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ORCIDICRA 1993: Atlanta, Georgia, USA
- Proceedings of the 1993 IEEE International Conference on Robotics and Automation, Atlanta, Georgia, USA, May 1993. IEEE Computer Society Press 1993, ISBN 0-8186-3450-2
Navigation
- Karen T. Sutherland, William B. Thompson:
Inexact Navigation. 1-7 - A. Curran, Kostas J. Kyriakopoulos:
Sensor-Based Self-Localization for Wheeled Mobile Robots. 8-13 - Zhongfei Zhang, Richard S. Weiss, Allen R. Hanson:
Automatic Calibration and Visual Servoing for a Robot Navigation System. 14-19 - Fawzi Nashashibi, Michel Devy:
3D Incremental Modeling and Robot Localization in a Structured Environment Using a Laser Range Finder. 20-27
Real-Time Control/Collision Avoidance
- Homayoun Seraji:
An On-Line Approach to Coordinated Mobility and Manipulation. 28-35 - Kristin Glass, Richard Colbaugh, David Lim, Homayoun Seraji:
On-Line Collision Avoidance for Redundant Manipulators. 36-43 - S. Kalaycioglu, M. Tandirci, Dan S. Necsulescu:
Real-Time Collision Avoidance of Robot Manipulators for Unstructured Environments. 44-51 - Judson P. Jones:
Real-Time Construction of Three-Dimensional Occupancy Maps. 52-57
Assembly Planning I
- Hiroyuki Ogata, Tomoichi Takahashi:
A Geometric Approach to Task Understanding for Robotic Assembly Operations. 58-64 - Jing Xiao:
Automatic Determination of Topological Contacts in the Presence of Sensing Uncertainties. 65-70 - Jungfu Tsao, Jan Wolter:
Assembly Planning with Intermediate States. 71-76 - Shun-Feng Su, C. S. George Lee:
Automatic Generation of Goal Regions for Assembly Tasks in the Presence of Uncertainity. 77-82
Robust Control of Robot Manipulators
- Lilong Cai, Ahmad Abdalla:
Smooth Robust Tracking Controllers for Uncertain Robotic Manipulators. 83-88 - Kang-Bark Park, Ju-Jang Lee:
Variable Structure Controller for Robot Manipulators using Time-Varying Sliding Surface. 89-93 - James J. Carroll, Darren M. Dawson:
Robust Tracking Control of a Brushless DC Motor with Application to Direct-Drive Robotics. 94-99 - John T. Wen, Lee S. Wilfinger, Steve H. Murphy:
Integral Force Control with Robustness Enhancement. 100-105
Applications: End Effectors
- Kai Liu, R. Glenn, T. J. Lawley, Frank L. Lewis:
Stewart-Platform-Based Inlet Duct Painting System. 106-113 - Jian Wang, Oren Masory:
On the Accuracy of a Stewart Platform Part I: The Effect of Manufacturing Tolerances. 114-120 - Zhiming Ji:
Study of the Effect of Leg Inertia in Stewart Platforms. 121-126 - Sang-Rok Oh, Ralph L. Hollis, Septimiu E. Salcudean:
Precision Assembly with a Magnetically Levitated Wrist. 127-134
Neural and Fuzzy Systems
- R. Todd Newton, Yangsheng Xu:
Real-Time Implementation of Neural Network Learning Control of a Flexible Space Manipulator. 135-141 - Jian M. Tao, J. Y. S. Luh:
Application of Neural Network with Real-Time Training to Robust Position, Force Control of Multiple Robots. 142-148 - Jeffrey J. Farah, Robert B. Kelley:
Utilizing Semantic Networks and Fuzzy Logic for the Creation of the Planning Coordinator's Primitive Structure Database. 149-154 - Fumihito Arai, Lili Rong, Toshio Fukuda:
Trajectory Control of Flexible Plate Using Neural Network. 155-160
Calibration/Registration
- Anil S. Rao, Kenneth Y. Goldberg:
Placing Registration Marks. 161-167 - Ambarish Goswami, Arthur E. Quaid, Michael A. Peshkin:
Complete Parameter Identification of a Robot from Partial Pose Information. 168-173 - Louis J. Everett, Thomas W. Ives:
A Sensor Used for Measurements in the Calibration of Production Robots. 174-179 - J. P. Prenninger, Markus Vincze, Helmut Gander:
Contactless Position and Orientation Measurement of Robot End-Effectors. 180-185
Manipulator Kinematics I
- Arati S. Deo, Ian D. Walker:
Adaptive Non-linear Least Squares for Inverse Kinematics. 186-193 - David R. Smith, Harvey Lipkin, George W. Woodruff:
Higher Order Singularities of Regional Manipulators. 194-199 - Jean-Pierre Merlet:
Closed-Form Resolution of the Direct Kinematics of Parallel Manipulators Using Extra Sensors Data. 200-204 - David DeMers, Kenneth Kreutz-Delgado:
Issues in Learning Global Properties of the Robot Kinematic Mapping. 205-212
Force Control of Robot Manipulators
- Eric Dégoulange, Pierre Dauchez, François Pierrot:
Force Control of an Industrial Puma 560 Robot under Environmental Constraints: Implementation Issues and Experimental Results. 213-218 - Philippe Fraisse, François Pierrot, Pierre Dauchez:
Virtual Environment for Robot Force Control. 219-224 - H. Wapenhans, Wolfgang Seyfferth, Friedrich Pfeiffer:
Robotic Force Control for Flexible Assembly. 225-231 - H. Kazerooni, Ming-Guo Her:
A Virtual Exercise Machine. 232-238
Planning for Multiple Manipulators I
- Kazuhiro Kosuge, Yoshio Fujisawa, Toshio Fukuda:
Mechanical System Control with Man-Machine-Environment Interactions. 239-244 - Fei-Yue Wang, James Bing Pu:
Planning Time-Optimal Trajectory for Coordinated Robot Arms. 245-250 - Ning Xi, Tzyh Jong Tarn, Antal K. Bejczy:
Event-Based Planning and Control for Multi-Robot Coordination. 251-258 - Ping Hsu:
Adaptive Coordination of a Multiple Manipulator System. 259-264
Mobile Robot Navigation I
- Herbert Peremans, Jan Van Campenhout
:
Tri-Aural Perception on a Mobile Robot. 265-270 - Thomas R. Collins, Ronald C. Arkin, Andrew M. Henshaw:
Integration of Reactive Navigation with a flexible Parallel Hardware Architecture. 271-276 - J. Vaganay, Marie-José Aldon, A. Fournier:
Mobil Robot Attitude Estimation by Fusion of Inertial Data. 277-282 - Subir Kumar Saha, Jorge Angeles, John Darcovich:
The Kinematic Design of a 3-dof Isotropic Mobile Robot. 283-288
Motion Planning
- Kiriakos N. Kutulakos, Vladimir J. Lumelsky, Charles R. Dyer:
Vision-Guided Exploration: A Step Toward General Motion Planning in Three Dimensions. 289-296 - A. Frank van der Stappen, Dan Halperin, Mark H. Overmars:
Efficient Algorithms for Exact Motion Planning Amidst Fat Obstacles. 297-304 - Armando Fox, Seth Hutchinson:
Exploiting Visual Constraints in the Synthesis of Uncertainty-Tolerant Motion Plans I: The Directional Backprojection. 305-310 - Armando Fox, Seth Hutchinson:
Exploiting Visual Constraints in the Synthesis of Uncertainty-Tolerant Motion Plans II: The Nondirectional Backprojection. 311-316
Petri Nets and Discrete Event Systems
- Tiehua Cao, Arthur C. Sanderson:
A Fuzzy Petri Net Approach to Reasoning About Uncertainty in Robotic Systems. 317-322 - Srinivasan Ramaswamy, Kimon P. Valavanis:
Modeling, Analysis and Simulation of Failures in a Materials Handling System with Extended Petri Nets. 323-330 - Brenan J. McCarragher, Haruhiko Asada:
A Discrete Event Approach to the Control of Robotic Assembly Tasks. 331-336 - Joon Hwa Lee, Wook Hyun Kwon, Hyeokgi Park, Hong Sung Park:
Supervisor Synthesis Using Boolean Matrix Computation. 337-342
Control of Manipulators in Contact with the Environment
- Pramath R. Sinha, Andrew A. Goldenberg:
A Unified Theory for Hybrid Control of Manipulators. 343-348 - Herman Bruyninckx, Joris De Schutter, Stefan Dutré:
The "Reciprocity" and "Consistency" Based Approaches to Uncertainty Identification for Compliant Motions. 349-354 - G. T. Marth, Tzyh Jong Tarn, Antal K. Bejczy:
Stable Phase Transition Control for Robot Arm Motion. 355-362 - James M. Hyde, Mark R. Cutkosky:
Contact Transition Control: An Experimental Study. 363-368
Robot Applications I
- Almerico Fedele, Antonio Fioretti, Costanzo Manes, Giovanni Ulivi:
On-Line Processing of Position and Force Measures for Contour Identification and Robot Control. 369-374 - N. Parker, Septimiu E. Salcudean, Peter D. Lawrence:
Application of Force Feedback to Heavy Duty Hydraulic Machines. 375-381 - Ole Jakob Sørdalen:
Conversion of the Kinematics of a Car with n Trailers into a Chained Form. 382-387 - Yilong Chen, You-Liang Gu:
Optimal Path Generation of a (6+1)-Axis Robot for Auto-Industrial Applications. 388-395
Learning Control I
- Jie Yang, Yangsheng Xu, C. S. Chen:
Hidden Markov Model Approach to Skill Learning and Its Application in Telerobotics. 396-402 - Jeff G. Schneider, Christopher M. Brown:
Robot Skill Learning, Basic Functions, and Control Regimes. 403-410 - W. Cheng, John T. Wen:
Feedforward Learning Control with Application to Trajectory Tracking of a Flexible Beam. 411-416 - Masayoshi Wada, Takashi Tsukahara, Kiichiro Tsuda:
Learning Control of Elastic Joint Robot and Its Application to the Industrial Robot Manipulator. 417-422
Tactile Sensing I
- R. Andrew Russell, Simon Parkinson:
Sensing Surface Shape by Touch. 423-428 - Marc R. Tremblay, Mark R. Cutkosky:
Estimating Friction Using Incipient Slip Sensing During a Manipulation Task. 429-434 - Hiroyuki Shinoda, Masahiro Uehara, Shigeru Ando:
A Tactile Sensor Using Three-Dimensional Structure. 435-441 - Rajive Joshi, Arthur C. Sanderson:
Shape Matching from Grasp Using a Minimal Representation Size Criterion. 442-449
Robot Dynamics and Kinematics
- Max A. González-Palacios, Jorge Angeles, Farzam Ranjbaran:
The Kinematic Synthesis of Serial Manipulators with a Prescribed Jacobian. 450-455 - Ming Z. Huang, Shou-Hung Ling, Yang Sheng:
A Study of Velocity Kinematics for Hybrid Manipulators with Parallel-Series Configurations. 456-461 - Guy Campion, Georges Bastin, Brigitte d'Andréa-Novel:
Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots. 462-469 - Ou Ma, Jorge Angeles:
Optimum Design of Manipulators Under Dynamic Isotropy Conditions. 470-475
Compliance Control
- Ambarish Goswami, Michael A. Peshkin:
Mechanical Computation for Passive Force Control. 476-483 - Edward J. Nicolson, Ronald S. Fearing:
Compliant Control of Threaded Fastener Insertion. 484-490 - Stavros G. Vougioukas, Susan N. Gottschlich:
Automatic Synthesis and Verification of Compliance Mappings. 491-496 - Dale A. Lawrence, Jim D. Chapel:
Quantitative Compliant Control. 497-504
Multiple Robot Control
- Gordon I. Dodds, George W. Irwin:
Multi-Arm Robotics in a Practical Application Under Transputer Based Control. 505-510 - Martin Damm:
Realisation of an Adaptive Real-Time Joint Controller for a Closely Coupled Two-Arm Manipulator System. 511-516 - Eric Paljug, Xiaoping Yun:
Experimental Results of Two Robot Arms Manipulating Large Objects. 517-522 - Wu-Sheng Lu, Max Q.-H. Meng:
An Improved Load Distribution Scheme for Coordinating Manipulators. 523-528
Mobile Robot Navigation and Path Planning
- Regis Hoffman, Eric Krotkov:
Terrain Mapping for Outdoor Robots: Robust Perception for Walking in the Grass. 529-533 - Markus Buchberger, Klaus-Werner Jörg, Ewald von Puttkamer:
Laserradar and Sonar Based World Moleling and Motion Control for Fast Obstacle Avoidance of the Autonomous Mobile Robot MOBOT-IV. 534-540 - Erann Gat:
Navigation Templates: Enhancements, Extensions, and Experiments. 541-547 - François G. Pin, Yutaka Watanabe:
Using Fuzzy Behaviors for the Outdoor Navigation of a Car with Low-Resolution Sensors. 548-553
Path Planning I
- K. Sridharan, Harry E. Stephanou, S. Sathiya Keerthi:
On Computing a Distance Measure for Path Planning. 554-559 - Paolo Fiorini, Zvi Shiller:
Motion Planning in Dynamic Environments Using the Relative Velocity Paradigm. 560-565 - Michael Barbehenn, Seth Hutchinson:
Efficient Search and Hierarchical Motion Planning Using Dynamic Single-Source Shortest Paths Trees. 566-571 - Krishnendu Chaudhury, Rajiv Mehrotra:
Optical Flow from an Extended Frame Sequence. 572-577
Petri Nets I
- Alessandro Giua, Frank DiCesare:
A Class of Petri Nets with a Convex Reachability Set. 578-583 - Denis Gracanin, Padmini Srinivasan, Kimon P. Valavanis:
Fundamentals of Parameterized Petri Nets. 584-591 - James F. Watson III, Alan A. Desrochers:
A Bottom-Up Algorithm for State-Space Size Estimation of Petri Nets. 592-597 - Jianguo Long, Bernard Descotes-Genon:
Flow Optimization Method for Control Synthesis of flexible Manufacturing Systems Modeled by Controlled Timed Petri Nets. 598-603
Adaptive Control I
- Richard Colbaugh, Homayoun Seraji, Kristin Glass:
A New Approach to Adaptive Manipulator Control. 604-611 - H. Yu, Lakmal D. Seneviratne, S. W. E. Earles:
Robust Adaptive Control for Robot Manipulators Using a Combined Method. 612-617 - Suguru Arimoto, Yun-Hui Liu, Tomohide Naniwa:
Model-Based Adaptive Hybrid Control for Geometrically Constrained Robots. 618-623 - Bin Yao, Masayoshi Tomizuka:
Adaptive Coordinated Control Of Multiple Manipulators Handling A Constrained Object. 624-629
Medical Robots I
- Kenneth W. Grace, J. Edward Colgate, Matthew R. Glucksberg, John H. Chun:
A Six Degree of Freedom Micromanipulator for Opthalmic Surgery. 630-635 - Mohamed Ouerfelli, Vijay Kumar, William S. Harwin:
An Inexpensive Pneumatic Manipulator for Rehabilitation Robotics. 636-641 - Patricia Brown, Diana Jones, Sunil K. Singh, Joseph M. Rosen:
The Exoskeleton Glove for Control of Paralyzed Hands. 642-647 - David S. Lees, Larry J. Leifer:
A Graphical Programming Language for Robots Operating in Lightly Unstructured Environments. 648-653
Learning Control II
- Pasquale Lucibello:
A Learning Algorithm for Hybrid Force Control of Robot Arms. 654-658 - Kennon Guglielmo, Nader Sadegh:
Theory and Implementation of a Hybrid Learning Force Control Scheme. 659-664 - Samer S. Saab, William G. Vogt, Marlin H. Mickle:
Theory of P-Type Learning Control with Implication for the Robot Manipulator. 665-671 - Michele Aicardi, Giorgio Cannata, Giuseppe Casalino:
Hybrid Learning Control Techniques for the Manipulation of Rigid Objects. 672-677
Registration and Localization
- Tucker R. Balch, Ronald C. Arkin:
Avoiding the Past: A Simple but Effective Strategy for Reactive Navigation. 678-685 - Glenn H. Tarbox, Susan N. Gottschlich, Lester A. Gerhardt:
Registration of Dissimilar Featureless Models for Inspection. 686-691 - Aaron S. Wallack, John F. Canny, Dinesh Manocha:
Object Localisation Using Crossbeam Sensing. 692-699 - Leonard P. Wesley:
Autonomous Locative Reasoning: An Evidential Approach. 700-707
Parallel-Link Manipulators
- Kevin Cleary, Thurston Brooks:
Kinematic Analysis of a Novel 6-DOF Parallel Manipulator. 708-713 - Kazuhiro Kosuge, Minoru Okuda, Hiroyuki Kawamata, Toshio Fukuda:
Input/Output Force Analysis of Parallel Link Manipulators. 714-719 - Hong-You Lee, Bernhard Roth:
A Closed-Form Solution of the Forward Displacement Analysis of a Class of In-Parallel Mechanisms. 720-724 - Oren Masory, Jian Wang, Hanqi Zhuang:
On the Accuracy of a Stewart Platform - Part II: Kinematic Calibration and Compensation. 725-731
Force Control
- Zdravko Balorda:
Automatic Planning of Robot Pushing Operations. 732-737 - Shin-yo Muto, Ken-ichiro Shimokura:
Accurate Contact Point Detecting Using Force and Velocity Information Complementarily. 738-744 - Kevin M. Lynch, Matthew T. Mason:
Pulling by Pushing, Slip with Infinite Friction, and Perfectly Rough Surfaces. 745-751 - Yangming Xu, Donghai Ma, John M. Hollerbach:
Nonlinear Proportional and Derivative Control for High Disturbance Rejection and High Gain Force Control. 752-759
Distributed Robotics
- Takanori Shibata, Toshio Fukuda:
Coordinative Behavior by Genetic Algorithm and Fuzzy in Evolutionary Multi-Agent System. 760-765 - Daniel J. Stilwell, John S. Bay:
Toward the Development of a Material Transport System using Swarms of Ant-Like Robots. 766-771 - Hiroshi Ishiguro, Koji Kato, Saburo Tsuji:
Multiple Vison Agents Navigating a Mobile Robot in a Real World. 772-777 - Keith L. Doty, Ronald E. Van Aken:
Swarm Robot Materials Handling Paradigm for a Manufacturing Workcell. 778-782
Mobile Robot Navigation II
- David Dai, Daryl T. Lawton:
Range-Free Robot Navigation. 783-790 - Johan Forsberg, Ulf Larsson, Per Åhman, Åke Wernersson:
The Hough Transform Inside the Feedback Loop of a Mobile Robot. 791-798 - Hiroshi Ishiguro, Kenji Ueda, Saburo Tsuji:
Omnidirectional Visual Information for Navigating a Mobile Robot. 799-804 - Ahmad A. Masoud, Mohamed M. Bayoumi:
Robot Navigation Using the Vector Potential Approach. 805-811
Path Planning II
- Miguel A. Torres, Steven Dubowsky:
Path-Planning for Elastically Constrained Space Manipulator Systems. 812-817 - Ashok K. Goel, Michael W. Donnellan, Nancy Vazquez, Todd J. Callantine:
An Integrated Experience-Based Approach to Navigational Path Planning for Autonomous Mobile Robots. 818-825 - Sudhaker Samuel, S. Sathiya Keerthi:
Numerical Determination of Optimal Non-Holonomic Paths in the Presence of Obstacles. 826-831 - Sara Fleury, Philippe Souères, Jean-Paul Laumond, Raja Chatila:
Primitives for Smoothing Mobile Robot Trajectories. 832-839
Manufacturing Systems
- Frédérique Biennier, Joël Favrel, Guillaume Beslon:
Integration of Information and Knowledge from the Engineering Activity to the Workshop Control. 840-845 - Bertil A. Brandin, Walter Murray Wonham, Beno Benhabib:
Manufacturing Cell Supervisory Control - A Modular Timed Discrete-Event System Approach. 846-851 - Thomas Kaeppel Tsukada, Kang G. Shin:
Intelligent Disruption Recovery for Decentralized Manufacturing Systems. 852-857 - Sándor Kopácsi, George L. Kovács:
A Knowledge Based Simulation System for Flexible Manufacturing. 858-863
Robot Control Architectures and Algorithms
- T. Hoshino, Kazuo Furuta:
Transputer Network for Dynamic Control of Multiple Manipulators. 864-869 - Ian D. Walker, Joseph R. Cavallaro:
Parallel VLSI Architectures for Real-Time Kinematics of Redundant Robots. 870-877 - Z. Zheng, H. Lecocq, R. Jordant:
Adaptive Manipulator Control - A Parallel Implementation on a Network of Microprocessors. 878-882 - Clément Gosselin:
Parallel Computational Algorithms for the Kinematics and Dynamics of Parallel Manipulators. 883-888
Medical Robotics II
- Thomas C. Kienzle III, S. David Stulberg, Michael A. Peshkin, Arthur E. Quaid, Chi-haur Wu:
An Integrated CAD-Robotics System for Total Knee Replacement Surgery. 889-894 - Chi-haur Wu, S. David Stulberg, John Papaioannou, Hsiang-Yun Huang, Kao-Shing Hwang, Tom Kienzle:
An Integrated CT-Imaging, CAD-Based System for Orthopedic Surgery. 895-900 - Leo Joskowicz, Russell H. Taylor:
Hip Implant Insertability Analysis: A Medical Instance of the Peg-In-Hole Problem. 901-908 - Achim Schweikard, John R. Adler Jr., Jean-Claude Latombe:
Motion Planning in Stereotaxic Radiosurgery. 909-916
Intelligent Machines
- Pedro U. Lima, George N. Saridis:
Measuring Complexity of Intelligent Machines. 917-922 - Chi-Cheng Jou, Nan-Ching Wang:
Training a Fuzzy Controller to Back Up an Autonomous Vehicle. 923-928 - Takashi Kimoto, Daiki Masumoto, Hiroshi Yamakawa, Shigemi Nagata:
Hierarchical Sensory Information Processing Model with Neural Networks. 929-934 - John E. McInroy, George N. Saridis:
Entropy Searches for Robotic Reliability Assessment. 935-940
Tactile Sensing
- S. Laurie Ricker, Randy E. Ellis:
2-D Finite-Element Models Of Tactile Sensors. 941-947 - Makoto Shimojo, Masatoshi Ishikawa:
An Active Touch Sensing Method Using a Spatial Filtering Tactile Sensor. 948-954 - Darwin G. Caldwell, Clarence Gosney:
Enhanced Tactile Feedback (Tele-Taction) Using a Multi-Functional Sensory System. 955-960 - Makoto Kaneko:
A New Design of Six-Axis Force Sensors. 961-967
Manipulator Kinematics II
- Robert G. Fenton, Fengfeng Xi:
On the Efficiency of Computations for Robot Kinematics, Dynamics and Control Using the Algebra of Rotations. 968-973 - Manja V. Kircanski:
Inverse Kinematic Problem Near Singularities for Simple Manipulators: Symbolical Damped Least-Squares Solution. 974-979 - Péter Kovács, Günter Hommel:
Fast Functional Decomposition of Sine-Cosine-Polynomials. 980-987 - Gregory L. Long, Scott W. Reed, Joseph P. Donoghue:
Regional Structure Kinematic Modules for Singularity Avoidance. 988-993
Force Planning and Control
- Elon Rimon, Joel W. Burdick:
Towards Planning with Force Constraints: On the Mobility of Bodies in Contact. 994-1000 - Sunil K. Singh:
Adaptive Control of Manipulator Interaction with Environment: Theory and Experiments. 1001-1006 - Herman Bruyninckx, Joris De Schutter:
Kinematic Models of Rigid Body Interactions for Compliant Motion Tasks in the Presence of Uncertainties. 1007-1012 - Nukala V. R. K. N. Murthy, S. Sathiya Keerthi:
Optimal Control of a Somersaulting Platform Diver: A Numerical Approach. 1013-1018
Planning for Multiple Manipulators II
- Yuan F. Zheng, Ming Z. Chen:
Trajectory Planning for Two Manipulators to Deform Flexible Beams. 1019-1024 - David Williams, Oussama Khatib:
The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation. 1025-1030 - J. R. Dooley, J. Michael McCarthy:
On the Geometric Analysis of Optimum Trajectories for Cooperating Robots Using Dual Quatemion Coordinates. 1031-1036 - Seungbin B. Moon, Shaheen Ahmad:
Sub-Time-Optimal Trajectory Plannings for Cooperative Multi-Manipulator Systems Using the Load Distribution Scheme. 1037-1042
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