ICRA 1993: Atlanta, Georgia, USA

Proceedings of the 1993 IEEE International Conference on Robotics and Automation, Atlanta, Georgia, USA, May 1993, Volume 2. IEEE Computer Society Press, 1993, ISBN 0-8186-3450-2

Mobile Robots I

Akio Kosaka, Min Meng, Avinash C. Kak: Vision-Guided Mobile Robot Navigation Using Retroactive Updating of Position Uncertainty. 1-7
Martin David Adams: Amplitude Modulated Optical Range Data Analysis in Mobile Robotics. 8-13
Michael G. Kay, Ren C. Luo: Global Vision for the Control of Free-Ranging AGV Systems. 14-19
Pierrick Grandjean, Larry Matthies: Perception Control for Obstacle Detection by a Cross-country Rover. 20-27

Motion Planning in Dynamic Environments

Jun Ota, Tamio Arai: Motion Planning of Multiple Mobile Robots Using Dynamic Groups. 28-33
Kikuo Fujimura: Motion Planning Using Transient Pixel Representations. 34-39
Thierry Fraichard, Christian Laugier: Path-Velocity Decomposition Revisited and Applied to Dynamic Trajectory Planning. 40-45
Daniel J. Challou, Maria L. Gini, Vipin Kumar: Parallel Search Algorithms for Robot Motion Planning. 46-51

Assembly Planning II

J. P. Thomas, K. D. Baker: Modelling of Assembly Partitions for a Distributed Environment. 52-57
Norihiro Abe, Katsumi Ohno, Tadahiro Kitahashi, Shoujie He: Task Specification Using Technical Illustrations. 58-62
Kai-I Huang: Development of an Assembley Planner Using Decomposition Approach. 63-68
Jong Hun Park, Myung Jin Chung, Kye Young Lim: Acquisition of Assembly Constraints Without Redundancies. 69-74

Robot Control

Michel Cotsaftis: Intelligent Control for Complex Robotic Systems. 75-80
B. Bona, M. Indri: Friction Compensation and Robust Hybrid Control. 81-86
Shinichi Hirai, Kazuaki Iwata: Derivation of Damping Control Parameters Based on Geometric Model. 87-92

Underwater Robotics I

Chiu-Ho Yu, Shahriar Negahdaripour: Underwater Experiments for Orientation and Motion Recovery from Video Images. 93-98
Song K. Choi, Junku Yuh: Design of Advanced Underwater Robotic Vechile and Graphic Workstation. 99-105
Junku Yuh, Kishan V. Gonugunta: Learning Control of Underwater Robotic Vehicles. 106-111
B. Steer, J. Kloske, P. Garner, L. LeBlanc, S. Schock: Towards Sonar Based Perception and Modelling for Unmanned Untethered Underwater Vehicles. 112-116

Multisensor Fusion and Integration: Low Level Fusion I

Long Hong, Todd Scaggs: Real-Time Optimal Multiresolutional Sensor/Data Fusion. 117-122
Marc G. Slack: Fixed Computation Real-Time Sonar Fusion for Local Navigation. 123-129
Roderic A. Grupen, Manfred Huber: 2-D Contact Detection and Localization Using Proprioceptive Information. 130-135
Ken Hughes, N. Ranganathan: A Model for Determining Sensor Confidence. 136-141

Robotic Calibration

John M. Hollerbach, David M. Lokhorst: Closed-Loop Kinematic Calibration of the RSI 6-DOF Hand Controller. 142-148
Zvi S. Roth, Hanqi Zhuang, Luke Wang: Simultaneous Calibration of a Robot and a Hand-Mounted Camera. 149-154
Louis J. Everett: Models for Diagnosing Robot Error Sources. 155-159
Wyatt S. Newman, David W. Osborn: A New Method for Kinematic Parameter Calibration via Laser Line Tracking. 160-165

Fault Detection, Monitoring, and Diagnosis

Anders Adlemo, Sven-Arne Andréasson: Failure Semantics in Intelligent Manufacturing Systems. 166-173
James H. Graham, Jian Guan: Intelligent Diagnostics in Robotics and Integrated Manufacturing Systems. 174-179
M. L. Visinsky, Ian D. Walker, Joseph R. Cavallaro: Layered Dynamic Fault Detection and Tolerance for Robots. 180-187
A. Syed, Hoda A. ElMaraghy, N. Chagneux: Real-Time Monitoring and Diagnosing of Robotic Assembly with Self-Organizing Neural Maps. 188-195

Analysis and Control of Enveloping Systems I

Antonio Bicchi: Force Distribution in Multiple Whole-Limb Manipulation. 196-201
Makoto Kaneko, Tatsunori Hayashi: Standing-up Characteristic of Contact Force During Self-Posture Changing Motions. 202-208
Nobuharu Mimura, Yasuyuki Funahashi: Parameter Identification in the Grasp of an Inner Link Mechanism. 209-215
Toru Omata: Finger Position Computation for 3-dimensional Equilibrium Grasps. 216-222

Control of Flexible Manipulators I

Ola Dahl: Path Constrained Motion Optimization for Rigid and Flexible Joint Robots. 223-229
Dirk Torfs, Joris De Schutter: Comparison of Control Results of a Flexible One-Link Robot Equipped with a Velocity or Torque Controlled Actuator. 230-235
Eric Kubica, David Wang: A Fuzzy Control Strategy for a Flexible Single Link Robot. 236-241
Jae Young Lew, Wayne J. Book: Hybrid Control of Flexible Manipulators with Multiple Contact. 242-247

Mobile Robots II

Camillo J. Taylor, David J. Kriegman: Exploration Strategies for Mobile Robots. 248-253
Karansher Singh, Kikuo Fujimura: Map Making by Cooperating Mobile Robots. 254-259
James P. Ostrowski, Joel W. Burdick: Designing Feedback Algorithms for Controlling the Periodic Motions of Legged Robots. 260-266
Reda E. Fayek, Ramiro Liscano, Gerald M. Karam: A System Architecture for a Mobile Robot Based on Activities and a Blackboard Control Unit. 267-274

Path Planning III

Alistair McLean, Stephen Cameron: Snake-Based Path Planning for Redundant Manipulators. 275-282
Sanjeev Seereeram, John T. Wen: A Global Approach to Path Planning for Redundant Manipulators. 283-288
René V. Mayorga, K. S. Ma, A. K. C. Wong, B. Ressa: A Fast Approach for the Path Planning of Telerobotic Manipulators. 289-294
Max B. Reid: Path Planning Using Optically Computed Potential Fields. 295-300

Assembly Planning III

Akira Okano: Computer-Aided Assembly Process Planning with Resource Assignment. 301-306
Sukhan Lee, Fu-Chung Wang: Physical Reasoning of Interconnection Forces for Efficient Assembly Planning. 307-313
Daniel E. Whitney, Olivier L. Gilbert: Representation of Geometric Variations Using Matrix Transforms for Statistical Tolerance Analysis in Assemblies. 314-321
Randall H. Wilson: Minimizing User Queries in Interactive Assembly Planning. 322-327

Adaptive Control II

M. Erlic, W.-S. Lu: A Reduced-Order Adaptive Velocity Observer for Manipulator Control. 328-333
Jian-Min Xu, Qi-Jie Zhou, T. P. Leung: Implicit Adaptive Inverse Dynamics Control of Robot Manipulators. 334-339
Liu Hsu, Raul Guenther: Variable Structure Adaptive Cascade Control of Multi-Link Robot Manipulators with Flexible Joints: The Case of Arbitrary Uncertain Flexibilities. 340-345
David C. Swift, Howard Kaufman, Steven T. Cummings: Direct Model Reference Adaptive Control of a Puma Manipulator. 346-351

Multisensor Fusion and Integration: High Level Fusion

Gregory D. Hager, Sean P. Engelson, Sami Atiya: On Comparing Statistical and Set-Based Methods in Sensor Data Fusion. 352-358
M. Abdulghafour, T. Chandra, Mongi A. Abidi: Data Fusion Through Fuzzy Logic Applied to Feature Extraction from Multi-Sensory Images. 359-366
Ze-Nian Li, Danpo Zhang: Real-time Line-based Motion Stereo. 367-372
Tiziana D'Orazio, Massimo Ianigro, Ettore Stella, Francesco Paolo Lovergine, Arcangelo Distante: Mobile Robot Navigation by Multi-Sensory Integration. 373-379

Sensor and Actuators

Mohsen Shahinpoor: Microelectro-Mechanics of Ionic Polymeric Gels as Artifical Muscles for Robotic Applications. 380-385
Yayoi Kubo, Isao Shimoyama, Hirofumi Miura: Study of Insect-based Flying Microrobots. 386-391
David Wilkes, Gregory Dudek, Michael Jenkin, Evangelos E. Milios: Multi-transducer Sonar Interpretation. 392-397
Yasuhiro Hayakawa, Sadao Kawamura: Sensing Actuators Using a Pneumatic Bellows System and Its Application to a Soft Gripper. 398-403

Real-Time Architecture and Operating System Kernels for Robotics

Giorgio C. Buttazzo, Marco Di Natale: HARTIK: A Hard Real-Time Kernel for Programming Robot Tasks with Explicit Time Constraints and Guaranteed Execution. 404-409
Nenad Kircanski, Tatjana Petrovic, Miomir Vukobratovic: A Parallel Computer Architecture for Real-Time Control Applications in Grasping and Manipulation. 410-415
Robert J. Anderson: SMART: A Modular Architecture for Robotics and Teleoperation. 416-421
M. Anthony Lewis, Andrew H. Fagg, George A. Bekey: The USC Autonomous Flying Vehicle: An Experiment in Real Time Behavior-Based Control. 422-429

Analysis and Control of Enveloping Systems II

Khalid Mirza, Mark D. Hanes, David E. Orin: Dynamic Simulation of Enveloping Power Grasps. 430-435
Dominiek Reynaerts, Hendrik Van Brussel: Two-Fingered Full Envelope Dexterous Manipulation. 436-441
Jeffrey C. Trinkle, R. C. Ram, A. O. Farahat, Peter F. Stiller: Dexterous Manipulation Planning and Execution of an Enveloped Slippery Workpiece. 442-448
M. I. Vuskovic, A. K. Marjanski: Programmed Synergy in Dextrous Robotic Hands. 449-455

Control of Flexible Manipulators II

Yuan F. Zheng, Ming Z. Chen: Vibration-Free Movement of Deformable Beams by Robot Manipulator. 456-461
Fumitoshi Matsuno, Kazuo Yamamato: Dynamic Hybrid Position/Force Control of a Flexible Manipulator. 462-467
W. Yim: End-Point Trajectory Control, Stabilization, and Zero Dynamics of a Three-Link Flexible Manipulator. 468-473
David P. Magee, Wayne J. Book: Eliminating Multiple Modes of Vibration in a Flexible Manipulator. 474-479

Motion Planning and Control

H. P. Qian, Joris De Schutter: Generalized Acceleration Control of Robot Manipulators with Nonlinear Active Damping. 480-486
Sunil K. Singh: Motion Planning and Control of Non-Redundant Manipulators at Singularities. 487-492
Ola Dahl: Path Constrained Robot Control with Limited Torques - Experimental Evaluation. 493-498
Homayoun Seraji, Richard Colbaugh: Force Tracking in Impedance Control. 499-506

Assembly Planning IV

Tatsuya Suzuki, Takahide Kanehara, Akio Inaba, Shigeru Okuma: On Algebraic and Graph Structural Properties of Assembly Petri Net. 507-514
J. P. Thomas: Constructing Assembly Plans. 515-520
Sukhan Lee, Chunsik Yi: Subassembly Stability and Reorientation. 521-526
Tomás Lozano-Pérez, Randall H. Wilson: Assembly Sequencing for Arbitrary Motions. 527-532

Motion Control I

Carlos Canudas de Wit, R. Ortega, S. I. Seleme: Robot Motion Control Using Induction Motor Drives. 533-538
Andreas Glatzl, Steve H. Murphy, John T. Wen, Peter Kopacek: Discrete Implementation and Adaptation of Sliding Mode Control for Robot Manipulators. 539-544
Jianwei Zhang, Petra Bohner: A Fuzzy Control Approach for Executing Subgoal Guided Motion of a Mobile Robot in a Partly-known Environment. 545-550
Costanzo Manes: Constrained Robot Motion in Presence of Stiff and Compliant Contact. 551-558

Multisensor Fusion and Integration: Integration

Otman A. Basir, Helen C. Shen: Goal-Driven Task Assignment and Sensor Control in Multi-sensor Systems: A Multicriteria Approach. 559-566
Erann Gat, Albert Behar, Rajiv S. Desai, Robert Ivlev, John Loch, David P. Miller: Behavior Control for Planetary Exploration: Interim Report. 567-571
Robin R. Murphy: Robust Sensor Fusion for Teleoperations. 572-577
Polly K. Pook, Dana H. Ballard: Recognizing Teleoperated Manipulations. 578-585

Sensing Strategies

Cregg K. Cowan, Bharath R. Modayur: Edge-Based Placement of Camera and Light Source for Object Recognition and Location. 586-591
Michael Erdmann: Action Subservient Sensing and Design. 592-598
Keith D. Gremban, Katsushi Ikeuchi: Planning Multiple Observations for Specular Object Recognition. 599-604
Steven Abrams, Peter K. Allen, Konstantinos A. Tarabanis: Dynamic Sensor Planning. 605-610

Actuation

John M. Hollerbach, Ian W. Hunter, J. Lang, S. Umans, R. Sepe, E. Vaaler, I. Garabieta: The McGill/MIT Direct Drive Motor Project. 611-617
Toshio Fukuda, Shinobu Hattori, Fumihito Arai, Hideo Matsuura, Tsutomu Hiramatsu, Yoichi Ikeda, Akinari Maekawa: Characteristics of Optical Actuator-Servomechanisms Using Bimorph Optical Piezo-Electric Actuator. 618-623
Timothy Tuttle, Warren P. Seering: Modeling a Harmonic Drive Gear Transmission. 624-629
Benjamin B. Bederson, Richard S. Wallace, Eric L. Schwartz: Control and Design of the Spherical Pointing Motor. 630-636

Passivity and Compliance in Mechanical Systems

Roger W. Brockett, Ann Stokes, Frank C. Park: A Geometrical Formulation of the Dynamical Equations Describing Kinematic Chains. 637-641
Ambarish Goswami, Michael A. Peshkin: Task-space/Joint-space Damping Transformations for Passive Redundant Manipulators. 642-647
Thomas S. Lindsay, Pramath R. Sinha, Richard P. Paul: An Instrumented Compliant Wrist for Robotics Applications. 648-653
Byung-Ju Yi, Robert A. Freeman: Geometric Characteristics of Antagonistic Stiffness in Redundantly Actuated Mechanisms. 654-661

Trajectory and Path Planning

Charles W. Warren: Fast Path Planning Using Modified A \ast Method. 662-667
Prabir K. Pal, K. Jayarajan: Fast Path Planning for Robot Manipulators Using Spatial Relations in the Configuration Space. 668-673
Akira Mohri, Motoji Yamamoto, Shinya Marushima: Collision-Free Trajectory Planning for Two Manipulators Using Virtual Coordination Space. 674-679
Richard Volpe: Task Space Velocity Blending for Real-Time Trajectory Generation. 680-687

Teaching by Showing

Katsushi Ikeuchi, Masato Kawade, Takashi Suehiro: Assembly Task Recognition with Planar, Curved, and Mechanical Contacts. 688-694
Tomoichi Takahashi, Hiroyuki Ogata, Shin-yo Muto: A Method for Analyzing Human Assembly Operations for Use in Automatically Generating Robot Commands. 695-700
Kosei Kitagaki, Tsukasa Ogasawara, Takashi Suehiro: Methods to Detect Contact State by Force Sensing in an Edge Mating Task. 701-706
Barry Shepherd: Applying Visual Programming to Robotics. 707-712

Motion Control II

Chau-Chang Wang, Vijay Kumar: Velocity Control of Mobile Manipulators. 713-718
Fuminori Saito, Toshio Fukuda, Fumihito Arai: Swing and Locomotion Control for Two-Link Brachiation Robot. 719-724
Zvi Shiller, Mikko Tarkiainen: Time Optimal Motions of Manipulators with Acutator Dynamics. 725-730
You-Liang Gu, Yangsheng Xu: A Normal Form Augmentation Approach to Adaptive Control of Space Robot Systems. 731-737

Neural Nets

Jeremy R. Cooperstock, Evangelos E. Milios: An Efficiently Trainable Neural Network Based Vision-Guided Robot Arm. 738-743
James D. Yegerlehner, P. H. Meckl: Experimental Implementation of Neural Network Controller for Robot Undergoing Large Payload Changes. 744-749
Min Meng, Avinash C. Kak: NEURO-NAV: A Neural Network Based Architecture for Vision-Guided Mobile Robot Navigation Using Non-Metrical Models of the Environment. 750-757
Jean Koh, Minsoo Suk, Suchendra M. Bhandarkar: A Self-Organizing Neural Network for Hierarchical Range Image Segmentation. 758-763

Active Hand-Eye

Anup Basu: Active Calibration. 764-769
Chichyang Chen, Yuan F. Zheng: A New Robotic Hand/Eye Calibration Method by Active Viewing of a Checkerboard Pattern. 770-775
Michael Jenkin, Evangelos E. Milios, John K. Tsotsos, Brian Down: A Binocular Robotic Head System with Torsional Eye Movements. 776-781
Yasuharu Yamada, Akio Ishiguro, Yoshiki Uchikawa: A Method of 3D Object Reconstruction by Fusing Vision with Touch Using Internal Models with Global and Local Deformations. 782-787

Design of Robotic Systems

A. Dougan, D. Gavel, D. Gustaveson, M. Holliday, R. Johnson, B. Kettering, H. Wilhelmsen: Demonstration of Automated Robotic Workcell for Hazardous Waste Characterization. 788-794
Paul G. Backes, John Beahan, Bruce Bon: Interactive Command Building and Sequencing for Supervised Autonomy. 795-801
Sean Quinlan, Oussama Khatib: Elastic Bands: Connecting Path Planning and Control. 802-807
Paul I. Ro, Byung R. Lee: An Optimum Path and Posture Planning for Fixtureless Assembly. 808-813

Grasping

I-Ming Chen, Joel W. Burdick: A Qualitative Test for N-Finger Force-Closure Grasps on Planar Objects with Applications to Manipulation and Finger Gaits. 814-820
Jean Ponce, Steve Sullivan, Jean-Daniel Boissonnat, Jean-Pierre Merlet: On Characterizing and Computing Three- and Four-Finger Force-Closure Grasps of Polyhedral Objects. 821-827
Marnix van Bruggen, Jan Peter Baartman, Willem F. Bronsvoort: Grips on Parts. 828-833
Andrew Blake, Michael J. Taylor: Planning Planar Grasps of Smooth Contours. 834-839