Session: TuA1-01 HUMANOIDS I

[Pages:39]Session: TuA1-01 HUMANOIDS I

Dynamic Control of a Bipedal Walking Robot Actuated with Pneumatic Artificial Muscles ........................... 1 Bram Vanderborght, Bj?rn Verrelst, Ronald Van Ham, Jimmy Vermeulen, Dirk Lefeber

Further Steps Toward More Human-like Passive Bipedal Walking Robots ...................................................... 7 Andrej Olensek, Zlatko Matjacic

A Bio-Inspired Neuro-Controller for an Anthropomorphic Head-Arm Robotic System ................................... 12 Loredanza Zollo, Eugenio Guglielmelli, Giancarlo Teti, Cecilia Laschi, Selim Eskiizmirliler, Franck Carenzi, Patrice Bendahan, P. Gorce, Marc Maier, Yves Burnod, P. Dario

Motion Emergency of Humanoid Robots by an Attractor Design of a Nonlinear Dynamics .......................... 18 Masafumi Okada, Kenta Osato, Yoshihiko Nakamura

Session: TuA1-02 VISION/SLAM I

The vSLAM Algorithm for Robust Localization and Mapping ............................................................................ 24 Niklas Karlsson, Enrico Di Bernardo, Jim Ostrowski, Luis Goncalves, Paolo Pirjanian, Mario E. Munich

Vision SLAM in the Measurement Subspace ..................................................................................................... 30 John Folkesson, Patric Jensfelt, Henrik Christensen

Entropy Minimization SLAM Using Stereo Vision ............................................................................................... 36 Juan Manuel S?ez Mart?nez, Francisco Escolano Ruiz

A Visual Front-end for Simultaneous Localization and Mapping ...................................................................... 44 Luis Goncalves, Enrico Di Benardo, Dave Benson, Marcus Svedman, Jim Ostrowski, Niklas Karlsson, Paolo Pirjanian

Session: TuA1-03 TELEPRESENCE

Tele-existence Vision System with Image Stabilization for Rescue Robots .................................................... 50 Koichiro Hayashi, Yasuyoshi Yokokohji, Tsuneo Yoshikawa

Effect of Driving Delay with an Acoustical Tele-presence Robot, TeleHead .................................................... 56 Iwaki Toshima, Shigeaki Aoki

Telepresence Systems With Automatic Preservation of User Head Height, Local Rotation, and Remote Translation ........................................................................................................................................ 62

Norman P. Jouppi, Stan Thomas

Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints ............................ 69 Jianbo Su, Zhi-Wei Luo

Session: TuA1-04 MULTI ROBOT COMMUNICATION

Competitive Multi-robot Teleoperation ................................................................................................................. 75 Jingtai Liu, Lei Sun, Tao Chen, Xingbo Huang, Chunying Zhao

Making Collective Behaviours to Work through Implicit Communication ......................................................... 81 Antonio D`Angelo, Enrico Pagello

An Efficient Group Communication Protocol for Mobile Robots ....................................................................... 87 Saumitra M. Das, Y. Charlie Hu, C. S. George Lee, Yung-Hsiang Lu

Efficient Unicast Messaging for Mobile Robots .................................................................................................. 93 Saumitra M. Das, Y. Charlie Hu, C.S. George Lee, Yung-Hsiang Lu

Session: TuA1-05 MULTI ROBOT PLANNING

Comparison of Alternate Methods for Distributed Motion Planning of Robot Collectives within a Potential Field Framework .................................................................................................................................. 99

Leng-Feng Lee, Rajankumar Bhatt, Venkat Krovi

Experimental Research of a Passive Multiple Trailer System for Backward Motion Control ......................... 105 Myoungkuk Park, Woojin Chung, Munsang Kim

Motion Planning Algorithms for a Group of Micro-robots Carrying an Object ................................................. 111 Grigoris Lionis, Kostas J. Kyriakopoulos

Reconfiguration Planning Among Obstacles for Heterogeneous Self-Reconfiguring Robots ........................ 117 Robert Fitch, Zack Butler, Daniela Rus

Session: TuA1-06 OBJECT RECOGNITION

Robust Object Detection at Regions of Interest with an Application in Ball Recognition .............................. 125 Sara Mitri, Simone Frintrop, Kai Pervoelz, Hartmut Surmann, Andreas Nuechter

Urban Object Recognition from Informative Local Features ............................................................................. 131 Gerald Fritz, Christin Seifert, Lucas Paletta

Fast Computational Methods for Visually Guided Robots ................................................................................. 138 Maryam Mahdaviani, Nando de Freitas, Bob Fraser, Firas Hamze

Fast Appearance Based Object Recognition: A Hybrid Approach .................................................................... 144 Philip Blackwell, David Austin

Session: TuA1-07 NANOROBOTS I

Step Modelling of a High Precision 2DoF (Linear-Angular) Microsystem ....................................................... 150 Micky Rakotondrabe, Yassine Haddab, Philippe Lutz

Modeling and Control of AFM-based Nano-manipulation Systems ................................................................. 157 Khalid El Rifai, Osamah El Rifai, Kamal Youcef-Toumi

Modeling and Control of Active End Effector for the AFM Based Nano Robotic Manipulators ..................... 163 Jiangbo Zhang, Guangyong Li, Ning Xi

Planning and Control for Automated Nanorobotic Assembly ............................................................................ 169 Heping Chen, Ning Xi, Guangyong Li, Jiangbo Zhang, Mathew Prokos

Session: TuA1-08 UNDERWATER ROBOTS I

Accurate and Practical Thruster Modeling for Underwater Vehicles ................................................................ 175 Jinhyun Kim, Jonghui Han, Wan Kyun Chung, Junku Yuh, Pan-Mook Lee

Synthetic Jet Propulsion for Small Underwater Vehicles ................................................................................... 181 AnnMarie Polsenberg Thomas, Michele Milano, Maxwell Grazier G`Sell, Kathleen Fischer, Joel Burdick

Autonomous Towed Vehicle for Underwater Inspection in a Port Area ............................................................ 188 Jin-Kyu Choi, Hiroshi Sakai, Toshinari Tanaka

Path Planning of Autonomous Underwater Vehicles in Current Fields with Complex Spatial Variability: an A* Approach ..................................................................................................................................................... 194

Bartolom? Garau, Alberto ?lvarez, Gabriel Oliver

Session: TuA1-09 SURGICAL ROBOTS I

A Robotic System with Force Feedback for Micro-Surgery ............................................................................... 199 Shuxin Wang, Jienan Ding, Jintian Yun, Qunzhi Li , Baoping Han

Design of a High Fidelity Haptic Device for Telesurgery ................................................................................... 205 Florian Gosselin, Catherine Bidard, Julien Brisset

BRIGIT, a Robotized Tool Guide for Orthopedic Surgery ................................................................................... 211 Pierre Maillet, Bertin Nahum, Lucien Blondel, Philippe Poignet, Etienne Dombre

Performance of Surgical Robots with Automatically Generated Spatial Virtual Fixtures ............................... 217 Ming Li, Russell Taylor

Session: TuA1-10 ACTUATORS I

Task-Space Feedback Control for a Two-Link Arm Driven by Six Muscles with Variable Damping and Elastic Properties .......................................................................................................................................... 223

Kenji Tahara, Zhi-Wei Luo, Suguru Arimoto, Hitoshi Kino

A High Authority Piezoelectric Stack Actuator for Structurally Flexible Mechanisms ..................................... 229 Mehrdad Kermani, Rajni Patel, Mehrdad Moallem

Design of a Free Piston Pneumatic Compressor as a Mobile Robot Power Supply ....................................... 235 Jose Riofrio, Eric Barth

Design and Energetic Characterization of a Solenoid Injected Liquid Monopropellant-powered Actuator for Self-powered Robots ............................................................................................................................................. 241

Bobby Shields, Michael Goldfarb

Session: TuA1-11 CONTROL I

Computation and Graphical Characterization of Robust Multiple-Contact Postures in 2D Gravitational Environments ......................................................................................................................................................... 247

Yizhar Or, Elon Rimon

Safe Automatic Emergency Stop Control of Gantry Crane Including Moving Obstacles in Its Workspace . 253 Motoji Yamamoto, Eiji Honda, Akira Mohri

Realtime Hybrid Task-Based Control for Robots and Machine Tools ............................................................... 259 Peter Soetens, Herman Bruyninckx

Bandwidth Management for Distributed Control of Highly Articulated Robots ............................................... 265 Manel Velasco, Pau Mart?, Manel Frigola

Session: TuA1-12 PETRI NETS I AND SCHEDULING

A Petri Net Structure-Based Deadlock Prevention Solution for Sequential Resource Allocation Systems .. 271 Fernando Tricas, Fernando Garc?a-Vall?s, Jos? Manuel Colom, Joaqu?n Ezpeleta

Analysis of Andon Type Transfer Production Lines: A Quantitative Approach ................................................. 278 Jingshan Li, Dennis Blumenfeld

Modeling Admissible Behavior using Event Signals ........................................................................................ 284 Luz Pinzon, Mohsen Jafari, Ardavan Amini, Hans-M. Hanisch

Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools for Semiconductor Manufacturing: A Decomposition Approach .................................................................................................................................. 292

Jingang Yi, Shengwei Ding, Dezhen Song

Session: TuA2-01 HUMANOIDS II

Goal-Directed Imitation in a Humanoid Robot .................................................................................................... 299 Sylvain Calinon, Florent G?nter, Aude Billard

A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots .............................. 305 Tomomichi Sugihara, Yoshihiko Nakamura

Analysis of Human Motion for Humanoid Robots .............................................................................................. 311 J?rg Moldenhauer, Ingo Boesnach, Thomas Beth, Veit Wank, Klaus B?s

Implementation and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking .................................................................................................................................................................. 317

Xiaoping Yun, Conrado Aparicio, Eric R. Bachmann, Robert B. McGhee

Session: TuA2-02 SLAM / ESTIMATION

Unscented Transformation of Vehicle States in SLAM ...................................................................................... 323 Juan Andrade-Cetto, Teresa Vidal-Calleja, Alberto Sanfeliu

A Proof for the Approximate Sparsity of SLAM Information Matrices ............................................................. 329 Udo Frese

Using Absolute Non-Gaussian Non-White Observations in Gaussian SLAM ................................................. 336 Jos? Guivant, Favio Masson

SLAM using Incremental Probabilistic PCA and Dimensionality Reduction .................................................... 342 Emma Brunskill, Nicholas Roy

Session: TuA2-03 TELEOPERATION I

Modeling Induced Master Motion in Force-Reflecting Teleoperation ................................................................ 348 Katherine Kuchenbecker, G?nter Niemeyer

Improving Perception in Time Delayed Teleoperation ........................................................................................ 354 Neal A. Tanner, G?nter Niemeyer

Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Theory ... 360 Dongjun Lee, Mark Spong

Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Application ............................................................................................................................................................. 366

Dongjun Lee, Oscar Martinez-Palafox, Mark Spong

Session: TuA2-04 MULTI ROBOT COORDINATION

Decentralized Collaborative Load Transport by Multiple Robots ...................................................................... 372 Gustavo Montemayor, John T. Wen

Motion Planning of Multiple Agents in Virtual Environments using Coordination Graphs ............................. 378 Yi Li, Kamal Gupta, Shahram Payandeh

Cooperative Multi-Robot Systems: A study of Vision-based 3-D Mapping using Information Theory ........... 384 Rui Rocha, Jorge Dias, Adriano Carvalho

A New Multi-Robot Self-Determination Cooperation Method based on Immune Agent Network .................. 390 Gao Yunyuan, Wei Wei

Session: TuA2-05 PLANNING I

Reaching Movements in Dynamic Environments: How Do We Move Flexible Objects? ................................. 396 Mikhail Svinin, Igor Goncharenko, Zhi-Wei Luo, Shigeyuki Hosoe

Reachability Analysis of Sampling Based Planners .......................................................................................... 404 Roland Geraerts, Mark H. Overmars

Adapted Time-Optimal Trajectory Planning for Parallel Manipulators with Full Dynamic Modelling ............. 411 Houssem Abdellatif, Bodo Heimann

Motion Planning and Trajectory Tracking on 2-D Manifolds embedded in 3-D Workspaces .......................... 417 Xanthi Papageorgiou, Savvas G. Loizou, Kostas J. Kyriakopoulos

Session: TuA2-06 POSE ESTIMATION

Stereo Camera Pose Determination with Error Reduction and Tolerance Satisfaction for Dimensional Measurements ....................................................................................................................................................... 423

Alexis Rivera-Rios, Fai-Lung Shih, Michael Marefat

Linear Design of a Nonlinear Observer for Perspective Systems .................................................................... 429 Ola Dahl, Fredrik Nyberg, Jan Holst, Anders Heyden

Complex Objects Pose Estimation based on Image Moment Invariants .......................................................... 436 Omar Tahri, Fran?ois Chaumette

Pose Estimation and Structure Recovery from Point Pairs ............................................................................... 442 Zhiguang Zhong, Jianqiang Yi, Dongbin Zhao

Session: TuA2-07 MICRO ROBOTS I

Functionalized Nano-Robot End Effector for in situ Sensing and Manipulation of Biological Specimen ..... 448 Guangyong Li, Ning Xi, Donna H. Wang

Integrating Microscope and Perspective Views .................................................................................................. 454 Andrew Shacklock, Sun Wenting

Design of an Adaptive Scanning Optical Microscope for Simultaneous Large Field of View and High Resolution .............................................................................................................................................................. 460

Benjamin Potsaid, Yves Bellouard, John T. Wen

Analysis and Design of a Novel Micro-Dissection Manipulator Based on Ultrasonic Vibration .................... 466 Guangzhong Wu, Jianfeng Li, Renyuan Fei, Xinhua Wang, Dezhong Liu

Session: TuA2-08 TUBE/TUNNEL INSPECTION

Fuzzy Trajectory Planning and Redundancy Resolution for a Fire Fighting Robot Operating in Tunnels ......... 472 Agostino De Santis, Bruno Siciliano, Luigi Villani

Motion Control of a Micro Biped Robot for Nondestructive Structure Inspection ............................................ 478 Hongjun Chen, Weihua Sheng, Ning Xi, Jindong Tan

Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot ............................... 484 Geoffrey Hollinger, Jeri Briscoe

Modular Multiconfigurable Architecture for Low Diameter Pipe Inspection Microrobots ............................... 490 Alberto Brunete, Miguel Hernando, Ernesto Gambao

Session: TuA2-09 SURGICAL ROBOTS II

Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability .................... 496 Ulrich Seibold, Bernhard Kuebler, Gerd Hirzinger

Micro Manipulators for Intrauterine Fetal Surgery in an Open MRI .................................................................. 502 Kanako Harada, Kota Tsubouchi, Toshio Chiba, Masakatsu Fujie

Automatic Guidance of a Surgical Instrument with Ultrasound Based Visual Servoing ................................ 508 Marie-Aude Vitrani, Guillaume Morel, Tobias Ortmaier

A Circular Needle Path Planning Method for Suturing in Laparoscopic Surgery ............................................ 514 Florent Nageotte, Philippe Zanne, Michel de Mathelin, Christophe Doignon

Session: TuA2-10 SOFT ACTUATORS

Development of Active Support Splint driven by Pneumatic Soft Actuator (ASSIST) .................................... 520 Daisuke Sasaki, Toshiro Noritsugu, Masahiro Takaiwa

Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction 526 Giovanni Tonietti, Riccardo Schiavi, Antonio Bicchi

A Micro Artificial Muscle Actuator using Electro-conjugate Fluid ..................................................................... 532 Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Development of a Hybrid Element by using Sponge Core Soft Rubber Actuator ........................................... 538 Yasuhiro Hayakawa, Shunmugham Pandian

Session: TuA2-11 NONLINEAR CONTROL

Integration of Supervisory and Nonlinear Control for a Heating, Ventilating and Air Conditioning System . 544 Ming-Li Chiang, Yuan-Ming Chan, Li-Chen Fu

Overall Stability Analysis of Hydraulic Actuator's Switching Contact Control Using the Concept of Lyapunov Exponents .............................................................................................................................................................. 550

Pooya Sekhavat, Nariman Sepehri, Christine Qiong Wu

Nonlinear Bang-Bang Impact Control: A Seamless Control in All Contact Modes .......................................... 557 Maolin Jin, Sang Hoon Kang, Pyung H. Chang, Eunjeong Lee

A Temporal Logic Specification Interface for Automata-Theoretic Finitary Control Synthesis ...................... 565 Kiam Tian Seow, Ming Gai, Tong Lee Lim

Session: TuA2-12 MANUFACTURING TOOLS

Hierarchical Segmentation of Surfaces Embedded in R^3 for Auto-Body Painting ........................................ 572 Prasad N. Atkar, Aaron Greenfield, David C. Conner, Howie Choset, Alfred Rizzi

Integrated Process for Measurement of Free-Form Automotive Part Surface Using a Digital Area Sensor 578 Quan Shi, Ning Xi, Heping Chen, Yifan Chen

Automated Desktop Manufacturing: Direct Metallic Rapid Tooling System ..................................................... 584 Ren C. Luo, Cheng L. Chang, Jyh H. Tzou, Zhong H. Huang

Design of a Reconfigurable Robot Arm for Assembly Operations inside an Aircraft Wing-Box ..................... 590 Binayak Roy, Harry Asada

Session: TuP1-01 HUMANOIDS WALKING

Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO ................................................ 596 Gen Endo, Jun Nakanishi, Jun Morimoto, Gordon Cheng

Evaluation of Various Walking Patterns of Biped Humanoid Robot ................................................................... 603 Yu Ogura, Teruo Kataoka, Hiroyuki Aikawa, Kazushi Shimomura, Hun-Ok Lim, Atsuo Takanishi

Parametric Excitation Mechanisms for Dynamic Bipedal Walking ................................................................... 609 Fumihiko Asano, Sang-Ho Hyon, Zhi-Wei Luo

A Running Controller of Humanoid Biped HRP-2LR ............................................................................................. 616 Shuuji Kajita, Takashi Nagasaki, Kenji Kaneko, Kazuhito Yokoi, Kazuo Tanie

Autonomous 3D Walking System for a Humanoid Robot based on Visual Step Recognition and 3D Foot Step Planner ......................................................................................................................................... 623

Kei Okada, Takashi Ogura, Atsushi Haneda, Masayuki Inaba

Foot Step Planning for the Honda ASIMO Humanoid .......................................................................................... 629 Joel Chestnutt, Manfred Lau, German Cheung, James Kuffner, Jessica Hodgins, Takeo Kanade

Session: TuP1-02 SLAM / CONSISTENCY

SLAM - Loop Closing with Visually Salient Features ......................................................................................... 635 Paul Newman, Kin Leong Ho

A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM ............................................................ 643 Michael Kaess, Frank Dellaert

Handling the Inconsistency of Relative Map Filter ............................................................................................ 649 Viet Nguyen, Agostino Martinelli, Roland Siegwart

Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After Actively Closing Loops ........................................................................................................................................................ 655

Cyrill Stachniss, Giorgio Grisetti, Wolfram Burgard

Global A-Optimal Robot Exploration in SLAM .................................................................................................... 661 Robert Sim, Nicholas Roy

SLAM via Variable Reduction from Constraint Maps ......................................................................................... 667 Kurt Konolige

Session: TuP1-03 TELEOPERATION II

Web-based Teleoperation of the Robot Interacting with Fast Moving Objects ................................................ 673 Igor Belousov, Sviatoslav Chebukov, Victor Sazonov

Improving the Operation Efficiency of Supermedia Enhanced Internet Based Teleoperation via an Overlay Network .................................................................................................................................................... 679

Zhiwei Cen, Amit Goradia, Matt Mutka, Ning Xi, Wai-keung Fung, Yun Hui Liu

Towards Constrained Teleoperation for Safe Long-Distance Robotic Surgical Operations ........................... 685 Alessandro Casavola, Michela Sorbara

Web Services Based Robot Control Platform for Ubiquitous Functions ........................................................... 691 Bong Keun Kim, Manabu Miyazaki, Kohtaro Ohba, Shigeoki Hirai, Kazuo Tanie

Significance of Causality Analysis for Transparent Teleoperation .................................................................... 697 Hyung-Soon Park, Pyung Hun Chang, Jong Hyun Kim

Multiple Model Control for Teleoperation in Unknown Environments ............................................................... 703 Ali Shahdi, Shahin Sirouspour

Session: TuP1-04 MULTI ROBOT EXPLORATION AND COVERAGE

Physical Path Planning Using the GNATs ........................................................................................................... 709 Keith J. O`Hara, Victor L. Bigio, Eric R. Dodson, Arya J. Irani, Daniel B. Walker, Tucker Balch

Complete Multi-Robot Coverage of Unknown Environments with Minimum Repeated Coverage ................. 715 Shuzhi Sam Ge, Cheng-Heng Fua

All Terrain Exploration with the Cliff-bot System ................................................................................................ 721 Gale L. Paulsen, Shane Farritor, Terry Huntsberger, Hrand Aghazarian

A Coverage Algorithm for Multi-robot Boundary Inspection ............................................................................... 727 Kjerstin Easton, Joel Burdick

Redundancy, Efficiency and Robustness in Multi-Robot Coverage ................................................................... 735 Noam Hazon, Gal Kaminka

Optimal Positioning Strategies for Shape Changes in Robot Teams ................................................................ 742 John Spletzer, Rafael Fierro

Session: TuP1-05 GRASPING I

Grasp Recognition for Programming by Demonstration .................................................................................... 748 Staffan Ekvall, Danica Kragic

A Grasp Planner Based On Inertial Properties .................................................................................................. 754 Efrain Lopez-Damian, Daniel Sidobre, Rachid Alami

Grasp Stability Analysis of Two Objects in Two Dimensions ............................................................................. 760 Takayoshi Yamada, Toshinori Ooba, Tomoya Yamamoto, Nobuharu Mimura, Yasuyuki Funahashi

Fast and Flexible Determination of Force-closure Independent Regions to Grasp Polygonal Objects ........ 766 Jordi Cornella, Ra?l Su?rez

Output-Sensitive Computation of All Form-Closure Grasps of a Semi-Algebraic Set .................................... 772 Jae-Sook Cheong, A. Frank van der Stappen

Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object ..................................... 779 Thanathorn Phoka, Peam Pipattanasomporn, Nattee Niparnan, Attawith Sudsang

Session: TuP1-06 STEREO VISION + HEADS

Design and Development of a High Speed Binocular Camera Head ............................................................... 785 Teppei Tsujita, Atsushi Konno, Masaru Uchiyama

Machine Vision System to Induct Binocular Wide-Angle Foveated Information into Both the Human and Computers ...................................................................................................................................................... 793

Sota Shimizu, Shinsuke Shimojo, Hao Jiang, Joel Burdick

Stereo Vision with a Single Camera and Multiple Mirrors ................................................................................. 800 El Mustapha Mouaddib, Ryusuke Sagawa, Tomio Echigo, Yasushi Yagi

Wide-Area Recognition Using Hybrid Motion Stereo ......................................................................................... 806 Shun Nishide, Tomohito Takubo, Kenji Inoue, Tatsuo Arai

Vision-Based 3D Scene Analysis for Driver Assistance .................................................................................... 812 Darius Burschka, Gregory D. Hager

Robust Contrast Invariant Stereo Correspondence ........................................................................................... 819 Abhijit Ogale, Yiannis Aloimonos

Session: TuP1-07 MICRO ROBOTS II

Micro-Parts Feeding by a Saw-tooth Surface ..................................................................................................... 825 Atsushi Mitani, Naoto Sugano, Shinichi Hirai

Task-Reconfigurable System for MEMS Assembly ............................................................................................ 832 Lining Sun, Hui Xie, Weibin Rong, Liguo Chen

Laser Manipulation and Fabrication of Functional Microtool Using Photo-crosslinkable Resin ................... 838 Hisataka Maruyama, Fumihito Arai, Toshio Fukuda

MICRON: Small Autonomous Robot for Cell Manipulation Applications .......................................................... 844 Jordi Brufau, Manel Puig-Vidal, Jaime L?pez-S?nchez, Josep Samitier, Walter Driesen, Jean Marc Breguet, Niklas Snis, Urban Simu, S. Johansson, T. Velten, J. Gao, J. Seyfried, R. Esta?a and H. Woern

High Accuracy Micro-Displacement Sensor With Integrated Optics-based Detection Means ....................... 850 Yves Bellouard, Ali A. Said, Mark Dugan, Philippe Bado

Towards Linear Nano Servomotors with Integrated Position Sensing ............................................................. 855 Lixin Dong, Bradley Nelson, Toshio Fukuda, Fumihito Arai, Masahiro Nakajima

Session: TuP1-08 ALL-TERRAIN ROBOTS I

Dynamic Stability of a Rocker Bogie Vehicle: Longitudinal Motion .................................................................. 861 Moshe P. Mann, Zvi Shiller

Wheel Torque Control in Rough Terrain - Modeling and Simulation ................................................................. 867 Pierre Lamon, Roland Siegwart

First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile ................................. 873 David Wettergreen, Nathalie Cabrol, James Teza, Paul Tompkins, Chris Urmson, Vandi Verma, Michael Wagner,

William Whittaker

Equations of Motion of a Single-Wheel Robot in a Rough Terrain ................................................................... 879 Aria Alasty, Hodjat Pendar

Model Predictive Control for Vehicle Guidance in Presence of Sliding: Application to Farm Vehicles Path Tracking ........................................................................................................................................................ 885

Roland Lenain, Benoit Thuilot, Christophe Cariou, Philippe Martinet

Reactive Speed Control System Based on Terrain Roughness Detection ....................................................... 891 Mattia Castelnovi, Ronald Arkin, Thomas Collins

Session: TuP1-09 SURGICAL ROBOTS III

Fast 2D-3D Registration for Navigation System of Surgical Robot .................................................................. 897 Yumi Iwashita, Ryo Kurazume, Kozo Konishi, Masahiko Nakamoto, Tsutomu Hasegawa, Makoto Hashizume

Robot Surgery based on the Physical Properties of the Brain -Physical Brain Model for Planning and Navigation of a Surgical Robot- ........................................................................................................................... 904

Aiko Yoshizawa, Jun Okamoto, Hiroshi Yamakawa, Masakatsu Fujie

Port Placement for Endoscopic Cardiac Surgery based on Robot Dexterity Optimization ............................ 912 Ana Luisa Trejos, Rajni Patel

Realistic Visual and Haptic Rendering for Biological-Cell Injection ................................................................. 918 Mehdi Ammi, Antoine Ferreira

Modeling and Control of a Hybrid Continuum Active Catheter for Aortic Aneurysm Treatment .................... 924 Yan Bailly, Yacine Amirat

Safety and Accuracy Considerations in Developing a Small Sterilizable Robot of Orthopaedic Surgery .... 930 Christopher Plaskos, Philippe Cinquin, Antony Hodgson, St?phane Lavall?e

Session: TuP1-10 PARALLEL MANIPULATORS I

Tri-Symmetric Orthogonal Gough-Stewart Platforms ........................................................................................ 936 John McInroy, Farhad Jafari, John O`Brien

Dimensional Synthesis of Parallel Robots with a Guaranteed Given Accuracy over a Specified Workspace ............................................................................................................................................ 942

Jean-Pierre Merlet, David Daney

Internal Preload Control of Redundantly Actuated Parallel Manipulators - Backlash Avoiding Control ....... 948 Andreas Mueller

Self-Motion in Spatial Parallel Mechanisms with More than Three Legs ......................................................... 954 John O`Brien, Farhad Jafari, John T. Wen

On the Trilaterable Six-Degree-of-Freedom Parallel and Serial Manipulators ................................................ 960 Josep M. Porta, Llu?s Ros, Federico Thomas

Controller Design Applied to Planar Parallel Manipulators for Trajectory Tracking Control ........................... 968 Lu Ren, James Mills, Dong Sun

Session: TuP1-11 SPECIAL CONTROL TECHNIQUES I

Region Reaching Control of Robots: Theory and Experiments ........................................................................ 974 Chien Chern Cheah, De Qun Wang

Model-Based Sliding Mode Control of Underwater Robot Manipulators ......................................................... 980 Bin Xu, Shunmugham Pandian, Manabu Inoue, Norimitsu Sakagami, Sadao Kawamura

Impedance Control of a Pneumatic Actuator for Contact Tasks ....................................................................... 987 Yong Zhu, Eric Barth

 ................
................

In order to avoid copyright disputes, this page is only a partial summary.

Google Online Preview   Download