International Journal of Robotic Research, Volume 19, 2000

Volume 19, Number 1, January 2000

• John M. Hollerbach: Editorial. 3-4
• Peter Vischer, Reymond Clavel:
  Argos: A Novel 3-DoF Parallel Wrist Mechanism. 5-11
  
• Israel A. Wagner, Michael Lindenbaum, Alfred M. Bruckstein:
  MAC Versus PC: Determinism and Randomness as Complementary Approaches to Robotic Exploration of Continuous Unknown Domains. 12-31
  
• A. S. Morris, Seddik Khemaissia:
  A Fast New Algorithm for a Robot Neurocontroller Using Inverse QR Decomposition. 32-41
  
• Jesse A. Reichler, Fred Delcomyn:
  Dynamics Simulation and Controller Interfacing for Legged Robots. 42-58
  
• Luis Montano, Francisco José García Izquierdo, José Luis Villarroel:
  Using the Time Petri Net Formalism for Specification, Validation, and Code Generation in Robot-Control Applications. 59-76
  
• Roy Featherstone: Book Review: Advances in Robot Kinematics: Analysis and Control. 77

Volume 19, Number 2, February 2000

• Neil C. Rowe, Robert S. Alexander:
  Finding Optimal-Path Maps for Path Planning across Weighted Regions. 83-95
  
• Howie Choset, Joel W. Burdick:
  Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph. 96-125
  
• Howie Choset, Sean Walker, Kunnayut Eiamsa-Ard, Joel W. Burdick:
  Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph. 126-148
  
• Yun-Hui Liu:
  Computing n-Finger Form-Closure Grasps on Polygonal Objects. 149-158
  
• Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama:
  Singularity-Consistent Parameterization of Robot Motion and Control. 159-182
  
• Dar-Zen Chen, Yu-Chu Huang, Dong-Wen Duh:
  Geared Robot Manipulators with a Jointed Unit: Topological Synthesis and Its Application. 183-194
  

Volume 19, Number 3, March 2000

• R. W. Daniel, P. R. McAree:
  Multivariable Stability of Force-Reflecting Teleoperation: Structures of Finite and Infinite Zeros. 203-224
  
• James P. Ostrowski, Jaydev P. Desai, Vijay Kumar:
  Optimal Gait Selection for Nonholonomic Locomotion Systems. 225-237
  
• Christopher J. Damaren:
  On the Dynamics and Control of Flexible Multibody Systems with Closed Loops. 238-253
  
• Vatchara Lertpiriyasuwat, Martin C. Berg, Keith W. Buffinton:
  Extended Kalman Filtering Applied to a Two-Axis Robotic Arm with Flexible Links. 254-270
  
• Boris Mayer St-Onge, Clément M. Gosselin:
  Singularity Analysis and Representation of the General Gough-Stewart Platform. 271-288
  
• Edward Y. L. Gu:
  A Configuration Manifold Embedding Model for Dynamic Control of Redundant Robots. 289-304
  

Volume 19, Number 4, April 2000

• Hun-ok Lim, Kazuo Tanie:
  Human Safety Mechanisms of Human-Friendly Robots: Passive Viscoelastic Trunk and Passively Movable Base. 307-335
  
• Chad B. Partridge, Mark W. Spong:
  Control of Planar Rigid Body Sliding with Impacts and Friction. 336-348
  
• P. R. McAree, R. W. Daniel:
  Stabilizing Impacts in Force-Reflecting Teleoperation Using Distance-to-Impact Estimates. 349-364
  
• József Kövecses, William L. Cleghorn, Robert G. Fenton:
  Modeling and Dynamic Performance Evaluation of Target Capture in Robotic Systems. 365-382
  
• Svetlana Ostrovskaya, Jorge Angeles, Raymond J. Spiteri:
  Dynamics of a Mobile Robot with Three Ball-Wheels. 383-393
  
• Prabir K. Pal, Dayal C. Kar:
  Gait Optimization through Search. 394-408
  

Volume 19, Number 5, May 2000

• Romuald Aufrère, Roland Chapuis, Frederic Chausse:
  A Dynamic Vision Algorithm to Locate a Vehicle on a Nonstructured Road. 411-423
  
• Estela Bicho, Pierre Mallet, Gregor Schöner:
  Target Representation on an Autonomous Vehicle with Low-Level Sensors. 424-447
  
• Jayaraman Krishnasamy, Mark J. Jakiela:
  Resonance-Induced Failure of Entrapment: Application to Industrial Parts Feeding. 448-466
  
• A. Frank van der Stappen, Chantal Wentink, Mark H. Overmars:
  Computing Immobilizing Grasps of Polygonal Parts. 467-479
  
• Zvi Shiller:
  Online Suboptimal Obstacle Avoidance. 480-497
  
• Koji Yoshida, Wisama Khalil:
  Verification of the Positive Definiteness of the Inertial Matrix of Manipulators Using Base Inertial Parameters. 498-510
  
• C. J. B. Macnab, Gabriele M. T. D'Eleuterio:
  Discrete-Time Lyapunov Design for Neuroadaptive Control of Elastic-Joint Robots. 511-525
  

Volume 19, Number 6, June 2000

• Mark W. Wright, Graham E. Deacon:
  A Catastrophe Theory Model of Planar Orientation. 531-565
  
• Hugh M. Herr, Thomas Aquinas McMahon:
  A Trotting Horse Model. 566-581
  
• Arthur G. O. Mutambara, Hugh F. Durrant-Whyte:
  Fully Decentralized Estimation and Control for a Modular Wheeled Mobile Robot. 582-596
  
• Alain Lambert, Nadine Le Fort-Piat:
  Safe Task Planning Integrating Uncertainties and Local Maps Federations. 597-611
  
• Qiao Lin, Joel W. Burdick:
  Objective and Frame-Invariant Kinematic Metric Functions for Rigid Bodies. 612-625
  

Volume 19, Number 7, July 2000

• Michael Erdmann, Yan-Bin Jia: Editorial: Special Issue on Tactile Presence. 635
• Mark H. Lee:
  Tactile Sensing: New Directions, New Challenges. 636-643
  
• Peter J. Berkelman, Ralph L. Hollis:
  Lorentz Magnetic Levitation for Haptic Interaction: Device Design, Performance, and Integration with Physical Simulations. 644-667
  
• Chih-Hao Ho, Cagatay Basdogan, Mandayam A. Srinivasan:
  Ray-Based Haptic Rendering: Force and Torque Interactions between a Line Probe and 3D Objects in Virtual Environments. 668-683
  
• Steven C. Venema, Blake Hannaford:
  Experiments in Fingertip Perception of Surface Discontinuities. 684-696
  
• Marek Teichmann, Bud Mishra:
  Reactive Robotics I: Reactive Grasping with a Modified Gripper and Multifingered Hands. 697-708
  

Volume 19, Number 8, August 2000

• Brian Armstrong, Bruce A. Wade:
  Nonlinear PID Control with Partial State Knowledge: Damping without Derivatives. 715-731
  
• Qiang Huang, Kazuo Tanie, Shigeki Sugano:
  Coordinated Motion Planning for a Mobile Manipulator considering Stability and Manipulation. 732-742
  
• Alexander M. Formal'sky, Christine Chevallereau, B. Perrin:
  On Ballistic Walking Locomotion of a Quadruped. 743-761
  
• Kevin D. Wise, Adrian Bowyer:
  A Survey of Global Configuration-Space Mapping Techniques for a Single Robot in a Static Environment. 762-779
  
• Marc Rouff, Michel Cotsaftis:
  Eigenfrequencies Invariance Property in One-Link Robotic Arm. 780-783
  
• Fu Hongguang, Yang Lu, Zhang Jingzhong:
  A Set of Geometric Invariants for Kinematic Analysis of 6R Manipulators. 784-792
  

Volume 19, Number 9, September 2000

• Nicola J. Ferrier, Roger W. Brockett:
  Reconstructing the Shape of a Deformable Membrane from Image Data. 795-816
  
• Fabian Schwarzer, Achim Schweikard, Leo Joskowicz:
  Efficient Linear Unboundedness Testing: Algorithm and Applications to Translational Assembly Planning. 817-834
  
• Shih-Feng Chen, Imin Kao:
  Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers. 835-847
  
• William R. Doggett, William C. Messner, Jer-Nan Juang:
  Multiple Center of Mass Space Images of Single Objects and Their Impact on Path Planning. 848-856
  

Volume 19, Number 10, October 2000

• Wesley H. Huang, Matthew T. Mason:
  Mechanics, Planning, and Control for Tapping. 883-894
  
• Gordon Kao, Penny Probert:
  Feature Extraction from a Broadband Sonar Sensor for Mapping Structured Environments Efficiently. 895-913
  
• José Antonio López Orozco, Jesús Manuel de la Cruz, E. Besada, P. Ruipérez:
  An Asynchronous, Robust, and Distributed Multisensor Fusion System for Mobile Robots. 914-932
  
• Masayuki Inaba, Satoshi Kagami, Fumio Kanehiro, Yukiko Hoshino, Hirochika Inoue:
  A Platform for Robotics Research Based on the Remote-Brained Robot Approach. 933-954
  
• Christopher M. Clark, James K. Mills:
  Robotic System Sensitivity to Neural Network Learning Rate: Theory, Simulation, and Experiments. 955-968
  

Volume 19, Number 11, November 2000

• John Bares, Howie Choset, Alexander Zelinsky: Editorial: Special Issue on Field and Service Robotics. 971
• Sebastian Thrun, Michael Beetz, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz:
  Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva. 972-999
  
• Dana R. Yoerger, Deborah S. Kelley, John R. Delaney:
  Fine-Scale Three-Dimensional Mapping of a Deep-Sea Hydrothermal Vent Site Using the Jason ROV System. 1000-1014
  
• Dimitrios Apostolopoulos, Michael D. Wagner, Benjamin Shamah, Liam Pedersen, Kimberly J. Shillcutt, William Whittaker:
  Technology and Field Demonstration of Robotic Search for Antarctic Meteorites. 1015-1032
  
• Robin Kirkham, Patrick D. Kearney, Kevin J. Rogers, John Mashford:
  PIRAT - A System for Quantitative Sewer Pipe Assessment. 1033-1053
  
• Gerard Lacey, Shane MacNamara:
  Context-Aware Shared Control of a Robot Mobility Aid for the Elderly Blind. 1054-1065
  
• Robert Holmberg, Oussama Khatib:
  Development and Control of a Holonomic Mobile Robot for Mobile Manipulation Tasks. 1066-1074
  
• Dirk Langer, Markus Mettenleiter, Franz Härtl, Christoph Fröhlich:
  Imaging Ladar for 3-D Surveying and CAD Modeling of Real-World Environments. 1075-1088
  
• Salah Sukkarieh, Peter W. Gibbens, Ben Grocholsky, Keith Willis, Hugh F. Durrant-Whyte:
  A Low-Cost, Redundant Inertial Measurement Unit for Unmanned Air Vehicles. 1089-1103
  
• Alonzo Kelly:
  Mobile Robot Localization from Large-Scale Appearance Mosaics. 1104-1125
  
• Shigeo Hirose:
  Variable Constraint Mechanism and Its Application for Design of Mobile Robots. 1126-1138
  

Volume 19, Number 12, December 2000

• Srinivas Akella, Matthew T. Mason:
  Orienting Toleranced Polygonal Parts. 1147-1170
  
• Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazuo Tanie:
  Collision-Free Trajectory Planning for a 3-DoF Robot with a Passive Joint. 1171-1184
  
• S. E. Salcudean, Ming Zhu, Wen-Hong Zhu, Keyvan Hashtrudi-Zaad:
  Transparent Bilateral Teleoperation under Position and Rate Control. 1185-1202
  
• J. Van Vliet, I. Sharf, O. Ma:
  Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks. 1203-1217
  
• Vitor M. Santos, José P. Castro, M. Isabel Ribeiro:
  A Nested-Loop Architecture for Mobile Robot Navigation. 1218-1235
  
• Stuart R. Lucas, Craig R. Tischler, Andrew E. Samuel:
  Real-Time Solution of the Inverse Kinematic-Rate Problem. 1236-1244
  
• Nicola Pio Belfiore, Augusto Di Benedetto:
  Connectivity and Redundancy in Spatial Robots. 1245-1261