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ICRA 1999: Detroit, Michigan, USA
- 1999 IEEE International Conference on Robotics and Automation, Marriott Hotel, Renaissance Center, Detroit, Michigan, USA, May 10-15, 1999, Proceedings. IEEE Robotics and Automation Society 1999
Mobile Robot Motion Planning IV
- Nicola Ancona, Antonella Branca:
Real-Time Control of a Mobile Robot by Using Visual Stimuli. 1665-1670 - Steven M. LaValle, Jeffery H. Yakey, Lydia E. Kavraki:
A Probabilistic Roadmap Approach for Systems with Closed Kinematic Chains. 1671-1676 - Steven M. LaValle, John Hinrichsen:
Visibility-Based Pursuit-Evasion: The Case of Curved Environments. 1677-1682 - N. Sudha, Sukumar Nandi, K. Sridharan:
A Parallel Algorithm to Construct Voronoi Diagram and Its VLSI Architecture. 1683-1688
Legged Locomotion II
- Mojtaba Ahmadi, Martin Buehler:
The ARL Monopod II Running Robot: Control and Energetics. 1689-1694 - Matthew D. Berkemeier, Kamal V. Desai:
Control of Hopping Height in Legged Robots Using a Neural-Mechanical Approach. 1695-1701 - Eric Y. Raby
, David E. Orin:
Passive Walking with Leg Compliance for Energy Efficient Multilegged Vehicles. 1702-1707 - Fan-Tien Cheng
Increasing the Locomotive Stability Margin of Multilegged Vehicles. 1708-1714
Medical Robotics I
- Koji Ikuta, Masaki Takeichi, Takao Namiki:
Virtual Endoscope System with Force Sensation. 1715-1721 - Dong-Soo Kwon, Ki Young Woo, Hyung Suck Cho:
Haptic Control of the Master Hand Controller for a Microsurgical Telerobot System. 1722-1727 - Mitsutaka Tanimoto, Fumihito Arai, Toshio Fukuda, Makoto Negoro:
Force Display Method to Improve Safety in Teleoperation System for Intravascular Neurosurgery. 1728-1733 - Ali Faraz, Shahram Payandeh:
On Inverse Kinematics and Trajectory Planning for Tele-Laparoscopic Manipulation. 1734-1739
Calibration And Friction Modeling
- Rafael Kelly, Jesús Llamas:
Determination of Viscous and Coulomb Friction by Using Velocity Responses to Torque Ramp Inputs. 1740-1745 - Adrian Bonchis, Peter I. Corke
A Pressure-Based, Velocity Independent, Friction Model for Asymmetric Hydraulic Cylinders. 1746-1751 - Cornel C. Iurascu, Frank C. Park:
Geometric Algorithms for Closed Chain Kinematic Calibration. 1752-1757 - Sébastien Besnard, Wisama Khalil:
Calibration of Parallel Robots with Two Inclinometers. 1758-1763
Process Planning And Manufacturing
- Yunfeng Zhang, G. H. Ma, Andrew Y. C. Nee:
Modeling Process Planning Problems in an Optimization Perspective. 1764-1769 - Carl Van Geem, Thierry Siméon, Jean-Paul Laumond, Jean-Louis Bouchet, Jean-François Rit:
Mobility Analysis for Feasibility Studies in CAD Models of Industrial Environments. 1770-1775 - Eric Huang, Fan-Tien Cheng
Development of a Collaborative and Event-Driven Supply Chain Information System Using Mobile Object Technolog. 1776-1781 - Mamoru Mitsuishi, Katsuya Tanaka, Yasuyoshi Yokokohji, Takaaki Nagao:
Remote Rapid Manufacturing with "Action Media" as an Advanced User Interface. 1782-1787
Impedance Control
- Ciro Natale, Bruno Siciliano
Spatial Impedance Control of Redundant Manipulators. 1788-1793 - Ángel Rubio, Alejo Avello, Julián Flórez:
Adaptive Impedance Modification of a Master-Slave Manipulator. 1794-1799 - Seul Jung, Tien C. Hsia:
Adaptive Force Tracking Impedance Control of Robot for Cutting Nonhomogeneous Workpiece. 1800-1805 - Fuchun Sun, Zengqi Sun, Kab Il Kim, Yunyue Zhu, Wenjuan Lu:
Stable Neuro-Adaptive Control for Robot with Unknown Dynamics. 1806-1811
Robotic Control IV
- Hemant Melkote, Farshad Khorrami:
Closed-Loop Control of a Base XY Stage with Rotational Degree-of-Freedom for a High-Speed Ultra-Accurate Manufacturing System. 1812-1817 - Prabhakar R. Pagilla, Kiu Ling Pau, Biao Yu:
Adaptive Control of Time-Varying Mechanical Systems: Modeling, Controller Design and Experiments. 1818-1823 - R. Brent Gillespie, J. Edward Colgate, Michael A. Peshkin:
A General Framework for Cobot Control. 1824-1830 - Victor Santibañez, Rafael Kelly:
Global Convergence of the Adaptive PD Controller with Computed Feedforward for Robot Manipulators. 1831-1836
Distance And Contact Calculations
- A. Frank van der Stappen, Chantal Wentink, Mark H. Overmars:
Computing Form-Closure Configurations. 1837-1842 - David E. Johnson, Elaine Cohen:
Bound Coherence for Minimum Distance Computations. 1843-1848 - C. Ullrich, Dinesh K. Pai:
Green's Function Contact Maps for Accurate Real Time Collisions. 1849-1855 - Pablo Jiménez, Carme Torras
Detection Between Nonconvex Polyhedral Models. 1856-1862
Teleoperation III: Experiments And Control
- Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean:
On the Use of Local Force Feedback for Transparent Teleoperation. 1863-1869 - Wen-Hong Zhu, Septimiu E. Salcudean, Ming Zhu:
Experiments with Transparent Teleoperation Under Position and Rate Control. 1870-1875 - Thomas Debus, Pierre E. Dupont, Robert D. Howe:
Automatic Property Identification via Parameterized Constraints. 1876-1881 - Stephen Palm, Taketoshi Mori, Tomomasa Sato:
Teleoperation via Bilateral Behavior Media: Control and Accumulation, Assistance. 1882-1889
Grasping Computation
- Christoph Borst, Max Fischer, Gerd Hirzinger:
A Fast and Robust Grasp Planner for Arbitrary 3D Objects. 1890-1896 - Gordon Smith, Eric Lee, Kenneth Y. Goldberg, Karl-Friedrich Böhringer, John Craig:
Computing Parallel-Jaw Grips. 1897-1903 - Yun-Hui Liu, Dan Ding, Shuguo Wang:
Constructing 3D Frictional Form-Closure Grasps of Polyhedral Objects. 1904-1909 - Miriam Zacksenhouse, Thomas Moestl:
Segmenting Manipulative Hand Movements by Dividing Phase Plane Trajectorie. 1910-1915
Real-Time Computer Vision
- Idaku Ishii, Masatoshi Ishikawa:
Self Windowing for High Speed Vision. 1916-1921 - Jonathan Baldwin, Anup Basu, Hong Zhang:
Panoramic Video with Predictive Windows for Telepresence Applications. 1922-1927 - Peter I. Corke
Frame-Rate Stereopsis Using Non-Parametric Transforms and Programmable Logic. 1928-1933 - Aage Bendiksen, Gregory D. Hager:
Fast 3D Boundary Computation from Occluding Contour Motion. 1934-1941
Sensor Fusion I
- Naohiro Ueno, Makoto Kaneko:
Contact Localization by Multiple Active Antenna. 1942-1947 - Mark D. Elstrom, Philip W. Smith:
Stereo Based Registration of Multi-Sensor Imagery for Enhanced Visualization of Remote Environments. 1948-1953 - Jihong Lee, Insoo Ha:
Sensor Fusion and Calibration for Motion Captures Using Accelerometers. 1954-1959 - Tomasz Celinski, Brenan J. McCarragher:
Achieving Efficient Data Fusion Through Integration of Sensory Perception Control and Sensor Fusion. 1960-1965
Mobile Robot Localization III
- Sukhan Lee, Jae-Won Lee, Dongmok Shin, Woong Kwon, Dong Yoon Kim, Kyoung-Sig Roh, Kwang S. Boo:
Estimation of Vehicle Pose and Road Curvature Based on Perception-Net. 1966-1971 - Robert Sim, Gregory Dudek:
Learning Visual Landmarks for Pose Estimation. 1972-1978 - Stergios I. Roumeliotis, Gaurav S. Sukhatme, George A. Bekey:
Smoother Based 3-D Attitude Estimation for Mobile Robot Localization. 1979-1986 - Clark F. Olson:
Subpixel Localization and Uncertainty Estimation Using Occupancy Grids. 1987-1992
Mobile Robot Systems I
- J. Savall, Alejo Avello, Leoncio Briones:
Two Compact Robots for Remote Inspection of Hazardous Areas in Nuclear Power Plants. 1993-1998 - Sebastian Thrun, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles R. Rosenberg, Nicholas Roy, Jamieson Schulte, Dirk Schulz:
MINERVA: A Second-Generation Museum Tour-Guide Robot. 1999-2005 - Homayoun Seraji:
Traversability Index: A New Concept for Planetary Rovers. 2006-2013 - Ren C. Luo, Tse Min Chen, Zu Hung Hsiao, Chi-Yang Hu:
Adaptive Intelligent Assitance Control of Electrical Wheelchairs by Grey Fuzzy Decision-Making Algorithm. 2014-2019
Legged Locomotion III
- Nicolae Lobontiu, Michael Goldfarb, Ephrahim Garcia:
Analysis and Design Approach to Inchworm Robotic Insects. 2020-2025 - I-Ming Chen
Gait Generation for Inchworm-Like Robot Locomotion Using Finite State Model. 2026-2031 - Gen Endo, Shigeo Hirose:
Study on Roller-Walker: System Integration and Basic Experiments. 2032-2037 - Milos Zefran
An Investigation into Non-Smooth Locomotion. 2038-2043
Medical Robotics II
- William H. Finger, H. Harry Asada:
Design and Control of an Active Mattress for Moving Bedridden Patients. 2044-2050 - Joseph Spano, Haruhiko Asada:
A semi-active, flexible, beaded support surface for tangential transport and tissue therapy of bedridden patients. 2051-2056 - Mark A. Minor, Ranjan Mukherjee:
A Dexterous Manipulator for Minimally Invasive Surgery. 2057-2064 - Koji Ikuta, Makoto Nokata:
General Evaluation Method of Safety for Human-Care Robots. 2065-2072
Learning And Identification
- Mehmet Önder Efe, Okyay Kaynak, Imre J. Rudas:
A Novel Computationally Intelligent Architecture for Identification and Control of Nonlinear Systems. 2073-2077 - Gang Zhao, Shoji Tatsumi, Ruoying Sun:
A Heuristic Q-Learning Architecture for Fully Exploring a World and Deriving an Optimal Policy by Model-Based Planning. 2078-2083 - Friedrich Lange, Gerd Hirzinger:
Learning Accurate Path Control of Industrial Robots with Joint Elasticity. 2084-2089 - Xiao-Gang Wang, Helen C. Shen:
Multiple Hypothesis Testing Method for Decision Making. 2090-2095
Manufacturing Automation
- Wyatt S. Newman, Michael S. Branicky, Andy Podgurski, Siddharth R. Chhatpar, Ling Huang, Jayendran Swaminathan, Hao Zhang:
Force-Responsive Robotic Assembly of Transmission Components. 2096-2102 - Marjorie Skubic, Benjamin Forrester, Brent Nowak:
Clustering of Qualitative Contact States for a Transmission Assembly. 2103-2109 - S. H. Lee, Bum Hee Lee, Tae-Hyoung Park:
A Hierarchical Method to Improve the Productivity of a Multi-Head Surface Mounting Machine. 2110-2115 - Wenyu Yang, Han Ding, You-Lun Xiong:
Manufactuability Analysis in 5-Axis Sculptured Surface Machining. 2116-2121
Compliance Control
- Kevin B. Fite, Michael Goldfarb:
Position Control of a Compliant Mechanism Based Micromanipulator. 2122-2127 - Dragoljub Surdilovic, Zarko Cojbasic:
Robust Robot Compliant Motion Control Using Intelligent Adaptive Impedance Approach. 2128-2133 - Byoung-Ho Kim, Nak Young Chong, Sang-Rok Oh, Il Hong Suh, Young-Jo Cho:
Intelligent Compliance Control for Robot Manipulators Using Adaptive Stiffness Characteristics. 2134-2139 - Byung Rok So, Byung-Ju Yi, Sang-Rok Oh, Il Hong Suh:
An Independent Joint-Based Compliance Control Method for a Five-Bar Finger Mechanism via Redundant Actuators. 2140-2146
Robotic Stiffness Control
- Namik Ciblak
Synthesis of Cartesian Stiffness for Robotic Applications. 2147-2152 - Rodney G. Roberts:
Minimal Realization of a Spatial Stiffness Matrix with Simple Springs Connected in Parallel. 2153-2158 - Ying Ma, Geok Soon Hong, Aun Neow Poo:
Ideal Motion Control Using Pre-Shape Sliding Mode Controller. 2159-2164 - Bernd Heinrichs, N. Sepehri:
A Limitation of Position Based Impedance Control in Static Force Regulation: Theory and Experiments. 2165-2170
Micromanipulator
- Shuxiang Guo, Seiji Hata, Koichi Sugumoto, Toshio Fukuda, Keisuke Oguro:
Development of a New Type of Capsule Micropump. 2171-2176 - Satoshi Tadokoro, Shinji Yamagami, Masahiro Ozawa, Tetsuya Kimura, Toshi Takamori, Keisuke Oguro:
Multi-DOF Device for Soft Micromanipulation Consisting of Soft Gel Actuator Elements. 2177-2182 - James Nielsen, Tamio Tanikawa, Tatsuo Arai:
Design and Analysis of a 3-DOF Micromanipulator. 2183-2188 - Takeshi Kasaya, Hideki Miyazaki, Shigeki Saito, Tomomasa Sato:
Micro Object Handling Under SEM by Vision-Based Automatic Control. 2189-2196
Telemanipulation
- S. E. Everett, Rajiv V. Dubey:
Model-Based Variable Position Mapping for Telerobotic Assistance in aCylindrical Environment. 2197-2202 - Ren C. Luo, Wei Zen Lee, Jyh Hwa Chou, Hou Tin Leong:
Tele-Control of Rapid Prototyping Machine via Internet for Automated Tele-Manufacturing. 2203-2208 - Alan R. Graves, Chris A. Czarnecki:
Distributed Generic Control for Multiple Types of Telerobot. 2209-2214 - Igor Ivanisevic, Vladimir J. Lumelsky:
Operating in Configuration Space Significantly Improves Human Performance in Teleoperation. 2215-2220
Parts Manipulation
- Arthur E. Quaid:
A Miniature Mobile Parts Feeder: Operating Principles, Simulation Results. 2221-2226 - Attawith Sudsang, Jean Ponce, Mark Hyman, David J. Kriegman:
On Manipulating Polygonal Objects with Three 2-DOF Robots in the Plane. 2227-2234 - Jonathan E. Luntz, William C. Messner, Howie Choset:
Discrete Actuator Array Vectorfield Design for Distributed Manipulation. 2235-2241 - Jonathan E. Luntz, William C. Messner, Howie Choset:
Open-Loop Orientability of Objects on Actuator Arrays. 2242-2248
Vision-Based Mobile Robotics
- Ricardo Swain Oropeza, Michel Devy:
Motion Control Using Visual Servoing and Potential Fields for a Rover-Mounted Manipulator. 2249-2254 - Ben J. A. Kröse, Roland Bunschoten:
Probabilistic Localization by Appearance Models and Active Vision. 2255-2260 - Adam W. Hoover, Bent David Olsen:
A Real-Time Occupancy Map from Multiple Video Streams. 2261-2266 - Todd Williamson, Charles E. Thorpe:
A Trinocular Stereo System for Highway Obstacle Detection. 2267-2273
Sensor Fusion II
- Gamini Dissanayake, Eduardo Mario Nebot, Salah Sukkarieh, Hugh F. Durrant-Whyte:
A New Algorithm for the Alignment of Inertial Measurement Units Without External Observation for Land Vehicle Applications. 2274-2279 - Michael Beetz, Markus Giesenschlag, Roman Englert, Eberhard Gülch, Armin B. Cremers:
Semi-Automatic Acquisition of Symbolically-Annotated 3D-Models of Office Environments. 2280-2285 - Karl Iagnemma, Frank Génot, Steven Dubowsky:
Rapid Physics-Based Rough-Terrain Rover Planning with Sensor and Control Uncertainty. 2286-2291 - Nicholas Roy, Sebastian Thrun:
Online Self-Calibration for Mobile Robots. 2292-2297
Mobile Inspection And Reconnaissance Systems
- Brian Chemel, Edward Mutschler, Hagen Schempf:
Cyclops: Miniature Robotic Reconnaissance System. 2298-2302 - Mohamed Abderrahim, Carlos Balaguer, Antonio Giménez, José Manuel Pastor, V. M. Padrón:
ROMA: A Climbing Robot for Inspection Operations. 2303-2308 - Shigeo Hirose, Hidetaka Ohno, Takeo Mitsui, Kiichi Suyama:
Design of In-Pipe Inspection Vehicles for ø25, ø50, ø150 Pi. 2309-2314 - Hagen Schempf, Edward Mutschler, C. Piepgras, J. Warwick, Brian Chemel, Scott K. Boehmke, William Crowley, Robert Fuchs, J. Guyot:
Pandora: Autonomous Urban Robotic Reconnaissance System. 2315-2321
Mobile Robot Systems II
- Matthew T. Mason, Dinesh K. Pai, Daniela Rus, Lee R. Taylor, Michael A. Erdmann:
A Mobile Manipulator. 2322-2327 - Ely Carneiro de Paiva, Samuel Siqueira Bueno, Sérgio Bittencourt Varella Gomes, Marcel Bergerman, Josué Jr. Guimarães Ramos:
A Control System Development Environment for AURORA's Semi-Autonomous Robotic Airship. 2328-2335 - Yasuyuki Uchida, Kazuya Furuichi, Shigeo Hirose:
Fundamental Performance of 6-Wheeled Off-Road Vehicle "HELIOS-V". 2336-2341 - M. A. Rahimi, Hooshang Hemami, Yuan-Fang Zheng:
Experimental Study of a Cable-Driven Suspended Platform. 2342-2347
Quadruped Locomotion
- Martin Buehler, Anca Cocosco, Kenneth S. Yamazaki, Robert Battaglia:
Stable Open Loop Walking in Quadruped Robots with Stick Legs. 2348-2353 - Winfried Ilg, Jan Christian Albiez, H. Jedele, Karsten Berns, Rüdiger Dillmann:
Adaptive Periodic Movement Control for the Four Legged Walking Machine BISAM. 2354-2359 - Vincent Hugel, Pierre Blazevic:
Towards Efficient Implementation of Quadruped Gaits with Duty Factor of 0.75. 2360-2365 - Toru Omata, Eiichiro Tanaka:
A Quadruped Robot Which Can Take Various Postures. 2366-2371
Medical Robotics III
- Minoru Hashimoto, Tsuyoshi Tabata, Takahiro Yuki:
Development of an Electric Heating Type SMA Active Forceps for Laparoscopic Surgery. 2372-2377 - Koji Ikuta, Makoto Nokata:
Two-Lead-Wire Drive for Multi-Micro Actuators. 2378-2384 - Charles Pfeiffer, Kathryn J. De Laurentis, Constantinos Mavroidis:
Shape Memory Alloy Actuated Robot Prostheses: Initial Experiments. 2385-2391 - Han-Pang Huang, Chun-Yen Chen:
Development of a Myoelectric Discrimination System for a Multi-Degree Prosthetic Hand. 2392-2397
Computational Intelligence
- Yoshihiko Nakamura, T. Yamazaki, Nagamasa Mizushima:
Synthesis, Learning and Abstraction of Skills Through Parameterized Smooth Map from Sensors to Behaviors. 2398-2405 - Zhiyan Wang, Chengxiang Guan, Zhichao Zhang:
Research on Holographic Virtual Manufacturing Basis. 2406-2409 - Xiangjing An, Wensen Chang, Xiangdong Chen:
Based on Pipelined Image Processing Structure. 2410-2415 - Jeen-Shing Wang, C. S. George Lee, Junku Yuh:
An On-Line Self-Organizing Neuro-Fuzzy Control for Autonomous Underwater Vehicles. 2416-2421
Virtual Factory
- Ming-Hung Lin, Li-Chen Fu, Teng-Jei Shih:
Virtual Factory: A Novel Testbed for an Advanced Flexible Manufacturing System. 2422-2427 - M. Ernzer, T. Kesavadas:
Interactive Design of a Virtual Factory Using Cellular Manufacturing System. 2428-2433 - Chien-Fa Yeh, Han-Pang Huang:
Development of a Virtual Factory Emulator Based on Three-Tier Architecture. 2434-2439 - Davide Brugali, Dan Dragomirescu, S. Galarraga, Giuseppe Menga:
A Customizable Software Infrastructure for Virtual Factories Development. 2440-2445
Genetic Algorithms
- Alain Tremblay, Luc Baron:
Geometrical Synthesis of Star-Like Parallel Manipulators Topology with a Genetic Algorithm. 2446-2451 - Daniel R. Ramírez
Nonlinear MBPC for Mobile Robot Navigation Using Genetic Algorithms. 2452-2457 - Toshio Fukuda, Kenichiro Mase, Yasuhisa Hasegawa:
Robot Hand Manipulation by Evolutionary Programming. 2458-2463 - Kentarou Kurashige, Toshio Fukuda, Haruo Hoshino:
Motion Planning Based on Hierarchical Knowledge Using Genetic Programming. 2464-2469
Intelligent And Fuzzy Control
- Evren Gürkan, Aydan M. Erkmen, Ismet Erkmen:
Intuitionistic, 2-Way Adaptive Fuzzy Control. 2470-2475 - Feng-Yih Hsu, Li-Chen Fu:
A New Adaptive Fuzzy Hybrid Force/Position Control for Intelligent Robot Deburring. 2476-2481 - Neil Eugene Hodge, Mohamed B. Trabia:
Steering Fuzzy Logic Controller for an Autonomous Vehicle. 2482-2488 - Song You, Tianmiao Wang, Jun Wei, Fenglei Yang, Qixian Zhang:
Share Control in Intelligent Arm/Hand Teleoperated System. 2489-2494
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