International Journal of Robotic Research, Volume 18, 1999

Volume 18, Number 1, January 1999

• Kok Seng Chong, Lindsay Kleeman:
  Feature-Based Mapping in Real, Large Scale Environments Using an Ultrasonic Array. 3-19
  
• Kok Seng Chong, Lindsay Kleeman:
  Mobile-Robot Map Building from an Advanced Sonar Array and Accurate Odometry. 20-36
  
• Edward W. Large, Henrik I. Christensen, Ruzena Bajcsy:
  Scaling the Dynamic Approach to Path Planning and Control: Competition among Behavioral Constraints. 37-58
  
• Elisha Sacks:
  Practical Sliced Configuration Spaces for Curved Planar Pairs. 59-63
  
• Kevin M. Lynch, Matthew T. Mason:
  Dynamic Nonprehensile Manipulation: Controllability, Planning, and Experiments. 64-92
  
• A. S. Ravishankar, Ashitava Ghosal:
  Nonlinear Dynamics and Chaotic Motions in Feedback-Controlled Two-and Three-Degree-of-Freedom Robots. 93-108
  
• Rodney G. Roberts, Daniel W. Repperger:
  On Closed Form Expressions for the Singular-Value Decomposition of an Orientational Jacobian and Its Application to a Motion Simulator. 109-115
  
• Subir Kumar Saha:
  Analytical Expression for the Inverted Inertia Matrix of Serial Robots. 116-124
  

Volume 18, Number 2, February 1999

• G. E. Hovland, Brenan J. McCarragher:
  Control of Sensory Perception in a Mobile Navigation Problem. 001-12
  
• S. P. Kárason, Mandayam A. Srinivasan, Anuradha M. Annaswamy:
  Encoding and Decoding of Static Information in Tactile Sensing Systems. 131-151
  
• Ping Li, Yumei Wen:
  An Arbitrarily Distributed Tactile-Sensor Array Based on a Piezoelectric Resonator. 152-158
  
• Inmin Kao, Chi Ngo:
  Properties of the Grasp Stiffness Matrix and Conservative Control Strategies. 159-167
  
• Karl-Friedrich Böhringer, Bruce Randall Donald, Noel C. MacDonald:
  Programmable Force Fields for Distributed Manipulation, with Applications to MEMS Actuator Arrays and Vibratory Parts Feeders. 168-200
  
• Bryan J. Martin, James E. Bobrow:
  Minimum-Effort Motions for Open-Chain Manipulators with Task-Dependent End-Effector Constraints. 213-224
  
• I-Ming Chen, Song Huat Yeo, Guang Chen, Guilin Yang:
  Kernel for Modular Robot Applications: Automatic Modeling Techniques. 225-242
  
• Milos Zefran, Vijay Kumar, Christopher Croke:
  Metrics and Connections for Rigid-Body Kinematics. 242
  
• Zoe Doulgeri:
  Conditions for Kinematic Stability of Position/Force Control for Robots. 242
  

Volume 18, Number 3, March 1999

• Steven Abrams, Peter K. Allen, Konstantinos A. Tarabanis:
  Computing Camera Viewpoints in an Active Robot Work Cell. 267-285
  
• Konstantinos Daniilidis:
  Hand-Eye Calibration Using Dual Quaternions. 286-298
  
• Elon Rimon, Andrew Blake:
  Caging Planar Bodies by One-Parameter Two-Fingered Gripping Systems. 299-318
  
• Dong Sun, James K. Mills, Yunhui Liu:
  Position Control of Robot Manipulators Manipulating a Flexible Payload. 319-332
  
• Kim D. Reisinger, Gordon D. Moskowitz:
  Bipedal Locomotion: Stopping and the Standing/Balance Gait. 333-343
  
• Aristides A. G. Requicha:
  Massively Parallel Nanorobotics for Lithography and Data Storage. 344-350
  

Volume 18, Number 4, April 1999

• Daniela Rus:
  In-Hand Dexterous Manipulation of Piecewise-Smooth 3-D Objects. 355-381
  
• Robin R. Murphy, David Hershberger:
  Handling Sensing Failures in Autonomous Mobile Robots. 382-400
  
• Simukai W. Utete, Billur Barshan, Birsel Ayrulu:
  Voting as Validation in Robot Programming. 401-413
  
• Fumitoshi Matsuno, Michinori Hatayama:
  Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-Static Equations. 414-428
  
• P. R. McAree: Book Review: Remote Manipulation Systems: Quality Evaluation and Improvement. 429-430

Volume 18, Number 5, May 1999

• Claudio Altafini:
  A Path-Tracking Criterion for an LHD Articulated Vehicle. 435-441
  
• Camillo J. Taylor, Jana Kosecká, Robert Blasi, Jitendra Malik:
  A Comparative Study of Vision-Based Lateral Control Strategies for Autonomous Highway Driving. 442-453
  
• A. Tsoularis, Chandra Kambhampati:
  Avoiding Moving Obstacles by Deviation from a Mobile Robot's Nominal Path. 454-465
  
• Yan-Bin Jia, Michael Erdmann:
  Pose and Motion from Contact. 466-487
  
• Y. X. Chu, J. B. Gou, Z. X. Li:
  On the Hybrid Localization/Envelopment Problem. 491-501
  
• Giacomo Mantriota:
  Communication on Optimal Grip Points for Contact Stability. 502-513
  

Volume 18, Number 6, June 1999

• Ambarish Goswami:
  Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point. 523-533
  
• Robert R. Burridge, Alfred A. Rizzi, Daniel E. Koditschek:
  Sequential Composition of Dynamically Dexterous Robot Behaviors. 534-555
  
• P. R. McAree, R. W. Daniel:
  An Explanation of Never-Special Assembly Changing Motions for 3-3 Parallel Manipulators. 556-574
  
• Ming-Hwei Perng, Lin Hsiao:
  Inverse Kinematic Solutions for a Fully Parallel Robot with Singularity Robustness. 575-583
  
• Hiromi Mochiyama, Etsujiro Shimemura, Hisato Kobayashi:
  Shape Control of Manipulators with Hyper Degrees of Freedom. 584-600
  
• Alexander B. Kyatkin, Gregory S. Chirikjian:
  Computation of Robot Configuration and Workspaces via the Fourier Transform on the Discrete-Motion Group. 601-615
  

Volume 18, Number 7, July 1999

• S. Venkat Shastri: Editorial: Special Issue on Field and Service Robotics. 619-620
• John Bares, David Wettergreen:
  Dante II: Technical Description, Results, and Lessons Learned. 621-649
  
• Hans Jacob S. Feder, John J. Leonard, Christopher M. Smith:
  Adaptive Mobile Robot Navigation and Mapping. 650-668
  
• Richard Volpe:
  Navigation Results from Desert Field Tests of the Rocky 7 Mars Rover Prototype. 669-683
  
• Oussama Khatib, K. Yokoi, Oliver Brock, K. Chang, A. Casal:
  Robots in Human Environments: Basic Autonomous Capabilities. 684-696
  
• Robert Smith, Andy Frost, Penny Probert:
  A Sensor System for the Navigation of an Underwater Vehicle. 697-710
  
• Erwin Prassler, Jens Scholz, Paolo Fiorini:
  Navigating a Robotic Wheelchair in a Railway Station during Rush Hour. 711-727
  
• Yangsheng Xu, H. Benjamin Brown Jr., Kwok Wai Au:
  Dynamic Mobility with Single-Wheel Configuration. 728-738
  
• Jonathan M. Roberts, Peter I. Corke, Graeme J. Winstanley:
  Development of a 3500-Tonne Field Robot. 739-752
  
• Polly K. Pook, Christopher K. DeBolt:
  Test Bed Robot Development for Cooperative Submunitions Clearance. 753-759
  
• Hobart R. Everett, Douglas W. Gage:
  From Laboratory to Warehouse: Security Robots Meet the Real World. 760-768
  
• Eric Krotkov, John Blitch:
  The Defense Advanced Research Projects Agency (DARPA) Tactical Mobile Robotics Program. 769-776
  

Volume 18, Number 8, August 1999

• M. Charlebois, Kamal K. Gupta, Shahram Payandeh:
  Shape Description of Curved Surfaces from Contact Sensing Using Surface Normals. 779-787
  
• Deniz Baskent, Billur Barshan:
  Surface Profile Determination from Multiple Sonar Data Using Morphological Processing. 788-808
  
• Emilio J. González-Galván, Michael J. Seelinger:
  Efficient Camera-Space Target Disposition in a Matrix of Moments Structure Using Camera-Space Manipulation. 809-818
  
• Clément M. Gosselin:
  Static Balancing of Spherical 3-DOF Parallel Mechanisms and Manipulators. 819-829
  
• Ambarish Goswami, Michael A. Peshkin:
  Mechanically Implementable Accommodation Matrices for Passive Force Control. 830-844
  
• Craig R. Tischler, Andrew E. Samuel:
  Prediction of the Slop in General Spatial Linkages. 845-858
  

Volume 18, Number 9, September 1999

• Roy Featherstone:
  A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm. 867-875
  
• Roy Featherstone:
  A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy. 876-892
  
• Bertrand Tondu, Shafaat Ahmed Bazaz:
  The Three-Cubic Method: An Optimal Online Robot Joint Trajectory Generator under Velocity, Acceleration, and Wandering Constraints. 893-901
  
• Jean-Pierre Merlet:
  Determination of 6D Workspaces of Gough-Type Parallel Manipulator and Comparison between Different Geometries. 902-916
  
• Arthur D. Kuo:
  Stabilization of Lateral Motion in Passive Dynamic Walking. 917-930
  
• Hiroaki Yamaguchi:
  A Cooperative Hunting Behavior by Mobile-Robot Troops. 931-940
  
• Nicholas Xydas, Imin Kao:
  Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results. 941-950
  
• Caihua Xiong, Youfu Li, Han Ding, You-Lun Xiong:
  On the Dynamic Stability of Grasping. 951-958
  

Volume 18, Number 10, October 1999

• Srinivas Akella, Matthew T. Mason:
  Using Partial Sensor Information to Orient Parts. 963-997
  
• David J. Austin, Brenan J. McCarragher:
  Model-Adaptive Hybrid Dynamic Control for Robotic Assembly Tasks. 998-1012
  
• Zoe Doulgeri, Suguru Arimoto:
  A Force Commanded Impedance Control for a Robot Finger with Uncertain Kinematics. 1013-1029
  
• G. V. Tzvetkova, Germano Resconi:
  Solution of the Robot Forward Dynamics Problem by Using a Recursive Procedure Based on the General System Logical Theory. 1030-1043
  

Volume 18, Number 11, November 1999

• Michael Brady: Editorial: Preface to the Millennium Special Issue. 1051-1055
• Suguru Arimoto:
  Robotics Research toward Explication of Everyday Physics. 1056-1063
  
• Gerd Hirzinger, Max Fischer, Bernhard Brunner, Ralf Koeppe, Martin Otter, Markus Grebenstein, Ingo Schäfer:
  Advances in Robotics: The DLR Experience. 1064-1087
  
• John M. Hollerbach, William B. Thompson, Peter Shirley:
  The Convergence of Robotics, Vision, and Computer Graphics for User Interaction. 1088-1100
  
• Andreas Ruf, Radu Horaud:
  Visual Servoing of Robot Manipulators Part I: Projective Kinematics. 1101-1118
  
• Jean-Claude Latombe:
  Motion Planning: A Journey of Robots, Molecules, Digital Actors, and Other Artifacts. 1119-1128
  
• Matthew T. Mason:
  Progress in Nonprehensile Manipulation. 1129-1141
  

Volume 18, Number 12, December 1999

• James Nielsen, Bernard Roth:
  On the Kinematic Analysis of Robotic Mechanisms. 1147-1160
  
• Joris De Schutter, Herman Bruyninckx, Stefan Dutré, Jan De Geeter, Jayantha Katupitiya, Sabine Demey, Tine Lefebvre:
  Estimating First-Order Geometric Parameters and Monitoring Contact Transitions during Force-Controlled Compliant Motion. 1161-1184
  
• Yoshiaki Shirai:
  Robot Visor Research: Past and Future Roles. 1185-1200
  
• Russell H. Taylor, Patrick S. Jensen, Louis L. Whitcomb, Aaron C. Barnes, Rajesh Kumar, Dan Stoianovici, Puneet K. Gupta, Zhengxian Wang, Eugene de Juan, Louis R. Kavoussi:
  A Steady-Hand Robotic System for Microsurgical Augmentation. 1201-1210
  
• James Trevelyan:
  Redefining Robotics for the New Millennium. 1211-1223
  
• James P. Schmiedeler, Kenneth J. Waldron:
  The Mechanics of Quadrupedal Galloping and the Future of Legged Vehicles. 1224-1234
  
• Daniel E. Whitney, R. Mantripragada, J. D. Adams, S. J. Rhee:
  Toward a Theory for Design of Kinematically Constrained Mechanical Assemblies. 1235-1248