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ORCIDICRA 2001: Seoul, Korea
- Proceedings of the 2001 IEEE International Conference on Robotics and Automation, ICRA 2001, May 21-26, 2001, Seoul, Korea. IEEE 2001, ISBN 0-7803-6578-X
Volume 1
Motion Planning
- Zvi Shiller, Katsu Yamane, Yoshihiko Nakamura:
Planning Motion Patterns of Human Figures Using a Multi-layered Grid and the Dynamics Filter. 1-8 - François Felix Ingrand, Olivier Despouys:
Extending Procedural Reasoning toward Robot Actions Planning. 9-14 - Emmanuel Guere, Rachid Alami
:
Let's Reduce the Gap between task Planning and Motion Planning. 15-20 - Daniel Vallejo, Ian Remmler, Nancy M. Amato:
An Adaptive Framework for 'Single Shot' Motion Planning: A Self-tuning System for Rigid and Articulated Robots. 21-26 - Wesley H. Huang:
Optimal Line-sweep-based Decompositions for Coverage Algorithms. 27-32 - Javier Minguez, Luis Montano, Thierry Siméon, Rachid Alami:
Global Nearness Diagram Navigation (GND). 33-39
Petri Nets and Related Methods in Agile Automation
- Fabio Balduzzi, Angela Di Febbraro:
Combining fault Detection and Process Optimization in Manufacturing Systems Using First-Order Hybrid Petri nets. 40-45 - Ryad A. Zemouri, Daniel Racoceanu, Noureddine Zerhouni:
A Petri net Graphic Method of Reduction Using Birth-death Processes. 46-51 - MuDer Jeng, Xiaolan Xie:
Modeling and Analysis of Semiconductor Manufacturing Systems with Degraded Behaviors Using Petri Nets and Siphons. 52-57 - Carlo Simon:
Developing Software Controllers with Petri Nets and a Logic of Actions. 58-63 - Naiqi Wu, MengChu Zhou:
Resource-Oriented Petri Nets in Deadlock Avoidance of AGV Systems. 64-69 - Jonghun Park, Spyros A. Reveliotis:
Algebraic Deadlock Avoidance Policies for Conjunctive / Disjunctive resource Allocation Systems. 70-76
Control for Dextrous Manipulation
- Giuseppe Casalino, Giorgio Cannata, Giorgio Panin, Andrea Caffaz:
On a Two-Level Hierarchical Structure for the Dynamic Control of Multifingered Manipulation. 77-84 - Takahiro Wada, Shinichi Hirai, Sadao Kawamura, Norimasa Kamiji:
Robust Manipulation of Deformable Objects By A Simple PID Feedback. 85-90 - Giuseppe Oriolo, Marilena Vendittelli:
Robust Stabilization of the Plate-ball Manipulation System. 91-96 - Hyun-Yong Han, Suguru Arimoto, Kenji Tahara, Mitsuharu Yamaguchi, Pham Thuc Anh Nguyen:
Robotic Pinching by Means of a Pair of Soft Fingers with Sensory Feedback. 97-102 - Thomas Schlegl, Martin Buss, Toru Omata, Günther Schmidt:
Fast Dextrous Regrasping with Optimal Contact Forces and Contact Sensor-Based Impedance Control. 103-108 - Jörg Butterfaß, Markus Grebenstein, Hong Liu, Gerd Hirzinger:
DLR-Hand II Next Generation of a Dextrous Robot Hand. 109-120
Micromanipulation and Microsystems
- Jeongsik Sin, Tobias K. Winther, Harry E. Stephanou:
Micromanipulation Using a Friction Force Field. 115-120 - SangJoo Kwon, Wan Kyun Chung, Youngil Youm:
On the Coarse/Fine Dual-Stage Manipulators with Robust Perturbation Compensator. 121-126 - Xudong Li, Guanghua Zong, Shusheng Bi:
Development of Global Vision System for Biological Automatic Micro-Manipulation System. 127-132 - Ge Yang, James A. Gaines, Bradley J. Nelson:
A Flexible Experimental Workcell for Efficient and Reliable Wafer-Level 3D Microassembly. 133-138 - Fumihito Arai, Takaharu Amano, Toshio Fukuda, Hiroshi Satoh:
Mechanical Micro-dissection by Microknife Using Ultrasonic Vibration and Ultra Fine Probe Sensor. 139-144 - Byunghoon Bae, Nakhoon Kim, Hongseok Kee, Seonho Kim, Yeon Lee, Kyihwan Park:
Design and Analysis of an Electromagnetically Driven Valve for a Glaucoma Implant. 145-150
Trajectory Generation & Control
- Tong-Jin Park, Chang-Soo Han:
A Path Generation Algorithm of Autonomous Robot Vehicle Through Scanning of a Sensor Platform. 151-156 - Rafael Fierro, Aveek K. Das, Vijay Kumar, James P. Ostrowski:
Hybrid Control of Formations of Robots. 157-162 - Guangfeng Yuan, Simon X. Yang, Gauri S. Mittal:
Tracking Control of a Mobile Robot using a Neural Dynamics based Approach. 163-168 - Claudio Altafini, Alberto Speranzon:
Backward Line Tracking Control of a Radio-controlled Truck and Trailer. 169-174 - Morgan E. Davidson, Vikas Bahl:
The Scalar Epsilon-Controller: A Spatial Path Tracking Approach for ODV, Ackerman, and Differentially-Steered Autonomous Wheeled Mobile Robots. 175-180 - Shigeo Hirose, Hideyuki Tsukagoshi, Kan Yoneda:
Normalized Energy Stability Margin and its Contour of Walking Vehicles on Rough Terrain. 181-186
Programming Architecture
- Eckhard Freund, Bernd Luedemann-Ravit, Oliver Stern, Thorsten Koch:
Creating the Architecture of a Translator Framework for Robot Programming Languages. 187-192 - Andrew H. Jones, Guilherme N. DeSouza, Avinash C. Kak:
A Multi-processing Software Infrastructure for Robotic Systems. 193-198 - Manfred Weck, Andreas Kahmen:
Open Real-Time Interfaces for Monitoring Applications within NC-Control Systems. 199-204 - Ansgar Bredenfeld, Giovanni Indiveri:
Robot Behavior Engineering using DD-Designer. 205-210 - Toyoaki Tomura, Satoshi Kanai, Kiyoshi Uehiro, Susumu Yamamoto:
Object-Oriented Design Pattern Approach for Modeling and Simulating Open Distributed Control System. 211-216 - Kuk-Hyun Han, Shin Kim, Yong-Jae Kim, Seung-Eun Lee, Jong-Hwan Kim:
Implementation of Internet-Based Personal Robot with Internet Control Architecture. 217-222
Visual Servoing Experimental Issues
- Nicolas Courty, Éric Marchand:
Computer Animation: a new Application for Image-based Visual Servoing. 223-228 - Wei Guan Yau, Li-Chen Fu, David Liu:
Design and Implementation of Visual Servoing System for Realistic Air Target Tracking. 229-234 - Alexander Bachem, Thomas Müller, Hans-Hellmut Nagel:
Robust Visual Servoing: Examination of Cameras Under Different Illumination Conditions. 235-240 - Yantao Shen, Yun-Hui Liu, Kejie Li, Jianwei Zhang, Alois C. Knoll:
Asymptotic Motion Control of Robot Manipulators Using Uncalibrated Visual Feedback. 241-246 - Christophe Collewet, François Chaumette, Philippe Loisel:
Image Based Visual Servoing on Planar Objects of unknown Shape. 247-252 - Byung Hwa Kim, Dong Kyu Roh, Jang Myung Lee, Man Hyung Lee:
Localization of a Mobile Robot using Images of a Moving Target. 253-258
Mobile Robot
- Marjorie Skubic, Pascal Matsakis, Benjamin Forrester, George Chronis:
Extracting Navigation States from a Hand-Drawn Map. 259-264 - Kamal K. Gupta, Yong Yu:
On Eye-sensor Based Path Planning for Robots with Non-trivial Geometry/Kinematics. 265-270 - Maren Bennewitz, Wolfram Burgard, Sebastian Thrun:
Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems. 271-276 - Liam Pedersen:
Autonomous Characterization of Unknown Environments. 277-284 - Amit Adam, Ehud Rivlin, Ilan Shimshoni:
Towards a Meta Motion Planner A: Model and Framework. 285-290 - Amit Adam, Ehud Rivlin, Ilan Shimshoni:
Towards a Meta Motion Planner B: Algorithm and Applications. 291-298
Flexible Automation (I)
- Andreas Birk, Holger Kenn:
Efficient Scheduling of Behavior-Processes on Different Time-Scales. 299-304 - Dimitrios Katsoulas, Dimitrios I. Kosmopoulos:
An efficient depalletizing system based on 2D range imagery. 305-312 - Swee M. Mok, Kenlip Ong, Chi-haur Wu:
Automatic Generation of Assembly Instructions Using STEP. 313-318 - Fusaomi Nagata, Keigo Watanabe, Kiyotaka Izumi:
Furniture Polishing Robot Using a Trajectory Generator Based on Cutter Location Data. 319-324 - Daniel M. Morris, Ravi Hebbar, Wyatt S. Newman:
Force-Guided Assemblies Using a Novel Parallel Manipulator. 325-330 - Yin-Tien Wang, Yann-Jyi Jan:
Path Planning for Robot-Assisted Grinding Processes. 331-336
Control and Mechanism for Production Systems
- Wei Hua, Chen Zhou:
Data Filtering and Piecewise Regression in Estimating Slew Machine Timing Model. 337-341 - Jun Xia, Qiaode Jeffrey Ge:
An Exact Representation of Effective Cutting Shapes of 5-axis CNC Machining Using Rational Bezier and B-spline Tool Motions. 342-347 - Masafumi Okada, Yoshihiko Nakamura, Shigeki Ban:
Design of Programmable Passive Compliance Shoulder Mechanism. 348-353 - John F. O'Brien, John T. Wen:
Kinematic Control of Parallel Robots in the Presence of Unstable Singularities. 354-359 - Jeremy Kubica, Arancha Casal, Tad Hogg:
Complex Behaviors From Local Rules In Modular Self-Reconfigurable Robots. 360-367 - Yasuo Yoshida:
Control of a Suspended Load Using Inertia Rotors with Traveling Disturbance. 368-373
Haptic Devices and Teleoperation
- Karan A. Manocha, Norali Pernalete, Rajiv V. Dubey:
Variable Position Mapping Based Assistance in Teleoperation for Nuclear CleanUp. 374-379 - Akihito Sano, Hideo Fujimoto, Toshihito Takai:
Human-Centered Scaling in Micro-Teleoperation. 380-385 - Nicolas Turro, Oussama Khatib, Ève Coste-Manière:
Haptically Augmented Teleoperation. 386-392 - William R. Hamel, Reid L. Kress:
Elements of Telerobotics Necessary for Waste Clean Up Automation. 393-400 - Satoshi Kagami, James J. Kuffner Jr., Koichi Nishiwaki, Tomomichi Sugihara, Masayuki Inaba, Hirochika Inoue:
Design and Implementation of Remotely Operation Interface for Humanoid Robot. 401-406 - Woo-Keun Yoon, Toshihiko Goshozono, Hiroshi Kawabe, Masahiro Kinami, Yuichi Tsumaki, Masaru Uchiyama, Mitsushige Oda:
Model-Based Teleoperation of a Space Robot on ETS-VII Using a Haptic Interface. 407-412
Space and Underwater Robotics
- Sang Heon Lee, Byung-Ju Yi, Soo-Hyun Kim, Yoon Keun Kwak:
Analysis on Impact Propagation of Docking Platform for Spacecraft. 413-420 - Yasuhiro Masutani, Motoshi Matsushita, Fumio Miyazaki:
Flyaround Maneuvers on a Satellite Orbit by Impulsive Thrust Control. 421-426 - Kristi A. Morgansen, Vincent Duindam, Richard Mason, Joel W. Burdick, Richard M. Murray:
Nonlinear Control Methods for Planar Carangiform Robot Fish Locomotion. 427-434 - Fabrizio Caccavale, Bruno Siciliano:
Quaternion-Based Kinematic Control of Redundant Spacecraft/Manipulator Systems. 435-440 - Kazuya Yoshida, Kenichi Hashizume, Satoko Abiko:
Zero Reaction Maneuver: Flight Velification with ETS-VII Space Robot and Extension to Kinematically Redundant Arm. 441-446 - Gianluca Antonelli, Fabrizio Caccavale, Stefano Chiaverini, Giuseppe Fusco:
A Novel Adaptive Control Law for Autonomous Underwater Vehicles. 447-452
New Tools for Personal Robotics
- Ronald C. Arkin, Masahiro Fujita, Tsuyoshi Takagi, Rika Hasegawa:
Ethological Modeling and Architecture for an Entertainment Robot. 453-458 - Hiroyasu Miwa, Tomohiko Umetsu, Atsuo Takanishi, Hideaki Takanobu:
Human-like Robot Head that has Olfactory Sensation and Facial Color Expression. 459-464 - Koichi Ogawara, Tomikazu Tanuki, Hiroshi Kimura, Katsushi Ikeuchi:
Acquiring Hand-action Models by Attention Point Analysis. 465-470 - Byoung-Ju Lee, Hyun-Gu Lee, Joo-Ho Lee, Gwi-Tae Park:
New Architecture for Mobile Robots in Home Network Environment Using Jini. 471-476 - Yoichiro Endo, Ronald C. Arkin:
Implementing Tolman's Schematic Sowbug: Behavior-Based Robotics in the 1930's. 477-484 - Marjorie Skubic, George Chronis, Pascal Matsakis, James M. Keller:
Generating Linguistic Spatial Descriptions from Sonar Readings Using the Histogram of Forces. 485-490
Robot Learning
- Bir Bhanu, Pat Leang, Chris Cowden, Yingqiang Lin, Mark Patterson:
Real Time Robot Learning. 491-498 - Nikos Vlassis, Roland Bunschoten, Ben J. A. Kröse:
Learning Task-relevant Features from Robot Data. 499-504 - Kazuhiro Kojima, Koji Ito:
Autonomous Learning Algorithm and Associative Memory for Intelligent Robots. 505-510 - Georgios Theocharous, Khashayar Rohanimanesh, Sridhar Mahadevan:
Learning Hierarchical Partially Observable Markov Decision Process Models for Robot Navigation. 511-516 - Todd S. Peterson, Nancy E. Owens, James L. Carroll:
Towards Automatic Shaping in Robot Navigation. 517-522 - Daisuke Iijima, Wenwei Yu, Hiroshi Yokoi, Yukinori Kakazu:
Obstacle Avoidance Learning for a Multi-Agent Linked Robot in the Real World. 523-528
Discrete Event Manufacturing Systems (I)
- Nukala Viswanadham, N. R. Srinivasa Raghavan:
Performance Modeling of Supply Chains using Queueing Networks. 529-534 - Bo-Wei Hsieh, Shi-Chung Chang, Chun-Hung Chen:
Dynamic Scheduling Rule Selection for Semiconductor Wafer Fabrication. 535-540 - Yi-Sheng Huang, MuDer Jeng, Xiaolan Xie, Sheng-Luen Chung:
A Deadlock Prevention Policy for Flexible Manufacturing Systems Using Siphons. 541-546 - Ming-Hung Lin, Li-Chen Fu:
An Effective Markov Chain Model and Branch-and-Bound Search Strategy for Wafer Fabrication Scheduling with Uncertain Process Requirements. 547-552 - Kazushi Ohashi, Kang G. Shin:
Model-based Control for Reconfigurable Manufacturing Systems. 553-558 - Ying Tang, MengChu Zhou:
Design of Reconfigurable Semiconductor Manufacturing Systems with Maintenance and Failure. 559-564
Sensing for Dextrous Manipulation
- Gen-ichiro Kinoshita, Yujin Kurimoto, Hisashi Osumi, Kazunori Umeda:
Dynamic Contact Sensing of Soft Planar Fingers with Tactile Sensors. 565-570 - Wyatt S. Newman, Yonghong Zhao, Yoh-Han Pao:
Interpretation of Force and Moment Signals for Compliant Peg-in-Hole Assembly. 571-576 - Fumihito Arai, Toshio Fukuda, Kouichi Itoigawa, Yasunori Thukahara:
Dome Shaped Touch Sensor Using PZT Thin Film made by Hydrothermal Method. 577-582 - Antonio Morales, Gabriel Recatalá, Pedro J. Sanz, Angel P. del Pobil:
Heuristic Vision-Based Computation of Planar Antipodal Grasps on Unknown Objects. 583-588 - Allison M. Okamura, Mark R. Cutkosky:
Feature-Guided Exploration with a Robotic Finger. 589-596 - Tetsuya Mouri, Takayoshi Yamada, Ayako Iwai, Nobuharu Mimura, Yasuyuki Funahashi:
Identification of Contact Conditions from Contaminated Data of Contact Force and Moment. 597-603
Nano / Micro Robotics
- Fumihito Arai, Akiko Kawaji, Poom Luangjarmekorn, Toshio Fukuda, Kouichi Itoigawa:
Three-Dimensional Bio-Micromanipulation under the Microscope. 604-609 - Tamio Tanikawa, Masashi Kawai, Noriho Koyachi, Tatsuo Arai, Takayuki Ide, Shinji Kaneko, Ryo Ohta:
Force Control System for Autonomous Micro Manipulation. 610-615 - Sukhan Lee, Jaewoo Chung, Seungmo Lim, Changseung Lee:
Micro Fluid device Using Thick Layer Piezo Actuator Prepared on Si Micro-machined Structure. 616-619 - Yu Sun, Bradley J. Nelson:
Microrobotic Cell Injection. 620-625 - Arianna Menciassi, Anna Eisinberg, Giacomo Scalari, Claud Anticoli:
Force Feedback-Based Microinstrument for Measuring Tissue Progerties and Pulse in Microsurgery. 626-631 - Lixin Dong, Fumihito Arai, Toshio Fukuda:
3D Nanorobotic Manipulations of Multi-Walled Carbon Nanotubes. 632-637
Real-Time Sensing and Supervisory Control of Robotic Operations
- William R. Hamel, Pamela Murray:
Observations Concerning Internet-based Teleoperations for Hazardous Environments. 638-643 - Tzyh Jong Tarn, Kevin Brady:
Internet-Based Teleoperation. 644-649 - Seong-Jin Park, Jong-Tae Lim:
Language Model Approach to Nonblocking Supervisor Synthesis for Nondeterministic Discrete Event Systems. 650-655 - Antony W. T. Ho, Wen J. Li, Imad H. Elhajj, Ning Xi, Tao Mei:
A Bone-reaming System Using Micro Sensors for Internet Force-feedback Control. 656-661 - Imad H. Elhajj, Ning Xi, Wai-Keung Fung, Yun-Hui Liu, Yasuhisa Hasegawa, Toshio Fukuda:
Modeling and Control of Internet Based Cooperative Teleoperation. 662-667 - Elzbieta Roszkowska:
Supervisory Control for Systems of Vehicles in Path Networks. 668-673
Collision Avoidance and Sensor Based Control
- Mustafa Gevher, Aydan M. Erkmen, Ismet Erkmen:
Sensor Based Online Path Planning For Serpentine Robots. 674-679 - Alessio Cacitti, René Zapata:
Reactive Behaviours of Mobile Manipulator Based on the DVZ Method. 680-685 - Jae-Heung Shim, Min-Seok Kim, Young-Hoon Park, Jung Ha Kim:
The System Development of Unmanned Vehicle for the Tele-operated System Interfaced with Driving Simulator. 686-691 - James J. Kuffner Jr., Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue:
Motion Planning for Humanoid Robots Under Obstacle and Dynamic Balance Constraints. 692-698 - Prasad N. Atkar, Howie Choset, Alfred A. Rizzi, Ercan U. Acar:
Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R3. 699-704 - Parag H. Batavia, Sanjiv Singh:
Obstacle Detection Using Adaptive Color Segmentation and Color Stereo Homography. 705-710
Visual Servoing Algorithm
- Hiroshi Fujimoto, Yoichi Hori:
Visual Servoing Based on Multirate Sampling Control - Application of Perfect Disturbance Rejection Control. 711-716 - Philippe Martinet, Enrique Cervera:
Stacking Jacobians Properly in Stereo Visual Servoing. 717-722 - Justin A. Borgstadt, Nicola J. Ferrier:
Visual Servoing: Path Interpolation by Homography Decomposition. 723-730 - Youcef Mezouar, François Chaumette:
Design and Tracking of Desirable Trajectories in the Image Space by Integrating Mechanical and Visibility Constraints. 731-736 - Graziano Chesi, Domenico Prattichizzo, Antonio Vicino:
A Visual Servoing Algorithm Based on Epipolar Geometry. 737-742 - Alessandro Astolfi, Liu Hsu, Mariana S. Netto,