ICRA 1999: Detroit, Michigan, USA

1999 IEEE International Conference on Robotics and Automation, May 10-15, 1999, Marriott Hotel, Renaissance Center, Detroit, Michigan, Proceedings. IEEE Robotics and Automation Society 1999, Volume 4

Robot Mechanism

Wei-Jung Shiang, David J. Cannon, Jason Gorman: Dynamic Analysis of the Cable Array Robotic Crane. 2495-2500
Guilin Yang, I-Ming Chen, Wee Kiat Lim, Song Huat Yeo: Design and Kinematic Analysis of Modular Reconfigurable Parallel Robots. 2501-2506
Haipeng Xie, Iain J. Bryson, Farshid Shadpey, Rajnikant V. Patel: A Robust Control Scheme for Dual-Arm Redundant Manipulators: Experimental Results. 2507-2512
Daniela Rus, Marsette Vona: Self-Reconfiguration Planning with Compressible Unit Modules. 2513-

Sensor-Based Human/Machine Interaction

Alexa Hauck, Michael Sorg, Thomas Schenk, Georg Färber: What Can Be Learned from Human Reach-to-Grasp Movements for the Design of Robotic Hand-Eye Systems? 2521-2526
Tobias Peter Kurpjuhn, Alexa Hauck, Kevin Nickels, Seth Hutchinson: Development of a Visual Space-Mouse. 2527-2532
Stephen A. Mascaro, H. Harry Asada: Virtual Switch Human-Machine Interface Using Fingernail Touch Sensors. 2533-2538
Kamran Iqbal, Yuan F. Zheng: Arm-Manipulator Coordination for Load Sharing Using Predictive Control. 2539-

Part Feeding And Orienting

Shawn Rusaw, Kamal K. Gupta, Shahram Payandeh: Part Orienting with a Force/Torque Sensor. 2545-2550
Kevin M. Lynch: Toppling Manipulation. 2551-2557
Robert-Paul Berretty, Kenneth Y. Goldberg, Lawrence Cheung, Mark H. Overmars, Gordon Smith, A. Frank van der Stappen: Trap Design for Vibratory Bowl Feeders. 2558-2563
Greg C. Causey, Roger D. Quinn, Michael S. Branicky: Testing and Analysis of a Flexible Feeding System. 2564-2571
Takahiro Wada, Shinichi Hirai, Sadao Kawamura: Planning and Control of Indirect Simultaneous Positioning Operation of Deformable Objects. 2572-

Vision-Based Navigation I

Ronen Basri, Ehud Rivlin, Ilan Shimshoni: Image-Based Robot Navigation Under the Perspective Model. 2578-2583
Mario Fernando Montenegro Campos, Lúcio de Souza Coelho: Autonomous Dirigible Navigation Using Visual Tracking and Pose Estimation. 2584-2589
Yoshinori Kuno, Satoru Nakanishi, Teruhisa Murashima, Nobutaka Shimada, Yoshiaki Shirai: Robotic Wheelchair with Three Control Modes. 2590-2595
Woong Kwon, Jae-Won Lee, Dongmok Shin, Kyoung-Sig Roh, Dong Yoon Kim, Sukhan Lee: Experiments of Decision Making Strategies for a Lane Departure Warning System. 2596-

Sensor Selection And Placement

Xiangrong Gu, Michael M. Marefat, Frank W. Ciarallo: A Robust Approach for Sensor Placement in Automated Vision Dimensional Inspection. 2602-2607
Tomasz Celinski, Brenan J. McCarragher: Improving Sensory Perception Through Predictive Correction of Monitoring Errors. 2608-2613
Futoshi Kobayashi, Fumihito Arai, Toshio Fukuda: Sensor Selection by Reliability Based on Possibility Measure. 2614-2619
Takamasa Koshizen: The Sensor Selection Task of The Gaussians Mixture Bayes' with Regularised EM (GMB-REM) Technique in Robot Position Estimation. 2620-

Mobile Robot Motion Control I

Kyucheol Park, Hakyoung Chung, Jang Gyu Lee: Point Stabilization of Mobile Robots via State Space Exact Feedback Linearization. 2626-2631
Luca Caracciolo, Alessandro De Luca, Stefano Iannitti: Trajectory Tracking Control of a Four-Wheel Differentially Driven Mobile Robot. 2632-2638
Ti-Chung Lee, Kai-Tai Song, Ching-Hung Lee, Ching-Cheng Teng: Tracking Control of Mobile Robots Using Saturation Feedback Controller. 2639-2644
Wenjie Dong, Wei Huo: Tracking Control of Wheeled Mobile Robots with Unknown Dynamics. 2645-

Mobile Robot Sensor-Based Control

Alan C. Schultz, William Adams, Brian Yamauchi, Mike Jones: Unifying Exploration, Localization, Navigation, and Planning Through a Common Representation. 2651-2658
Cullen Jennings, Don Murray, James J. Little: Cooperative Robot Localization with Vision-Based Mapping. 2659-2665
Kazuhiro Kosuge, Yasuhisa Hirata, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata: Motion Control of Multiple Autonomous Mobile Robots Handling a Large Object in Coordination. 2666-2673
Herbert G. Tanner, Kostas J. Kyriakopoulos: Analysis of Deformable Object Handling. 2674-

Small Scale Mobile Robots

Sung Ho Kim, JongSuk Choi, Byung Kook Kim: Development of BEST Nano-robot Soccer Team. 2680-2685
Myung-Jin Jung, Hyun-Sik Shim, Heung-Soo Kim, Jong-Hwan Kim: The Miniature Omni-Directional Mobile Robot OmniKity-I (OK-I). 2686-2691
Tetsuo Yoshimitsu, Takashi Kubota, Ichiro Nakatani, Tadashi Adachi, Hiroaki Saito: Microgravity Experiment of Hopping Rover. 2692-2697
R. Andrew Russell: Ant Trails - An Example for Robots to Follow? 2698-

Mobile Robot Mobility And Locomotion

Woo Ho Lee, Arthur C. Sanderson: Dynamics and Distributed Control of Tetrobot Modular Robots. 2704-2710
Min-Hsiung Hung, David E. Orin, Kenneth J. Waldron: Force Distribution Equations for General Tree-Structured Robotic Mechanisms with a Mobile Base. 2711-2716
Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek: Brachiation on a Ladder with Irregular Intervals. 2717-2722
Jonathan M. Roberts, Frederic Pennerath, Peter I. Corke, Graeme J. Winstanley: Robust Sensing for a 3, 500 Tonne Field Robot. 2723-

Micro/Nano Manipulation

Metin Sitti, Hideki Hashimoto: Two-Dimensional Fine Particle Positioning Using a Piezoresistive Cantilever as a Micro/Nano-Manipulator. 2729-2735
Shigeki Saito, Hideki Miyazaki, Tomomasa Sato: Pick and Place Operation of a Micro Object with High Reliability and Precision Based on Micro Physics Under SEM. 2736-2743
Fumihito Arai, Tomohiko Sugiyama, Toshio Fukuda, Hitoshi Iwata, Kouichi Itoigawa: Micro Tri-Axial Force Sensor for 3D Bio-Micromanipulation. 2744-2749
Quan Zhou, Pasi Kallio, Heikki N. Koivo: Modelling of a Piezohydraulic Actuator for Control of a Parallel Micromanipulator. 2750-

Assembly Planning

Heiko Mosemann, A. Raue, Friedrich M. Wahl: Identification of Assembly Process States Using Polyhedral Convex Cones. 2756-2761
Sukhan Lee, Hadi Moradi: Disassembly Sequencing and Assembly Sequence Verification Using Force Flow Networks. 2762-2767
Kungchul Kang, Munsang Kim, Chong-Won Lee, Kyo-Il Lee: Adaptive Accommodation Control for Complex Assembly: Theory and Experiment. 2768-2773
Jan Rosell, Luis Basañez, Raúl Suárez: Compliant-Motion Planning and Execution for Robotic Assembly. 2774-

Learning Control

V. Zahn, R. Maass, M. Dapper, Rolf Eckmiller: Learning Friction Estimation for Sensorless Force/Position Control in Industrial Manipulators. 2780-2785
Suguru Arimoto, Tomohide Naniwa, Pham Thuc Anh Nguyen: Learning of Robot Tasks via Impedance Matching. 2786-2792
Chi Zhu, Yasumichi Aiyama, Tamio Arai: Releasing Manipulation with Learning Control. 2793-2798
Yasuhisa Hasegawa, Toshio Fukuda: Learning Method for Hierarchical Behavior Controller. 2799-

Manipulator Control

Mahmut Reyhanoglu, Sangbum Cho, N. Harris McClamroch: Feedback Control of a Planar Manipulator with an Unactuated Elastically Mounted End Effector. 2805-2810
Hitoshi Arisumi, Kiyoshi Komoriya: Posture Control of Casting Manipulatio. 2811-2818
Marco A. Meggiolaro, Peter C. L. Jaffe, Steven Dubowsky: Achieving Fine Absolute Positioning Accuracy in Large Powerful Manipulators. 2819-2824
Jonghoon Park, Wan Kyun Chung, Youngil Youm: Performance of Linear Decentralized H-Infinity Optimal Control for Industrial Robotic Manipulators. 2825-

Hyper-Redundant Robots

Shigeo Hirose, Richard Chu: Development of a Lightweight Torque Limiting M-Drive Actuator for Hyper-Redundant Manipulator Float Arm. 2831-2836
Hiromi Mochiyama, Hisato Kobayashi: The Shape Jacobian of a Manipulator with Hyper Degrees of Freedom. 2837-2842
Kenneth A. McIsaac, James P. Ostrowski: A Geometric Approach to Anguilliform Locomotion: Modelling with an Underwater Eel Robot. 2843-2848
G. Robinson, J. Bruce C. Davies: Continuum Robots: A State of the Art. 2849-

Human-Robot Interaction I

Andy Lorenz, Michael A. Peshkin, J. Edward Colgate: New Sensors for New Applications: Force Sensors for Human/Robot Interaction. 2855-2860
Yoji Yamada, Yoji Umetani, Haruyoshi Daitoh, Takayuki Sakai: Human Will Intention and Desire . 2861-2873
Takanori Shibata, Toshihiro Tashima, Kazuo Tanie: Emergence of Emotional Behavior Through Physical Interaction Between Human and Robot. 2868-2873
Maho Terashima, Shigeyuki Sakane: A Human-Robot Interface Using an Extended Digital Desk. 2874-

Reasoning And Handling Of Objects

Antonio Adán, Carlos Cerrada, Vicente B. Feliu: Automatic Orienting of 3D Shapes by Using a New Data Structure for Object Modeling. 2881-2886
Christopher A. Tenaglia, David E. Orin, Robert A. LaFarge, Chris Lewis: Toward Development of a Generalized Contact Algorithm for Polyhedral Objects. 2887-2892
Yong Yu, Kenro Fukuda, Showzow Tsujio: Estimation of Mass and Center of Mass of Graspless and Shape-U known Object. 2893-2898
Arianna Menciassi, Blake Hannaford, Maria Chiara Carrozza, Paolo Dario: 4-Axis Electromagnetic Microgripper. 2899-

Vision-Based Navigation II

J. R. Asensio, J. M. M. Montiel, Luis Montano: Goal Directed Reactive Robot Navigation with Relocation Using Laser and Vision. 2905-2910
Michael Schmitt, Martin Rous, Alexandros Matsikis, Karl-Friedrich Kraiss: Vision-Based Self-Localization of a Mobile Robot Using a Virtual Environment. 2911-2916
J. A. Pérez, José A. Castellanos, J. M. M. Montiel, José Neira, Juan D. Tardós: Continuous Mobile Robot Localization: Vision vs. Laser. 2917-

Haptic Display

Mitsunori Yoneda, Fumihito Arai, Toshio Fukuda, Keisuke Miyata, Toru Naito: Assistance System for Crane Operation with Haptic Display: Operational Assistance to Suppress Round Payload Swing. 2924-2929
Allison M. Okamura, Mark R. Cutkosky: Haptic Exploration of Fine Surface Features. 2930-2936
Brian E. Miller, J. Edward Colgate, Randy Freeman: Passive Implementations for a Class of Static Nonlinear Environments in Haptic Display. 2937-2942
Tsuneo Yoshikawa, Akihiro Nagura: A Three-Dimensional Touch/Force Display System for Haptic Interface. 2943-

Mobile Robot Motion Control II

Raj Madhavan: Numerically Efficient Trajectory Tracking Control of Polynomic Nonlinear Systems. 2952-2957
Motoji Yamamoto, Makoto Iwamura, Akira Mohri: Quasi-Time-Optimal Motion Planning of Mobile Platforms in the Presence of Obstacles. 2958-2963
Wei Kang, Ning Xi, Jindong Tan: Analysis and Design of Non-Time Based Motion Controller for Mobile Robots. 2964-2969
J. Z. Sasiadek, Q. Wang: Sensor Fusion Based on Fuzzy Kalman Filtering for Autonomous Robot Vehicle. 2970-

Mobile Robot Sensing

Jun Ota, Masakazu Yamamoto, Kazuo Ikeda, Yasumichi Aiyama, Tamio Arai: Environmental Support Method for Mobile Robots Using Visual Marks with Memory Storage. 2976-2981
Dongsung Kim, Young Shin Kim, Wook Hyun Kwon: A Real Time Detection Algorithm for Direction Error in Omnidirectional Image Sensors for Mobile Robots. 2982-2987
Zafiris Politis, Penny J. Probert: Modeling and Classification of Rough Surfaces Using CTFM Sonar Imaging. 2988-2993
Patric Jensfelt, Henrik I. Christensen: Laser Based Pose Tracking. 2994-

Articulated Locomotion

Kevin Dowling: Limbless Locomotion: Learning to Crawl. 3001-3006
Shugen Ma: Analysis of Snake Movement Forms for Realization of Snake-Like Robots. 3007-3013
Bernhard Klaassen, Karl L. Paap: GMD-SNAKE2: A Snake-Like Robot Driven by Wheels and a Method for Motion Control. 3014-3019
Claudio Altafini: Why to Use an Articulated Vehicle in Underground Mining Operations?. 3020-

Multi-Finger Hands

Joseph C. Chan, Yun-Hui Liu: Simulating Dextrous Manipulation of a Multi-fingered Robot Hand Based on a Unified Dynamic Model. 3026-3031
S. L. Jiang, K. K. Choi, Z. X. Li: Coordinated Motion Generation for Multifingered Manipulation Using Tactile Feedback. 3032-3037
Richard Crowder, V. N. Dubey, P. H. Chappell, D. R. Whatley: A Multi-Fingered End Effector for Unstructured Environments. 3038-3043
Bing-Ran Zuo, Wen-Han Qian, Günther Seliger: An Off-Line Iterative and On-Line Analytical Force Distribution Approach for Soft Multi-Fingered Hands. 3044-

Industrial Invited Session: Industrial Application Of Robot And Automation Technologies

Jianming Tao, Peter Levick: Assessment of Feedback Variable for Through-the-Arc Seam Tracking in Robotic Gas Metal Arc Welding. 3050-3052
Darren Barborak, Troy Paskell, Chris Conrady, Bruce Madigan: Through-Arc Process Monitoring Techniques for Control of Automated Gas Metal Arc Welding. 3053-3058
Zafer Bingul, George E. Cook: Dynamic Modeling of GMAW Process. 3058-3064
Shinichi Hirai, Masaaki Niwa, Sadao Kawamura: Development of Impulsive Object Sorting Device with Air Floating. 3065-

Computer-Aided Assembly Planning

R. Mantripragada, J. D. Adams, S. H. Rhee, Daniel E. Whitney: Integrated Computer Tools for Top-Down Assembly Design and Analysis. 3071-3078
Ren C. Luo, Wei Zen Lee: The Development of a Rapid Prototyping Machine System for Manufacturing Automation. 3079-3084
Michael Höhn, Christian Robl: Qualification of Standard Industrial Robots for Micro-Assembly. 3085-3090
Kazuaki Tanaka, Norihiro Abe, Hirokazu Taki: Understanding of Mechanical Assembly Instruction Manual by Integrating Vision and Language Processing and Simulation. 3091-

Robot Programming

Jay Gowdy, Zack J. Butler: An Integrated Interface Tool for the Architecture for Agile Assembly. 3097-3102
Jay Gowdy, Alfred A. Rizzi: Programming in the Architecture for Agile Assembly. 3103-3108
Donald R. Myers: An Approach to Automated Programming of Industrial Robots. 3109-3114
Rolf Dieter Schraft, A. Traub: An Object-Oriented Realtime Framework for Distributed Control Systems. 3115-

Neural Network Applications

Wen Yu, Alexander S. Poznyak, Edgar N. Sanchez: Neural Adaptive Control of Two-Link Manipulator with Sliding Mode Compensation. 3122-3127
M. Dapper, V. Zahn, R. Maass, Rolf Eckmiller: How to Compensate Stick-Slip Friction in Neural Velocity Force Control (NVFC) for Industrial Manipulators. 3128-3133
Jingyan Song, Yangsheng Xu, Michael C. Nechyba, Yeung Yam: Transfer of Human Control Strategy Based on Similarity Measure. 3134-3139
Jiong Zhang, Yangsheng Xu: Modeling of Human Strategy in Controlling Light Source. 3140-

Redundant Robots

Kevin A. O'Neil, Yu-Che Chen: Using Redundancy to Reduce Accelerations Near Kinematic Singularities. 3146-3152
Tzu-Chen Liang, Jing-Sin Liu: An Improved Trajectory Planner for Redundant Manipulators in Constrained Workspace. 3153-
Jadran Lenarcic: On the Quantification of Robot Redundancy. 3159-3164
Goran S. Dordevic, Milan Rasic, Dragan Kostic, Dragoljub Surdilovic: Learning of Inverse Kinematics Behavior of Redundant Robot. 3165-

Human-Robot Interaction II

J. Y. S. Luh, Shuyi Hu: Interactions and Motions in Human-Robot Coordination. 3171-
Tetsuya Ogata, Shigeki Sugano: Emotional Communication Between Humans and the Autonomous Robot Which Has the Emotion Model. 3177-3182
Toshio Morita, Hiroyasu Iwata, Shigeki Sugano: Development of Human Symbiotic Robot: WENDY. 3183-3188
Li Xu, Yuan F. Zheng: Reflexive Behavior of Personal Robots Using Primitive Motions. 3189-

Sensor-Based Grasping

Akio Namiki, Yoshihiro Nakabo, Idaku Ishii, Masatoshi Ishikawa: High Speed Grasping Using Visual and Force Feedback. 3195-3200
Yasuyoshi Yokokohji, Moriyuki Sakamoto, Tsuneo Yoshikawa: Vision-Aided Object Manipulation by a Multifingered Hand with Soft Fingertips. 3201-3208
Y. Hu, Roy Eagleson, M. A. Goodale: Human Visual Servoing for Reaching and Grasping: The Role of 3-D Geometric Features. 3209-3216
Mohammad Asim Farooqi, Takashi Tanaka, Yukio Ikezawa, Toru Omata, Kazuyuki Nagata: Sensor Based Control for the Execution of Regrasping Primitives on a Multifingered Robot Hand. 3217-

Visual Tracking

Éric Marchand: VISP: A Software Environment for Eye-in-Hand Visual Servoing. 3224-3229
Kevin Nickels, Seth Hutchinson: Measurement Error Estimation for Feature Tracking. 3230-3235
Jacques Gangloff, Michel de Mathelin, Gabriel Abba: Visual Servoing of a 6-DOF Manipulator for Unknown 3D Profile Following. 3236-3242
Yasuyoshi Yokokohji, Yoshihiko Sugawara, Tsuneo Yoshikawa: Accurate Image Overlay on Head-Mounted Displays Using Vision and Accelerometers. 3243-

Haptic Interface

Carl A. Moore, Michael A. Peshkin, J. Edward Colgate: Design of a 3R Cobot Using Continuously Variable Transmissions. 3249-3254
Atsuo Takanishi, Hideaki Takanobu, Isao Kato, Tomohiko Umetsu: Development of an Anthropomorphic Head-Eye Robot WE-3RII with an Autonomous Facial Expression Mechanism. 3255-3260
Peter J. Berkelman, Ralph L. Hollis, David Baraff: Interaction with a Realtime Dynamic Environment Simulation Using a Magnetic Levitation Haptic Interface Device. 3261-3266
Christopher D. Lee, Dale A. Lawrence, Lucy Y. Pao: Guaranteed Convergence Rates for Five Degree of Freedom In-Parallel Haptic Interface Kinematics. 3267-