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ORCIDICRA 2000: San Francisco, CA, USA
- Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, April 24-28, 2000, San Francisco, CA, USA. IEEE 2000, ISBN 0-7803-5889-9
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. Stanisic, 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 H. Matthies:
Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation. 122-131 - Andrew E. Johnson, A. Miguel San Martin:
Motion Estimation from Laser Ranging for Autonomous Comet Landing. 132-138
Part Feeding and Fixturing
- Mike 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 Reginaldo Hughes Carvalho:
Towards Dynamic Target Identification Using Optimal Design of Experiments. 335-341 - Adam W. 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 IntuitiveTM 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 - Septimiu 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, Septimiu 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