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ICRA 1994: San Diego, CA, USA
- Proceedings of the 1994 International Conference on Robotics and Automation, San Diego, CA, USA, May 1994. IEEE Computer Society 1994, ISBN 0-8186-5330-2
Manipulator Control
- Nilanjan Sarkar, Xiaoping Yun, Vijay Kumar:
Control of a Single Robot in a Decentralized Multi-Robot System. 896-901 - Kenji Kaneko, Kiyoshi Komoriya, Kouhei Ohnishi, Kazuo Tanie:
Manipulator Control Based on a Disturbance Observer in the Operational Space. 902-909 - Ting Ying, Sabri Tosunoglu, Benito Fernández:
Control Algorithms for Fault-Tolerant Robots. 910-917
Force Control
- G. T. Marth, Tzyh Jong Tarn, Antal K. Bejczy:
An Event Based Approach to Impact Control: Theory and Experiments. 918-923 - Yangming Xu, John M. Hollerbach, Donghai Ma:
Force and Contact Transient Control Using Nonlinear PD Control. 924-930 - P. J. Hacksel, Septimiu E. Salcudean:
Estimation of Environment Forces and Rigid-Body Velocities Using Observers. 931-936 - Yonghwan Oh, Wan Kyun Chung, K. W. Jeong, Youngil Youm:
Implementation of Passive Hardware Damper for Force and Impact Control. 937-944
Path Planning I
- Yoshihito Koga, Jean-Claude Latombe:
On Multi-Arm Manipulation Planning. 945-952 - Jean-Daniel Boissonnat, Olivier Devillers, Sylvain Lazard:
From Spider Robots to Half Disk Robots. 953-958 - Harry H. Cheng, Rajan Penkar:
Stacking Irregular-Sized Packages by a Robot Manipulator. 959-966 - K. Sridharan, Harry E. Stephanou:
Algorithms for Rapid Computation of Some Distance Functions Between Objects for Path Planning. 967-973
Kinematics I
- Luc Baron, Jorge Angeles:
The Decoupling of the Direct Kinematics of Parallel Manipulators Using Redundant Sensors. 974-979 - D. Zlatanov, Robert G. Fenton, Beno Benhabib:
Singularity Analysis of Mechanisms and Robots via a Motion-Space Model of the Instantaneous Kinematics. 980-985 - D. Zlatanov, Robert G. Fenton, Beno Benhabib:
Singularity Analysis of Mechanisms and Robots via a Velocity-Equation Model of the Instantaneous Kinematics. 986-991 - Robert L. Williams II:
Local Performance Optimization for a Class of Redundant Eight-Degree-of-Freedom Manipulators. 992-998
Walking Robots II
- Kan Yoneda, Hiroyuki Iiyama, Shigeo Hirose:
Sky-Hook Suspension Control of a Quadruped Walking Vehicle. 999-1004 - Akihiko Nagakubo, Shigeo Hirose:
Walking and Running of the Quadruped Wall-Climbing Robot. 1005-1012 - G. Caurin, Nadine N. Tschichold-Gürman:
The Development of a Robot Terrain Interaction System for Walking Machines. 1013-1018 - Dinesh K. Pai, Roderick A. Barman, Scott K. Ralph:
Platonic Beasts: A New Family of Multilimbed Robots. 1019-1026
Distributed Robot Systems
- Toshio Fukuda, Go Iritani, Tsuyoshi Ueyama, Fumihito Arai:
Optimization of Group Behavior on Cellular Robotic System in Dynamic Environment. 1027-1032 - Kai Jin, Ping Liang, Gerardo Beni:
Stability of Synchronized Distributed Control of Discrete Swarm Structures. 1033-1038 - Kazutaka Yokota, Tsuyoshi Suzuki, Hajime Asama, Akihiro Matsumoto, Isao Endo:
A Human Interface System for the Multi-Agent Robotic System. 1039-1044 - Jing Wang:
On Sign-Board Based Inter-Robot Communication in Distributed Robotic Systems. 1045-1051
Motion Estimation
- Bikash Sabata, Jake K. Aggarwal:
Surface Correspondence and Motion Computation from a Sequence of Range Images. 1052-1059 - Frank Tong, Ze-Nian Li:
Reciprocal-Wedge Transform in Motion Stereo. 1060-1065 - Yasuhiro Masutani, Takeshi Iwatsu, Fumio Miyazaki:
Motion Estimation of Unknown Rigid Body Under No External Forces and Moments. 1066-1072 - Krishnendu Chaudhury, Rajiv Mehrotra, C. Srinivasan:
Detecting 3D Flow. 1073-1078
Design Methodology
- Leo Joskowicz, Elisha Sacks:
Configuration Space Computation for Mechanism Desigu. 1080-1087 - Georg Grübel, Reinhard Finsterwalder, H.-D. Joos, Alexander Lewald, M. Otter:
ANDECS: A Computation Environment for Robot-Dynamics Design Automation. 1088-1093 - Anton C. Pil, Haruhiko Asada:
Recursive Experimental Structure Re-Desigu of a Robot Arm Using Rapid Prototyping. 1094-1099 - Manja V. Kircanski:
Robotic Isotropy and Optimal Robot Desigu of Planar Manipulators. 1100-1106
Inspection
- Antonia J. Spyridi, Aristides A. G. Requicha:
Automatic Programming of Coordinate Measuring Machines. 1107-1112 - J. Alison Noble, Richard I. Hartley, Joseph L. Mundy, J. Farley:
X-Ray Metrology for Quality Assurance. 1113-1119 - Christopher C. Yang, Michael M. Marefat, Rangasami L. Kashyap:
Active Visual Inspection Based on CAD Models. 1120-1125 - Collin Wang, David J. Cannon:
Neural Network and Skeleton Based Inspection of Surface Flaws. 1126-1132
Simulation
- Scott McMillan, David E. Orin, Robert B. McGhee:
Efficient Dynamic Simulation of an Unmanned Underwater Vehicle with a Manipulator. 1133-1140 - George K. Adam, Edward Grant:
QMTOOL - A Qualitative Modelling and Simulation CAD System for Desiguing Automated Workeells. 1141-1146 - Paul U. Lee, Diego C. Ruspini, Oussama Khatib:
Dynamic Simulation of Interactive Robotic Environment. 1147-1152
Geometric Methods
- Wilhelm Burger, Bir Bhanu
:
A Geometric Constraint Method for Estimating 3-D Camera Motion. 1155-1160 - K. E. Nicewarner, Arthur C. Sanderson:
A General Representation for Orientational Uncertainty Using Random Unit Quarternions. 1161-1168 - Jean Ponce, David H. Marimont, Todd A. Cass:
Geometric Methods for Relative Reconstruction from Weakly Calibrated Images. 1169-1174 - Peter Stöhr:
Using Two-Dimensional Subspaces Gained by Intersections to Recognize Three-Dimensional Objects. 1175-1180
Low Level Control
- Martin Damm:
A Real-Time Control System for the Coordination of Two Industrial Robots. 1182-1187 - David Lim, Thomas S. Lee, Homayoun Seraji:
A Real-Time Control System for a Mobile Dextrous 7 DOF Arm. 1188-1195 - Wilco Oelen, Harry Berghuis, Henk Nijmeijer, Carlos Canudas de Wit:
Implementation of a Hybrid Stabilizing Controller on a Mobile Robot with Two Degrees of Freedom. 1196-1201 - Brian Armstrong-Hélouvry:
Dynamic Friction in the Control of Robots. 1202-1207
Impedance / Admitance Control
- Gregory D. Glosser, Wyatt S. Newman:
The Implementation of a Natural Admittance Controller on an Industrial Manipulator. 1209-1215 - Craig R. Carignan, Jennifer A. Smith:
Manipulator Impedance Accuracy in Position-Based Impedance Control Implementations. 1216-1221 - David W. Meer, Stephen M. Rock:
Experiments in Object Impedance Control for Flexible Objects. 1222-1227 - Michel Pelletier, Michel Doyon:
On the Implementation and Performance of Impedance Control on Position Controlled Robots. 1228-1233
Multi-Robot Motion Planning
- Jérôme Barraquand, Pierre Ferbach:
A Penalty Function Method for Constrained Motion Planning. 1235-1242 - Daniel J. Cox, Delbert Tesar:
Multi-Level Criteria for Dual-Arm Robotic Operations. 1243-1249 - Ryo Kurazume, Shigemi Nagata:
Cooperative Positioning with Multiple Robots. 1250-1257 - Helmut Hoyer, Michael Gerke, Ulrich Borgolte:
Online Collision Avoidance for Industrial Robots with Six Degrees of Freedom. 1258-1265
Mechanisms I
- Gregory J. Hamlin, Arthur C. Sanderson:
A Novel Concentric Multilink Spherical Joint with Parallel Robotics Applications. 1267-1272 - Mohamed Dekhil, Tarek M. Sobh
URK: Utah Robot Kit - A 3-Link Robot Manipulator Prototype. 1273-1278 - Ali Meghdari:
The Cooperative Dual-Arm Cam-Lock Manipulators. 1279-1285 - James Hwang, Eugene Wu, Alan Bell, Andy Cordell, LeBarian Stokes, Scott Hankins:
Design of a SPDM-Like Robotic Manipulator System for Space Station on Orbit Replaceable Unit Ground Testing - An Overview of the System Architecture. 1286-1291
Mobile Robot Navigation
- Erann Gat, Gregory Dorais:
Robot Navigation by Conditional Sequencing. 1293-1299 - D. N. Green, J. Z. Sasiadek, G. S. Vukovich:
Path Tracking, Obstacle Avoidance, and Position Estimation by an Autonomous, Wheeled Planetary Rover. 1300-1305 - Chris Gourley, Mohan M. Trivedi:
Sensor Based Obstacle Avoidance and Mapping for Fast Mobile Robots. 1306-1311 - Rachid Alami
Planning Robust Motion Strategies for a Mobile Robot. 1312-1318
Walking Robots III
- Jessica K. Hodgins:
Simulation of Human Running. 1320-1325 - Katsuhiko Inagaki, Hisato Kobayashi:
Adaptive Wave Gait for Hexapod Synchronized Walking. 1326-1331 - Prabir K. Pal, Mahadev Venkatraman, K. Jayarajan:
Gait Generation for a Six-Legged Walking Machine Through Graph Search. 1332-1337 - Kan Yoneda, Keiji Suzuki, Yutaka Kanayama:
Gait Planning for Versatile Motion of a Six-Legged Robot. 1338-1343
Sensor Planning
- Amy J. Briggs, Bruce Randall Donald:
Automatic Sensor Configuration for Task-Directed Planning. 1345-1350 - Bradley J. Nelson, Pradeep K. Khosla:
Integrating Sensor Placement and Visual Tracking Strategies. 1351-1356 - Keiichi Kemmotsu, Takeo Kanade:
Sensor Placement Desigu for Object Pose Determination with Three Light-Stripe Range Finders. 1357-1364 - Kiriakos N. Kutulakos, Charles R. Dyer, Vladimir J. Lumelsky:
Provable Strategies for Vision-Guided Exploration in Three Dimensions. 1365-1372
Fault Detection and Error Recovery
- Hsien-Jung Wu, Sanjay B. Joshi
Error Recovery in MPSG-Based Controllers for Shop Floor Control. 1374-1379 - Christopher L. Lewis, Anthony A. Maciejewski:
An Example of Failure Tolerant Operation of a Kinematically Redundant Manipulator. 1380-1387 - Monica L. Visinsky, Ian D. Walker, Joseph R. Cavallaro:
New Dynamic Model-Based Fault Detection Thresholds for Robot Manipulators. 1388-1395 - Yung Ting, Sabri Tosunoglu, Robert A. Freeman:
Torque Redistribution Method for Fault Recovery in Redundant Serial Manipulators. 1396-1401
Inspection and Servicing
- Hagen Schempf:
Neptune: Above-Ground Storage Tank Inspection Robot System. 1403-1408 - Leoncio Briones, Paul Bustamante, Miguel Angel Serna
Wall-Climbing Robot for Inspection in Nuclear Power Plants. 1409-1414 - Eugene Wu, James Hwang, Scott Hankins:
Design of the Control System for a Robotic Manipulator for Space Station On-Orbit Replaceable Unit Ground Testing. 1415-1420 - Robert J. Anderson, Brady Davies:
Using Virtual Objects to Aid Underground Storage Tank Teleoperation. 1421-1426
Teleoperation and Telepresence II
- Nadine Miner, Sharon A. Stansfield:
An Interactive Virtual Reality Simulation System for Robot Control and Operator Training. 1428-1435 - Christopher Cooke, Sharon A. Stansfield:
Interactive Graphical Model Building Using Telepresence and Virtual Reality. 1436-1440 - Praveen Bhatia, Masaru Uchiyama:
Shared Intelligence for Telerobots with Time Delay: Theory and Human Interface with Local Intelligence. 1441-1448 - Massimo Bergamasco, Benedetto Allotta, L. Bosio, Luca Ferretti, Gianluca Parrini, G. M. Prisco, Fabio Salsedo, G. Sartini:
An Arm Exoskeleton System for Teleoperation and Virtual Environments Applications. 1449-1454
Assembly Planning II
- H. Miyaguchi, K. Iwama:
A Strategy of Assembly Task Execution in the Presence of Uncertainties. 1456-1461 - Thomas Meitinger, Friedrich Pfeiffer:
Automated Assembly with Compliant Mating Parts. 1462-1467 - Roland Almgren:
Comparative Topological Modeling and Analysis of Assemblies and Assembly Systems - An Aid in Computerized Assembly Planning. 1468-1475 - Ke Chen, Jean-Michel Henrioud:
Systematic Generation of Assembly Precedence Graphs. 1476-1482
Actuators II
- Chris C. H. Ma:
Rapid Tracking of Short Complex Trajectories by a DC Motor. 1484-1489 - Jehuda Ish-Shalom, Tamer Wasfy:
A Finite Element Model for Real-Time Compensation of the Thermal Deformation of the Platen of a Planar Step Motor. 1490-1495 - Richard S. Wallace:
Miniature Direct Drive Rotary Actuators II: Eye, Finger, and Leg. 1496-1501 - Mohsen Shahinpoor:
Electro-Thermo-Mechanics of Resilient Contractile Fiber Bundles as Robotic Actuators. 1502-1507
Multi-Robots
- Hisashi Osumi, Tamio Arai:
Cooperative Control Between Two Position-Controlled Manipulators. 1509-1514 - Tzyh Jong Tarn, Ning Xi, Arvind K. Ramadorai, Antal K. Bejczy:
A Versatile Experimental System for Dual-Arm Planning and Control. 1515-1520 - Robert G. Bonitz, Tien C. Hsia:
Force Decomposition in Cooperating Manipulators Using the Theory of Metric Spaces and Generalized Inverses. 1521-1527 - Ali Zilouchian:
An Iterative Learning Control Technique for a Dual Arm Robotic System. 1528-1533
Dynamics II
- Frank C. Park, James E. Bobrow:
A Recursive Algorithm for Robot Dynamics Using Lie Groups. 1535-1540 - N. Hemati:
Modeling Multi D.O.F. Robots as Coupled Lorenz-Type Systems. 1541-1546 - Amir Fijany, Inna Sharf, Gabriele M. T. D'Eleuterio:
Parallel O(log N) Algorithms for the Computation of Manipulator Forward Dynamics. 1547-1553 - Evangelos Papadopoulos, Ahmed Abu-Abed:
Design and Motion Planning for a Zero-Reaction Manipulator. 1554-1559
Motion Planning II
- A. B. Doyle, Dewi I. Jones:
A Tangent Based Method for Robot Path Planning. 1561-1566 - J. L. Marion, Carlos Rodriguez, M. de Rougemont:
The Evaluation of Strategies in Motion Planning with Uncertainty. 1567-1573 - Jonathan M. Cameron, Wayne J. Book:
Optimal Path Planning for the Motion of a Wheel. 1574-1580 - Sunil Kumar Agrawal, Siyan Li, Madhu Annapragada:
Hyper-Redundant Planar Manipulators: Motion Planning with Discrete Modal Summation Procedure. 1581-1586
Performance Measures
- Bernard T. Barcio, Ian D. Walker:
Impact Ellipsoids and Measures for Robot Manipulators. 1588-1594 - Chengche Feng, Alan A. Desrochers:
Petri Net Sensitivity Analysis with Respect to a Structural Change of a Discrete Event Dynamic System. 1595-1600 - Kees van den Doel, Dinesh K. Pai:
Constructing Performance Measures for Robot Manipulators. 1601-1607 - Peter I. Corke
A Search for Consensus Among Model Parameters Reported for the PUMA 560 Robot. 1608-1613
Mobile Robots I
- Paul MacKenzie, Gregory Dudek:
Precise Positioning Using Model-Based Maps. 1615-1621 - Steven G. Goodridge, Ren C. Luo:
Fuzzy Behavior Fusion for Reactive Control of an Autonomous Mobile Robot: MARGE. 1622-1627 - Bernt Schiele
A Comparison of Position Estimation Techniques Using Occupancy Grids. 1628-1634 - Andre Yakovleff, X. Thong Nguyen, Abdesselam Bouzerdoum, Alireza Moini, Robert E. Bogner, Kamran Eshraghian:
Dual-Purpose Interpretation of Sensory Information. 1635-1640
Simple Sensors and End Effectors
- Yan-Bin Jia
Sensing Polygon Poses by Inscription. 1642-1649 - Brian Carlisle, Kenneth Y. Goldberg, Anil S. Rao, Jeff Wiegley:
A Pivoting Gripper for Feeding Industrial Parts. 1650-1655 - Eric Paulos, John F. Canny:
Accurate Insertion Strategies Using Simple Optical Sensors. 1656-1662 - Kazuyuki Nagata
Manipulation by a Parallel-Jaw Gripper Having a Turntable at Each Fingertip. 1663-1671
Sensor Fusion II
- Jonathan D. Courtney, Anil K. Jain:
Mobile Robot Localization via Classification of Multisensor Maps. 1672-1678 - Yasushi Yagi, Hitoshi Okumura, Masahiko Yachida:
Multiple Visual Sensing System for Mobile Robot. 1679-1684 - Sangwook Park, C. S. George Lee:
A Global and Local Robot Tracking and Control Strategy Using Multisensory Inputs. 1686-1692
Petri Net Applications
- Pudji Astuti, Brenan J. McCarragher:
Sufficient Conditions for the Success of Robotic Assembly. 1693-1699 - P. Lutz, N. Djemel, A. Bourjault:
Petri Net Modeling for Multiproducts Assembly Systems Including Testing. 1700-1705 - E. D. Adamides, Dominique Bonvin:
Obtaining Synergetic Behavior by Exploiting Relations in Distributed Robot Plans. 1706-1712 - Armando W. Colombo, Javier Martínez, Ricardo O. Carelli:
Formal Validation of Complex Production Systems Using Coloured Petri Nets. 1713-1718
Medical Robtics
- Achim Schweikard, Rhea Tombropoulos, Lydia E. Kavraki, John R. Adler Jr., Jean-Claude Latombe:
Treatment Planning for a Radiosurgical System with General Kinematics. 1720-1727 - Tomomasa Sato, Junri Ichikawa, Mamoru Mitsuishi, Yotaro Hatamura:
A New Micro-Teleoperation System Employing a Hand-Held Force-Feedback Pencil. 1728-1733 - Sunil K. Singh, Mikael Bostrom, Dan O. Popa, Christopher W. Wiley:
Design of an Interactive Lumbar Puncture Simulator with Tactile Feedback. 1734-1739 - Sean Graves, John Mollenhauer, Bryan D. Morgan:
Dynamic Session Management for Telerobotic Control and Simulation. 1740-1745
Human-Machine Interaction
- Jie Yang, Yangsheng Xu, C. S. Chen:
Gesture Interface: Modeling and Learning. 1747-1752 - Thea Iberall, Gaurav S. Sukhatme, Denise Beattie, George A. Bekey:
On the Development of EMG Control for a Prosthesis Using a Robotic Hand. 1753-1758 - Sing Bing Kang, Katsushi Ikeuchi:
Grasp Recoguition and Manipulative Motion Characterization from Human Hand Motion Sequences. 1759-1764 - Michael C. Nechyba, Yangsheng Xu:
SM2 for New Space Station Structure: Autonomous Locomotion and Teleoperation Control. 1765-1770
Contact Sensing
- Raju Patil, Anup Basu, Hong Zhang:
Crack Detection Using Contact Sensing. 1772-1777 - Mikhail M. Svinin, Masaru Uchiyama:
Analytical Models for Desiguing Force Sensors. 1778-1783 - Naohiro Ueno, Makoto Kaneko:
Dynamic Active Antenna - A Principle of Dynamic Sensing. 1784-1790 - Branislav Borovac, Milan Nikolic, László Nagy:
A New Type of Force Sensor for Contact Tasks. 1791-1796
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