ICRA 2004:
New Orleans,
LA,
USA
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA.
IEEE 2004 
Agent Based/Multi Robot Systems I
Multi Legged Robots
- Joel Weingarten, Gabriel A. D. Lopes, Martin Buehler, Richard E. Groff, Daniel E. Koditschek:
Automated Gait Adaptation for Legged Robots.
2153-2158
- Dirk Spenneberg, Kevin McCullough, Frank Kirchner:
Stability of Walking in a Multilegged Robot Suffering Leg Loss.
2159-2164
- Hiroshi Igarashi, Masayoshi Kakikura:
Path and Posture Planning for Walking Robots by Artificial Potential Field Method.
2165-2170
- Kenji Kamikawa, Tatsuo Arai, Kenji Inoue, Yasushi Mae:
Omni-directional Gait of Multi-legged Rescue Robot.
2171-2176
- Emre Karalarli, Aydan M. Erkmen, Ismet Erkmen:
Intelligent Gait Synthesizer for Hexapod Walking Rescue Robots.
2177-2182
Distributed Robot Systems and Applications
- Yasuyoshi Yokokohji, Satoshi Chaen, Tsuneo Yoshikawa:
Evaluation of Traversability of Wheeled Mobile Robots on Uneven Terrains by Fractal Terrain Model.
2183-2188
- Boyoon Jung, Gaurav S. Sukhatme:
A Generalized Region-based Approach for Multi-target Tracking in Outdoor Environments.
2189-2195
- Zhen Zhang, Nilanjan Sarkar, Xiaoping Yun:
Supervisory Control of a Mobile Robot for Agile Motion Coordination.
2196-2203
- Jennifer E. Walter, Mary E. Brooks, David F. Little, Nancy M. Amato:
Enveloping Multi-pocket Obstacles with Hexagonal Metamorphic Robots.
2204-2209
- Albert Ko, T. L. Lau, Henry Y. K. Lau:
Topological Representation and Analysis Method for Multi-port and Multi-orientation Docking Modular Robots.
2210-2215
Underactuated Systems
- Wenzeng Zhang, Qiang Chen, Zhenguo Sun, Dongbin Zhao:
Passive Adaptive Grasp Multi-fingered Humanoid Robot Hand with High Under-actuated Function.
2216-2221
- Christine Chevallereau, J. W. Grizzle, Claude H. Moog:
Nonlinear Control of Mechanical Systems with one Degree of Underactuation.
2222-2228
- Tarek Hamel, Robert E. Mahony:
Pure 2D Visual Servo Control for a Class of Under-actuated Dynamic Systems.
2229-2235
- Minzhou Luo, Tao Mei, Xiaohua Wang, Yong Yu:
Grasp Characteristics of an Underactuated Robot Hand.
2236-2241
- Prasun Choudhury, Benjamin Stephens, Kevin M. Lynch:
Inverse Kinematics-based Motion Planning for Underactuated Systems.
2242-2248
Automation:
Manufacturing Systems
- Zhiyong Yang, Tian Huang:
A New Method for Tuning PID Parameters of a 3 DoF Reconfigurable Parallel Kinematic Machine.
2249-2254
- Fabio Balduzzi, Marco Ghirardi, Giuseppe Menga:
Performance Optimization of Manufacturing Systems: an Hybrid Systems Approach.
2255-2260
- Jingshan Li, Ningjian Huang:
Modeling and Analysis of a Multiple Product Manufacturing System with Split and Merge.
2261-2266
- Shui Yuan, Ming Ge, Hai Qiu, Jay Lee, Yangsheng Xu:
Intelligent Diagnosis in Electromechanical Operation Systems.
2267-2272
- Johan Richardsson, Kristin Danielsson, Martin Fabian:
Design of Control Programs for Efficient Handling of Errors in Flexible Manufacturing Cells.
2273-2278
Robot Vision Applications II
- Kanji Tanaka, Kentaro Yamano, Eiji Kondo, Yoshihiko Kimuro:
A Vision System for Detecting Mobile Robots in Office Environments.
2279-2284
- Yonghuai Liu, Longzhuang Li, Baogang Wei:
3D Shape Matching using Collinearity Constraint.
2285-2290
- Dongwei Cao, Osama Masoud, Daniel Boley, Nikolaos Papanikolopoulos:
Online Motion Classification using Support Vector Machines.
2291-2296
- Alessandro R. L. Zachi, Liu Hsu, Fernando C. Lizarralde:
Performing Stable 2D Adaptive Visual Positioning/tracking Control without Explicit Depth Measurement.
2297-2302
- Harini Veeraraghavan, Nikolaos Papanikolopoulos:
Combining Multiple Tracking Modalities for Vehicle Tracking at Traffic Intersections.
2303-2308
Human Robot Interaction II
- Phongchai Nilas, Pramila Rani, Nilanjan Sarkar:
An Innovative High-level Human-robot Interaction for Disabled Persons.
2309-2314
- Dan R. Olsen, Stephen Bart Wood, Jonathan Turner:
Metrics for Human Driving of Multiple Robots.
2315-2320
- Elizabeth Sklar:
A Long-term Approach to Improving Human-robot Interaction: RoboCupJunior Rescue.
2321-2326
- Jean Scholtz, Jeff Young, Jill L. Drury, Holly A. Yanco:
Evaluation of Human-robot Interaction Awareness in Search and Rescue.
2327-2332
- Kyle B. Reed, Michael A. Peshkin, J. Edward Colgate, James L. Patton:
Initial Studies in Human-robot-human Interaction: Fitts' Law for two People.
2333-2338
Sensing and Control for UAVs
- Franck Ruffier, Nicolas H. Franceschini:
Visually Guided Micro-aerial Vehicle: Automatic Take Off, Terrain Following, Landing and Wind Reaction.
2339-2346
- William E. Green, Paul Y. Oh, Geoffrey Barrows:
Flying Insect Inspired Vision for Autonomous Aerial Robot Maneuvers in Near-earth Environments.
2347-2352
- Tomonari Furukawa, Frédéric Bourgault, Hugh F. Durrant-Whyte, Gamini Dissanayake:
Dynamic Allocation and Control of Coordinated UAVs to Engage Multiple Targets in a Time-optimal Manner.
2353-2358
- Abdellah Mokhtari, Abdelaziz Benallegue:
Dynamic Feedback Controller of Euler Angles and Wind Parameters Estimation for a Quadrotor Unmanned Aerial Vehicle.
2359-2366
- Rajkiran Madangopal, Zaeem A. Khan, Sunil Kumar Agrawal:
Energetics based Design of Small Flapping Wing Air Vehicles.
2367-2372
Mobile Robot Navigation and Path Planning II
Biomechanical Systems
- Marko B. Popovic, Andreas Hofmann, Hugh M. Herr:
Angular Momentum Regulation during Human Walking: Biomechanics and Control.
2405-2411
- Deok-Ho Kim, Byungkyu Kim, Seok Yun, SangJoo Kwon:
Cellular Force Measurement for Force Reflected Biomanipulation.
2412-2417
- Alexandre Colot, Gilles Caprari, Roland Siegwart:
InsBot: Design of an Autonomous Mini Mobile Robot able to Interact with Cockroaches.
2418-2423
- Kazuo Kiguchi, Toshio Fukuda:
A 3 DOF Exoskeleton for Upper Limb Motion Assist: Consideration of the Effect of Bi-articular Muscles.
2424-2429
- Jerry E. Pratt, Benjamin T. Krupp, Christopher J. Morse, Steven H. Collins:
The RoboKnee: an Exoskeleton for Enhancing Strength and Endurance during Walking.
2430-2435
Automation:
Transportation
- Lonnie J. Love, John F. Jansen, François G. Pin:
On the Modeling of Robots Operating on Ships.
2436-2443
- Hyun Taek Cho, Poongwoo Jeon, Seul Jung:
Implementation and Control of a Roadway Crack Tracking Mobile Robot with Force Regulation.
2444-2449
- Bart Stouten, Aart-Jan de Graaf:
Cooperative Transportation of a Large Object - Development of an Industrial Application.
2450-2455
- Shih-Shinh Huang, Chung-Jen Chen, Pei-Yung Hsiao, Li-Chen Fu:
On-board Vision System for Lane Recognition and Front-vehicle Detection to Enhance Driver's Awareness.
2456-2461
- Chin Pei Tang, Rajankumar Bhatt, Venkat Krovi:
Decentralized Kinematic Control of Payload by a System of Mobile Manipulators.
2462-2467
Rehabilitation Robotics II
- Choon-Young Lee, Il-Kwon Jeong, In-Ho Lee, Kap-Ho Seo, Ju-Jang Lee:
Development of Rehabilitation Robot Systems for Walking-aid.
2468-2473
- Sai K. Banala, Sunil Kumar Agrawal, Abbas Fattah, Katherine Rudolph, John P. Scholz:
A Gravity balancing Leg Orthosis for Robotic Rehabilitation.
2474-2479
- Hiroshi Kobayashi, Kazuaki Hiramatsu:
Development of Muscle Suit for Upper Limb.
2480-2485
- Yoshikazu Mori, Kazuhiro Takayama, Tatsuya Nakamura:
Development of Straight Style Transfer Equipment for Lower Limbs Disabled.
2486-2491
- Akihisa Okino, Takahiro Inoue, Yu Fujii, Toshihide Nasu, Hideaki Takanobu, Atsuo Takanishi, Kayoko Ohtsuki, Masatoshi Ohnishi:
Development of a Clinical Jaw Movement Training Robot for Intermaxillary Traction Therapy.
2492-2497
Automation:
Medical Applications II
- John Vogan, Andreas Wingert, Jean-Sebastien Plante, Steven Dubowsky, Moustapha Hafez, Daniel F. Kacher, Ferenc A. Jolesz:
Manipulation in MRI Devices using Electrostrictive Polymer Actuators: with an Application to Reconfigurable Imaging Coils.
2498-2504
- Fujio Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Hiroshi Ishii, Ken-ichi Sudo, Masakatsu G. Fujie, Takeyoshi Dohi, Shin-ichi Takamoto:
A Prototype Master-slave System Consisting of two MR-compatible Manipulators with Interchangeable Surgical Tools: Part of a Unified Support System for Diagnosis and Treatment.
2505-2510
- Seiichi Ikeda, Fumihito Arai, Toshio Fukuda, Makoto Negoro:
An In Vitro Soft Membranous Model of Individual Human Cerebral Artery Reproduced with Visco-elastic Behavior.
2511-2516
- Emad Boctor, Gregory S. Fischer, Michael A. Choti, Gabor Fichtinger, Russell H. Taylor:
A Dual-armed Robotic System for Intraoperative Ultrasound Guided Hepatic Ablative Therapy: a Prospective Study.
2517-2522
- Christopher W. Kennedy, Jaydev P. Desai:
Model-based Control of the Mitsubishi PA-10 Robot Arm: Application to Robot-assisted Surgery.
2523-2528
Space Robots II
Agent Based/Multi Robot Systems II
- Peijiang Yuan, Mehrdad Moallem, Rajnikant V. Patel:
A Real-time Task-oriented Scheduling Algorithm for Distributed Multi-robot Systems.
2562-2567
- Jindong Tan, Ning Xi, Weihua Sheng, Jizhong Xiao:
Modeling Multiple Robot Systems for Area Coverage and Cooperation.
2568-2573
- Jing Zhang, Ronald Lumia, Gregory P. Starr, John E. Wood:
Sharing Inertia Load between Multiple Robots with Active Compliant Grippers using Trajectory Pre-shaping.
2574-2581
- Sergio Monteiro, Miguel Vaz, Estela Bicho:
Attractor Dynamics Generates Robot Formation: from Theory to Implementation.
2582-2586
- Dylan A. Shell, Maja J. Mataric:
Directional Audio Beacon Deployment: an Assistive Multi-robot Application.
2588-2594
Quadruped Robots
Learning Techniques
Flexible and Elastic Joint Robots
- Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger:
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation.
2659-2665
- Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger:
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments.
2666-2672
- Hideaki Takanobu, Tadayoshi Tandai, Hirofumi Miura:
Multi-DOF Flexible Robot base on Tongue.
2673-2678
- C. J. B. Macnab, Gabriele M. T. D'Eleuterio, Max Meng:
CMAC Adaptive Control of Flexible-joint Robots using Backstepping with Tuning Functions.
2679-2686
- Loredana Zollo, Alessandro De Luca, Bruno Siciliano:
Regulation with On-line Gravity Compensation for Robots with Elastic Joints.
2687-2692
Automation:
Supply Chains
Robot Vision Applications III
Human Robot Interaction III
- Aaron Steinfeld:
Interface Lessons for Fully and Semi-autonomous Mobile Robots.
2752-2757
- Hiroyuki Ishii, Tomohide Aoki, Masaki Nakasuji, Hiroyasu Miwa, Atsuo Takanishi:
Experimental Study on Interaction between a Rat and a Rat-robot based on Animal Psychology - Analysis of Basic Factors Necessary for a Symbiosis between the Rat and the Robot.
2758-2763
- Peter S. March, Ross C. Taylor, Chetan Kapoor, Delbert Tesar:
Decision Making for Remote Robotic Operations.
2764-2769
- Seri Nonaka, Kenji Inoue, Tatsuo Arai, Yasushi Mae:
Evaluation of Human Sense of Security for Coexisting Robots using Virtual Reality. 1st Report: Evaluation of Pick and Place Motion of Humanoid Robots.
2770-2775
- Mehdi Ammi, Antoine Ferreira, Jean-Guy Fontaine:
Virtualized Reality Interface for Tele-micromanipulation.
2776-2781
Modeling
- Mihoko Otake, Yoshihiko Nakamura, Hirochika Inoue:
Pattern Formation Theory for Electroactive Polymer Gel Robots.
2782-2787
- Seung-kook Yun, Sungchul Kang, Munsang Kim, Seong-Sik Yoon:
Input Preshaping Control of the Safe Arm with MR-based Passive Compliant Joints.
2788-2793
- Peng Pan, Kevin M. Lynch, Michael A. Peshkin, J. Edward Colgate:
Static Single-arm Force Generation with Kinematic Constraints.
2794-2800
- Whee Kuk Kim, Kiyoung Choi, Byung-Ju Yi:
A Mobility Analysis Method of Closed-chain Mechanisms with Over-constraints and Non-holonomic Constraints.
2801-2807
- Takeshi Aoki, Akiyoshi Ochiai, Shigeo Hirose:
Study on Slime Robot: Development of the Mobile Robot Prototype Model using Bridle Bellows.
2808-2813
Path Planning Techniques
Biorobotics
- Akihiko Ichikawa, Fumihito Arai, Hisataka Maruyama, Toshio Fukuda, Tohoru Katsuragi:
Single Cell Trap on a Chip using In-situ Microfabrication with Photo-crosslinkable Resin and Thermal Gelation.
2848-2853
- Yu Sun, Michael A. Greminger, Bradley J. Nelson:
Investigating Protein Structure with a Microrobotic System.
2854-2859
- Sanjay S. Joshi, Jeffrey C. Schank, Nicolas Giannini, Lisa Hargreaves, Randall Bish:
Development of Autonomous Robotics Technology for the Study of Rat Pups.
2860-2864
- Walter Dan Stiehl, Levi Lalla, Cynthia Breazeal:
A "Somatic Alphabet" Approach to "Sensitive Skin".
2865-2870
- Matthew Boggess, Robert T. Schroer, Roger D. Quinn, Roy E. Ritzmann:
Mechanized Cockroach Footpaths Enable Cockroach-like Mobility.
2871-2876
Reconfigurable Robots
Hybrid Systems and Control
- Dong Sun, Jinjun Shan, Yuxin Su, Hugh H. T. Liu:
Enhanced Hybrid Control of a Rotational Flexible Beam with Nonlinear Differentiator and PZT Actuators.
2906-2911
- Yantao Shen, Ning Xi, Uchechukwu C. Wejinya, Wen J. Li, Jizhong Xiao:
Infinite Dimension System Approach for Hybrid Force/position Control in Micromanipulation.
2912-2917
- Andrea Castellani, Debora Botturi, Manuele Bicego, Paolo Fiorini:
Hybrid HMM/SVM Model for the Analysis and Segmentation of Teleoperation Tasks.
2918-2923
- Yu Sun, Ning Xi, Yuechao Wang:
Modeling and Analysis of Perceptive Robot Controller based on Hybrid Automata.
2924-2929
- Alessandro Corrêa Victorino, Patrick Rives:
An Hybrid Representation Well-adapted to the Exploration of Large Scale Indoors Environments.
2930-2935
Robot Fingers
- Suguru Arimoto, Ji-Hun Bae, Hiroe Hashiguchi, Ryuta Ozawa:
Why does Surplus DOF of Robot Fingers Enhance Dexterity of Object Manipulation: Analysis and Simulation of Overall Fingers-object Dynamics.
2936-2943
- Byoung-Ho Kim, Shinichi Hirai:
Characterizing the Dynamic Deformation of Soft Fingertips and Analyzing its Significance for Multi-fingered Operations.
2944-2950
- Yusuke Maeda, Tomohisa Nakamura, Tamio Arai:
Motion Planning of Robot Fingertips for Graspless Manipulation.
2951-2956
- Takahiro Inoue, Shinichi Hirai:
Rotational Contact Model of Soft Fingertip for Tactile Sensing.
2957-2962
- Xuecheng Yin, Kok-Meng Lee, Chao-Chieh Lan:
Computational Models for Predicting the Deflected Shape of a Non-uniform, Flexible Finger.
2963-2968
Space Robots III
- Yang Liu, Tao Mei, Xiaohua Wang, Bin Liang:
Multisensory Gripper and Local Autonomy of Extravehicular Mobile Robot.
2969-2973
- Matthew D. Lichter, Steven Dubowsky:
State, Shape, and Parameter Estimation of Space Objects from Range Images.
2974-2979
- Christopher R. Hirschi, Mark A. Minor:
Testing and Evaluation of an Automated Tether Management System for Microgravity Extravehicular Activities.
2980-2986
- Shingo Shimoda, Andreas Wingert, Kei Takahashi, Takashi Kubota, Ichiro Nakatani:
Hopping Direction Controllability for Small Body Exploration Robot.
2987-2992
- Richard Washington, David S. Lees:
Utility-based Plan Insertion for Continuous Resources.
2993-2999
Multi Agent Systems:
Control Methods
- Craig L. Robinson, Daniel Block, Sean M. Brennan, Francesco Bullo, Jorge Cortés:
Nonsmooth Analysis and Sonar-based Implementation of Distributed Coordination Algorithms.
3000-3005
- Herbert G. Tanner:
Flocking with Obstacle Avoidance in Switching Networks of Interconnected Vehicles.
3006-3011
- Savvas G. Loizou, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos:
Decentralized Feedback Stabilization of Multiple Nonholonomic Agents.
3012-3017
- Mathieu Lemay, François Michaud, Dominic Létourneau, Jean-Marc Valin:
Autonomous Initialization of Robot Formations.
3018-3023
- Robert Grabowski, Pradeep K. Khosla, Howie Choset:
Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams.
3024-3029
Biped Locomotion
- Jun Morimoto, Gordon Cheng, Christopher G. Atkeson, Garth Zeglin:
A Simple Reinforcement Learning Algorithm for Biped Walking.
3030-3035
- Gen Endo, Jun Morimoto, Jun Nakanishi, Gordon Cheng:
An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control.
3036-3042
- Shinya Aoi, Kazuo Tsuchiya, Katsuyoshi Tsujita:
Turning Control of a Biped Locomotion Robot using Nonlinear Oscillators.
3043-3048
- Masahiro Doi, Yasuhisa Hasegawa, Toshio Fukuda:
Passive Trajectory Control of the Lateral Motion in Bipedal Walking.
3049-3054
- Yusuke Sugahara, Takuya Hosobata, Yutaka Mikuriya, Hiroyuki Sunazuka, Hun-ok Lim, Atsuo Takanishi:
Realization of Dynamic Human-carrying Walking by a Biped Locomotor.
3055-3060
Adaptive Control
- Mehrzad Namvar, Farhad Aghili:
Adaptive Force-motion Control of Coordinated Robots Interacting with Geometrically Unknown Environments.
3061-3068
- Victor F. Muñoz-Martínez, Isabel García-Morales, Jesus Morales-Rodriguez, Jesús M. Gómez de Gabriel, Jesús Fernández-Lozano, Alfonso García-Cerezo:
Adaptive Cartesian Motion Control Approach for a Surgical Robotic Cameraman.
3069-3074
- Chien-Chern Cheah, Chao Liu, Jean-Jacques E. Slotine:
Approximate Jacobian Adaptive Control for Robot Manipulators.
3075-3080
- Qing Hua Xia, Ser Yong Lim, Marcelo H. Ang Jr., Tao Ming Lim:
Adaptive Joint Friction Compensation using a Model-based Operational Space Velocity Observer.
3081-3086
- Hiroshi Kawano, Hideyuki Ando, Tatsuya Hirahara:
Fast three-DOF Control for Multi-DOF Ultrasonic Servo Motor by Online Adaptation.
3087-3092
Omnidirectional Robots
Scheduling and Disassembly
Range Sensing
- Yuichiro Hirota, Tomohito Masuda, Ryo Kurazume, Koichi Ogawara, Kazuhide Hasegawa, Katsushi Ikeuchi:
Flying Laser Range Finder and its Data Registration Algorithm.
3155-3160
- Jun Masaki, Nobuhiro Okada, Eiji Kondo:
Prototype Range Finder using an Image Sensing Device with Electronic Pattern Masks.
3161-3166
- Kazunori Umeda:
A Compact Range Image Sensor Suitable for Robots.
3167-3172
- Fan Tang, Martin David Adams, Javier Ibanez Guzman, W. Sardha Wijesoma:
Pose Invariant, Robust Feature Extraction from Data with a Modified Scale Space Approach.
3173-3179
- Raj Madhavan, Tsai Hong, Elena Messina:
Temporal Range Registration for Unmanned Ground and Aerial Vehicles.
3180-3187
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