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Experimental Robotics IV : Experimental Robotics IV - Oussama Khatib

Experimental Robotics IV

Experimental Robotics IV

By: Oussama Khatib (Editor), Kenneth J. Salisbury (Editor)

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This is the fourth of the biennial Experimental Robotics symposia which are designed to bring together, in a small group setting, researchers from around the world who are at the forefront of experimental robotics research. The symposia are designed to provide a forum for the presentation and discussion of research in robotics that focuses on theories and principles which have been experimentally validated. This proceedings volume includes the fifty-five contributions that were selected by the International Program Committee for presentation at the symposium. The contributions represent work in the areas of design, perception, control, planning, and robotic applications and are organized into twelve broadly-defined chapters for ease of reference. Research groups from twelve different countries have contributed to this work.

Author Index
Collective and Cooperative Group Behaviors: Biologically Inspired Experiments in Roboticsp. 3
Distributed Robotic Manipulation: Experiments in Minimalismp. 11
A General Framework For Multi-Robot Cooperation and Its Implementation on a Set of Three Hilare Robotsp. 26
Cooperative Autonomous Low-Cost Robots for exploring Unknown Environmentsp. 40
An Object-oriented Framework for Event-Driven Dextrous Manipulationp. 53
Toward Obstacle Avoidance in Intermittent Dynamical Environmentsp. 62
Integrating Grasp Planning and Visual Servoing for Automatic Graspingp. 71
Contact and Grasp Robustness Measures: Analysis and Experimentsp. 83
Performance Limits and Stiffness Control of Multifingered Handsp. 91
Real-time Vision plus Remote-Brained Design Opens a New World for Experimental Roboticsp. 105
Experimental Validation of an Active Visual Control Scheme Based on a Reduced Set of Image Parametersp. 114
Task Oriented Model-Driven Visually Servoed Agentsp. 121
Experiments in Hand-Eye Coordination Using Active Visionp. 130
Visual Positioning and Docking of Non-holonomic Vehiclesp. 140
An Intelligent Observerp. 153
The Development of a Robotic Endoscopep. 161
The Extender Technology: An Example of Human-Machine Interaction via the Transfer of Power and Information Signalsp. 170
Coordinated and Force-Feedback Control of Hydraulic Excavatorsp. 181
Experiments with a Real-Time Structure-From-Motion Systemp. 197
Robotic Perception of Material: Experiments with Shape-Invariant Acoustic Measures of Material Typep. 204
Multi-Level 3D-Tracking of Objects Integrating Velocity Estimation based on Optical Flow and Kalman-Filteringp. 212
Experimental Approach on Artificial Active Antennap. 222
Low Cost Sensor Based Obstacle Detection and Description: Experiments with Mobile Robots using Grid Representationp. 231
Parameter Sensitivity Analysis for Design and Control of Tendon Transmissionsp. 241
Stiffness Isn't Everythingp. 253
In Pursuit of Dynamic Range: Using Parallel Coupled Actuators to Overcome Hardware Limitationsp. 263
Total Least Squares in Robot Calibrationp. 274
Symbolic Modelling and Experimental Determination of Physical Parameters for Complex Elastic Manipulatorsp. 283
Learning Compliant Motions by Task-Demonstration in Virtual Environmentsp. 299
Motion Control for A Hitting Task: A Learning Approach to Inverse Mappingp. 308
Experimental Verification of Progressive Learning Control For High-Speed Direct-Drive Robots With Structure Flexibility and Non-Collocated Sensorsp. 319
Accurate Positioning of Devices with Nonlinear Friction Using Fuzzy Logic Pulse Controllerp. 331
Platooning for Small Public Urban Vehiclesp. 345
Robust Vehicle Navigationp. 355
Dynamic Analysis of Off-Road Vehiclesp. 363
An Autonomous Guided Vehicle for Cargo Handling Applicationsp. 372
Robots That Take Advicep. 383
Towards Principled Experimental Study of Autonomous Mobile Robotsp. 390
Mission Programming: Application to Underwater Robotsp. 402
Specification, Formal Verification and Implementation of Tasks and Missions for an Autonomous Vehiclep. 412
Experimental Study on Modeling and Control of Flexible Manipulators Using Virtual Joint Modelp. 425
Experimental Research on Impact Dynamics of Spaceborne Manipulator Systemsp. 436
An Operational Space Formulation for a Free-Flying, Multi-Arm Space Robotp. 448
Experimental Research of a Nonholonomic Manipulatorp. 458
Mobile Manipulation of a Fragile Objectp. 467
Experimental Verification of Fine-Motion Planning Theoriesp. 477
Estimating Throughput for a Flexible Part Feederp. 486
Interest of the dual hybrid control scheme for teleoperation with time delaysp. 498
Robot Force Control Experiments with an Actively Damped Compliant End Effectorp. 507
Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedbackp. 516
Indoor Navigation of an Inverse Pendulum Type Autonomous Mobile Robot with Adaptive Stabilization Control Systemp. 529
Motion and Perception Strategies for Outdoor Mobile Robot Navigation in Unknown Environmentsp. 538
Programming Symmetric Platonic Beast Robotsp. 548
An Experimental Study on Motion Control of a Biped Locomotion Machine Using Reaction Wheelsp. 558
Real-Time Programming of Mobile Robot Actions Using Advanced Control Techniquesp. 566
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9783540761334
ISBN-10: 3540761330
Series: Experimental Robotics IV
Audience: General
Format: Paperback
Language: English
Number Of Pages: 576
Publisher: Springer-Verlag Berlin and Heidelberg Gmbh & Co. Kg
Country of Publication: DE
Dimensions (cm): 23.39 x 15.6  x 3.07
Weight (kg): 0.83