, Éric Marchand: Eye-in-Hand/Eye-to-Hand Cooperation for Visual Servoing. 2741-2746
• Joon-Soo Lee, Il Hong Suh, Bum-Jae You, Sang-Rok Oh: A Novel Visual Servoing with Stereo Cameras using QR Decomposition and Disturbance Observer. 2747-2752
• Graziano Chesi, Ezio Malis, Roberto Cipolla: Automatic Segmentation and Matching of Planar Contours for Visual Servoing. 2753-2758
• Youcef Mezouar, François Chaumette: Path Planning in Image Space for Robust Visual Servoing. 2759-2764
• Koichi Hashimoto, Toshiro Noritsugu: Potential Switching Control in Visual Servo. 2765-2770

Trajectory Control

• Fabio Conticelli, Domenico Prattichizzo, Federico Guidi, Antonio Bicchi: Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles. 2771-2776
• Joel M. Esposito, Vijay Kumar: Closed Loop Motion Plans for Mobile Robots. 2777-2782
• Greg R. Luecke, Kok-Leong Tan, Naci Zafer: Impedance Fields for Trajectory Enhancement in the Intelligent Assist Device. 2783-2788
• Alessandro De Luca, Giuseppe Oriolo: Motion Planning and Trajectory Control of an Underactuated Three-Link Robot via Dynamic Feedback Linearization. 2789-2795
• Christopher Lee, Yangsheng Xu: Trajectory Fitting with Smoothing Splines using Velocity Information. 2796-2801
• Nakju Lett Doh, Gyudong Jeon, Wan Kyun Chung, Youngil Youm: Pre-Transition Phase Control: Three Different Approaches. 2802-2807

Novel Locomotion Techniques

• Gen Endo, Shigeo Hirose: Study on Roller-Walker (Multi-Mode Steering Control and Self-Contained Locomotion). 2808-2814
• Russell Dummer, Matthew D. Berkemeier: Low-Energy Control of a One-Legged Robot with 2 Degrees of Freedom. 2815-2821
• Jun Nakanishi, Toshio Fukuda: A Leaping Maneuver for a Brachiating Robot. 2822-2827
• Terence E. Wei, Gabriel M. Nelson, Roger D. Quinn, Hiten Verma, Steven L. Garverick: Design of a 5-cm Monopod Hopping Robot. 2828-2833
• Debao Zhou, Kin Huat Low, Teresa Zielinska: A Stability Analysis of Walking Robots Based on Leg-end Supporting Moments. 2834-2839
• Woo Ho Lee, Arthur C. Sanderson: Dynamic Rolling of Modular Robots. 2840-2846

Supervisory Control of DEDS

• Alejandro Ramirez-Serrano, Beno Benhabib: Supervisory Control of Multi-Workcell Manufacturing Systems with Shared Resources. 2847-2852
• Fernando Tricas, José Manuel Colom, Joaquin Ezpeleta: Some Improvements to the Banker s Algorithm Based on the Process Structure. 2853-2858
• Elzbieta Roszkowska: Preventing Second Level and Avoiding First Level Deadlocks in FMS. 2859-2864
• Luz E. Pinzon, Mohsen A. Jafari, Hans-Michael Hanisch: Modeling Admissible Behavior with Net Condition/Event Systems. 2865-2870
• Antonio Ramírez-Treviño, Israel Rivera-Rangel, Ernesto López-Mellado: Observer Design for Discrete Event Systems Modeled by Interpreted Petri Nets. 2871-2876
• Fabio Magnino, Paolo Valigi: A Petri Net Approach to Deadlock Analysis for Classes of Kanban Systems. 2877-2882

Robotics in Medicine

• Olivier Schneider, Jocelyne Troccaz, Olivier Chavanon, Dominique Blin: PADyC: A Synergistic Robot for Cardiac Puncturing. 2883-2888
• David J. Reinkensmeyer, Wojciech K. Timoszyk, Ray D. de Leon, R. Joynes, Eugene Kwak, K. Minakata, V. Reggie Edgerton: A Robotic Stepper for Retraining Locomotion in Spinal-Injured Rodents. 2889-2894
• Alberto F. Rovetta: Telerobotic Surgery Control and Safety. 2895-2900
• Victor F. Muñoz-Martínez, Carlos Vara-Thorbeck, Jesús M. Gómez de Gabriel, Jesús Fernández-Lozano, E. Sanchez-Badajoz, Alfonso García-Cerezo, Robert Lopez Toscano, A. Jimenez-Garrido: A Medical Robotic Assistant for Minimally Invasive Surgery. 2901-2906
• Roman Kamnik, Tadej Bajd: Robot Assisted Standing-Up. 2907-2912
• Kapil Sharma, Wyatt S. Newman, Martin Weinhous, Gregory D. Glosser, Roger Macklis: Experimental Evaluation of a Robotic Image-Directed Radiation Therapy System. 2913-2918

Mobile Robots 2

• Sheng Lin, Andrew A. Goldenberg: Robust Damping Control of Wheeled Mobile Robots. 2919-2924
• Kwok Wai Au, Yangsheng Xu: Path Following of a Single Wheel Robot. 2925-2930
• Kenneth E. Hoff III, Tim Culver, John Keyser, Ming C. Lin, Dinesh Manocha: Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams. 2931-2937
• Mojtaba Ahmadi, Vladimir Polotski, Richard Hurteau: Path Tracking Control of Tracked Vehicles. 2938-2943
• Ahmad A. Masoud, Samer A. Masoud: Motion Planning in the Presence of Directional and Obstacle Avoidance Constraints Using Nonlinear, Anisotropic, Harmonic Potential Fields. 2944-2951
• Fumitoshi Matsuno, Kei Saito: Control of a Nonholonomic System with a Drift Term. 2952-2957

Localization

• Stergios I. Roumeliotis, George A. Bekey: Collective Localization: A Distributed Kalman Filter Approach to Localization of Groups of Mobile Robots. 2958-2965
• Enzo Mumolo, Massimiliano Nolich, Gianni Vercelli: Algorithms and Architectures for Acoustic Localization Based on Microphone Array in Service Robotics. 2966-2971
• Elisabetta Fabrizi, Alessandro Saffiotti: Extracting Topology-Based Maps from Gridmaps. 2972-2978
• Nikos A. Vlassis, Yoichi Motomura, Ben J. A. Kröse: Supervised Linear Feature Extraction for Mobile Robot Localization. 2979-2984
• Stergios I. Roumeliotis, George A. Bekey: Bayesian Estimation and Kalman Filtering: A Unified Framework for Mobile Robot Localization. 2985-2992
• Amit Adam, Ehud Rivlin, Ilan Shimshoni: Computing the Sensory Uncertainty Field of a Vision-Based Localization Sensor. 2993-2999

Control 2

• Jouni Mattila, Tapio Virvalo: Energy-Efficient Motion Control of a Hydraulic Manipulator. 3000-3006
• Jindong Tan, Ning Xi: Hybrid System Design for Singularityless Task Level Robot Controllers. 3007-3012
• Jerome Foret, Ming Xie, Jean-Guy Fontaine: Bordered Matrix for Singularity Robust Inverse Kinematics: A Methodological Aspect. 3013-3019
• Mohamed M. M. Negm: Preview and Stochastic Controllers for Motion Control of Robotics Manipulator with Control Input Constraints. 3020-3027
• David J. Austin, Brenan J. McCarragher: Hybrid Force/Velocity Discrete Event Controller Synthesis for Assembly Tasks with Friction. 3028-3033
• Funping Bu, Bin Yao: Observer Based Coordinated Adaptive Robust Control of Robot Manipulators Driven by Single-Rod Hydraulic Actuators. 3034-3039

Legged Locomotion 2

• Gregory Hornby, Seiichi Takamura, Jun Yokono, Osamu Hanagata, Takashi Yamamoto, Masahiro Fujita: Evolving Robust Gaits with AIBO. 3040-3045
• Geoff Hawker, Martin Buehler: Quadruped Trotting with Passive Knees - Design, Control, and Experiments. 3046-3051
• Koichi Osuka, Ken-Ichi Kirihara: Motion Analysis and Experiments of Passive Walking Robot QUARTET II. 3052-3056
• Masaki Yamakita, Fumihiko Asano, Katsuhisa Furuta: Passive Velocity Field Control of Biped Walking Robot. 3057-3062
• Duane W. Marhefka, David E. Orin: Fuzzy Control of Quadrupedal Running. 3063-3070

Volume 4

Rapid Prototyping

• Shinichi Tokumoto, Yoshiaki Fujita, Shinichi Hirai: Deformation Transition Graphs in Forming Operations of Rheological Objects. 3071-3076
• Jey Won, Kathryn J. De Laurentis, Constantinos Mavroidis: Rapid Prototyping of Robotic Systems. 3077-3082
• Ren C. Luo, Jyh Hwa Chou, Wei Zen Lee: The Development of LCD Panel Display Based Rapid Prototyping System for Advanced Manufacturing. 3083-3088
• M. Inui, R. Kakio: Fast Visualization of NC Milling Result Using Graphics Acceleration Hardware. 3089-3094
• David M. Hensinger, Arlo L. Ames, J. L. Kuhlmann: Motion Planning for a Direct Metal Deposition Rapid Prototyping System. 3095-3100
• Jiong Sun, Y. F. Zhang, Andrew Y. C. Nee: Agent-Based Product Design and Planning for Distributed Concurrent Engineering. 3101-3106

Teleoperation 3

• K. Hashtrudi-Zaad, S. E. Salcudean: Analysis and Evaluation of Stability and Performance Robustness for Teleoperation Control Architectures. 3107-3113
• Dong-Soo Kwon, Jee-Hwan Ryu, Pan-Mook Lee, Seok-Won Hong: Design of a Teleoperation Controller for an Underwater Manipulator. 3114-3119
• L. F. Peñín, K. Matsumoto, S. Wakabayashi: Force Reflection for Time-Delayed Teleoperation of Space Robots. 3120-3125
• Akihito Sano, Hideo Fujimoto, Toshihito Takai: Network-Based Force-Reflecting Teleoperation. 3126-3131
• Michael Barth, Tim Burkert, Christof Eberst, Norbert O. Stöffler, Georg Färber: Photo-Realistic Scene Prediction of Partially Unknown Environments for the Compensation of Time Delays in Telepresence Applications. 3132-3137
• Nak Young Chong, Tetsuo Kotoku, Kohtaro Ohba, Kiyoshi Komoriya, Nobuto Matsuhira, Kazuo Tanie: Remote Coordinated Controls in Multiple Telerobot Cooperation. 3138-3143

Robotics Cooperation 2

• Atsushi Yamashita, Masaki Fukuchi, Jun Ota, Tamio Arai, Hajime Asama: Motion Planning for Cooperative Transportation of a Large Object by Multiple Mobile Robots in a 3D Environment. 3144-3151
• Federico Gentili, Francesco Martinelli: Robot Group Formations: A Dynamic Programming Approach for a Shortest Path Computation. 3152-3157
• Eduardo Todt, Gustavo Raush, Raúl Suárez: Analysis and Classification of Multiple Robot Coordination Methods. 3158-3163
• Ioannis M. Rekleitis, Gregory Dudek, Evangelos E. Milios: Multi-Robot Collaboration for Robust Exploration. 3164-3169
• Mircea Ivanescu, Nicu George Bîzdoaca: A Two Level Hierarchical Fuzzy Controller for Hyperredundant Cooperative Robots. 3170-3175
• Natsuki Miyata, Jun Ota, Yasumichi Aiyama, Hajime Asama, Tamio Arai: Cooperative Transport in Unknown Environment - Application of Real-Time Task Assignment. 3176-3182

Vision-Based Control

• Ezio Malis, François Chaumette, Sylvie Boudet: Multi-Cameras Visual Servoing. 3183-3188
• Justin A. Borgstadt, Nicola J. Ferrier: Interception of a Projectile Using a Human Vision-Based Strategy. 3189-3196
• Geovany de Araújo Borges, Marie-José Aldon: Motion Estimation by Iterative 2-D Features Matching in Range Images. 3197-3202
• Joss Knight, Ian D. Reid: Active Visual Alignment of a Mobile Stereo Camera Platform. 3203-3208
• Jorge Batista, Paulo Peixoto, Helder Araújo: A Focusing-by-Vergence System Controlled by Retinal Motion Disparity. 3209-3214
• Kazunori Umeda, Takatoshi Takahashi: Subpixel Stereo Method: a New Methodology of Stereo Vision. 3215-3220

Learning 1

• Yorck von Collani, Markus Ferch, Jianwei Zhang, Alois Knoll: A General Learning Approach to Multisensor Based Control using Statistic Indices. 3221-3226
• Xin-Zhi Zheng, Wataru Inamura, Katsunari Shibata, Koji Ito: A Learning and Dynamic Pattern Generating Architecture for Skillful Robotic Baseball Batting System. 3227-3232
• Hani Hagras, Victor Callaghan, Martin Colley: Online Learning of the Sensors Fuzzy Membership Functions in Autonomous Mobile Robots. 3233-3238
• Eimei Oyama, Susumu Tachi: Modular Neural Net System for Inverse Kinematics Learning. 3239-3246
• Tom G. Williams, Jem J. Rowland, Mark H. Lee, Mark James Neal: Teaching by Example in Food Assembly by Robot. 3247-3252
• Karl F. MacDorman: Responding to Affordances: Learning and Projecting a Sensorimotor Mapping. 3253-3259

Control and Architectures

• James S. Albus: 4-D/RCS Reference Model Architecture for Unmanned Ground Vehicles. 3260-3265
• Atanas Gueorguiev, Peter K. Allen, Ethan Gold, Paul Blaer: Design, Architecture and Control of a Mobile Site-Modeling Robot. 3266-3271
• Detlev Glüer, Günther Schmidt: A New Approach for Context Based Exception Handling in Autonomous Mobile Service Robots. 3272-3277
• Matthias Lindström, Anders Orebäck, Henrik I. Christensen: BERRA: A Research Architecture for Service Robots. 3278-3283
• Imad H. Elhajj, Ning Xi, Yun-Hui Liu: Real-Time Control of Internet Based Teleoperation with Force Reflection. 3284-3289
• Manfred Huber: A Hybrid Architecture for Hierarchical Reinforcement Learning. 3290-3295

Stiffness and Compliance

• Amer S. alYahmadi, Tien C. Hsia: Internal Force-Based Impedance Control of Dual-Arm Manipulation of Flexible Objects. 3296-3301
• Rodney G. Roberts: Minimal Realization of an Arbitrary Spatial Stiffness Matrix with a Parallel Connection of Simple and Complex Springs. 3302-3307
• P. L. McAllister, R. E. Ellis: An Eigenscrew Analysis of Mechanism Compliance. 3308-3313
• Jon M. Selig: The Spatial Stiffness Matrix from Simple Stretched Springs. 3314-3319
• Jeff Hudgens, Daniel J. Cox, Delbert Tesar: Classification Structure and Compliance Modeling for Serial Manipulators. 3320-3327
• Shuguang Huang, Joseph M. Schimmels: Synthesis of Spatial Compliances with Simple Serial Elastic Mechanisms. 3328-3333

Biped Robots

• Michael Gienger, Klaus Löffler, Friedrich Pfeiffer: A Biped Robot that Jogs. 3334-3339
• Milic R. Stojic, Christine Chevallereau: On the Stability of Biped with Point Foot-Ground Contact. 3340-3345
• Qiang Huang, Kenji Kaneko, Kazuhito Yokoi, Shuuji Kajita, Tetsuo Kotoku, Noriho Koyachi, Hirohiko Arai, Nobuaki Imamura, Kiyoshi Komoriya, Kazuo Tanie: Balance Control of a Biped Robot Combining Off-Line Pattern with Real-Time Modification. 3346-3352
• Jong Hyeon Park, Hyun Chul Cho: An On-Line Trajectory Modifier for the Base Link of Biped Robots to Enhance Locomotion Stability. 3353-3358
• Dong-Jun Kim, Kab Il Kim, Yuan F. Zheng, Zengqi Sun, Fuchun Sun: Design of Small Power Biped Robot by Load Sharing of Walking Gait. 3359-3364
• Christine Chevallereau, Philippe Sardain: Design and Actuation Optimization of a 4 Axes Biped Robot for Walking and Running. 3365-3370

Discrete Event Dynamic Systems 2

• Jonghun Park, Spyros A. Reveliotis: Enhancing the Flexibility of Algebraic Deadlock Avoidance Policies through Petri Net Structural Analysis. 3371-3376
• Naiqi Wu, MengChu Zhou: Resource-Oriented Petri Nets for Deadlock Avoidance in Automated Manufacturing. 3377-3382
• Widodo Sulistyono, Mark A. Lawley: Deadlock Avoidance for Manufacturing Systems with Partially Ordered Process Plans. 3383-3388
• Jia-Yang Juang, Han-Pang Huang: Queueing Network Analysis for an IC Foundry. 3389-3394
• Eric Klavins, Daniel E. Koditschek: A Formalism for the Composition of Concurrent Robot Behaviors. 3395-3402
• Jyh-Horng Chen, Li-Chen Fu, Ming-Hung Lin: Petri-Net and GA Based Approach to Modeling, Scheduling, and Performance Evaluation for Wafer Fabrication. 3403-3408

Haptic Interface 2

• Gabriel Moy, Christopher R. Wagner, Ronald S. Fearing: A Compliant Tactile Display for Teletaction. 3409-3415
• Masashi Konyo, Satoshi Tadokoro, Toshi Takamori: Artificial Tactile Feel Display Using Soft Gel Actuators. 3416-3421
• Stephen A. Mascaro, Haruhiko Asada: Fingernail Touch Sensors: Spatially Distributed Measurement and Hemodynamic Modeling. 3422-3427
• Thomas Debus, Pierre E. Dupont, Robert D. Howe: Automatic Identification of Local Geometric Properties During Teleoperation. 3428-3434
• Bruce Randall Donald, Frederick Henle: Using Haptic Vector Fields for Animation Motion Control. 3435-3442
• Paolo Arcara, Luigi di Stefano, Stefano Mattoccia, Claudio Melchiorri, Gabriele Vassura: Perception of Depth Information by Means of a Wire-Actuated Haptic Interface. 3443-3448

Manipulator Path Planning

• Myung-Jin Jung, Heung-Soo Kim, Sinn Kim, Jong-Hwan Kim: Omni-Directional Mobile Base OK-II. 3449-3454
• Wenjie Dong, Yangsheng Xu, Qi Wang: On Tracking Control of Mobile Manipulators. 3455-3460
• Tarun Kanti Podder, Nilanjan Sarkar: Dynamic Trajectory Planning for Autonomous Underwater Vehicle-Manipulator Systems. 3461-3466
• C. Helguera, Saïd Zeghloul: A Local-Based Method for Manipulators Path Planning in Heavy Cluttered Environments. 3467-3472
• Petter Ögren, Magnus Egerstedt, Xiaoming Hu: Reactive Mobile Manipulation using Dynamic Trajectory Tracking. 3473-3478
• Magnus Egerstedt, Xiaoming Hu: Coordinated Trajectory Following for Mobile Manipulation. 3479-3484

Localization and Mapping

• Jon Howell, Bruce Randall Donald: Practical Mobile Robot Self-Localization. 3485-3492
• Yasushi Yagi, Kouichi Shouya, Masahiko Yachida: Environmental Map Generation and Egomotion Estimation in a Dynamic Environment for an Omnidirectional Image Sensor. 3493-3498
• Denis Bouvet, Gaëtan Garcia: Civil-Engineering Articulated Vehicle Localization: Solutions to Deal with GPS Masking Phases. 3499-3504
• Sooyong Lee, Nancy M. Amato, James Fellers: Localization Based on Visibility Sectors using Range Sensors. 3505-3511
• Johannes Reuter: Mobile Robot Self-Localization Using PDAB. 3512-3518
• Anthony Mallet, Simon Lacroix, Laurent Gallo: Position Estimation in Outdoor Environments using Pixel Tracking and Stereovision. 3519-3524

Modeling and Control

• Jae-Won Lee, Sukhan Lee: A New Data Fusion Method and its Application to State Estimation of Nonlinear Dynamic Systems. 3525-3530
• József K. Tar, Imre J. Rudas, János F. Bitó, Krzysztof Kozlowski: Non-Conventional Integration of the Fundamental Elements of Soft Computing and Traditional Methods in Adaptive Robot Control. 3531-3536
• Dong Sun, James K. Mills: Advanced Torque Control of Robot Manipulators Driven by AC Induction Motors. 3537-3542
• Quang Phuc Ha, Adrian Bonchis, David C. Rye, Hugh F. Durrant-Whyte: Variable Structure Systems Approach to Friction Estimation and Compensation. 3543-3548
• Yangsheng Xu, Loi Wah Sun: Stabilization of a Gyroscopically Stabilized Robot on an Inclined Plane. 3549-3554
• M. Ramos, Antti J. Koivo: Fuzzy Logic Based Optimization for Manipulators. 3555-3560

Grasp Analysis and Optimization

• Thomas Sugar, Vijay Kumar: Metrics for Analysis and Optimization of Grasps and Fixtures. 3561-3566
• Yasuhisa Hasegawa, Junya Matsuno, Toshio Fukuda: Regrasping Behavior Generation for Rectangular Solid Object. 3567-3572
• Dan Ding, Yun-Hui Liu, Shuguo Wang: Computing 3-D Optimal Form-Closure Grasps. 3573-3578
• Dan Ding, Yun-Hui Liu, Shuguo Wang: The Synthesis of 3-D Form-Closure Grasps. 3579-3584
• Michael Yu Wang, Diana M. Pelinescu: Precision Localization and Robust Force Closure in Fixture Layout Design for 3D Workpieces. 3585-3590
• Yisheng Guan, Hong Zhang: Kinematic Graspability of a 2D Multifingered Hand. 3591-3596