2003 IEEE/RSJ International Conference on Intelligent Robots and Systems: (IROS 2003) : proceedings : October 27-31, 2003, Las Vegas, Nevada, Volume 1

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IEEE, Sep 1, 2003 - Technology & Engineering - 3828 pages
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Contents

RAI5
l
ACAPELLA5K A HighThroughput Automated Genome and Chemical Analysis
lv
Synthesis Bounds for Distributed Manipulation Using Logarithmicradial Potential
lvii
Designing a Lowcost Expressive Educational Robot 2404
lxiv
Author Index
lxvii
Good Features to Map 1512
lxxi
TAI1
1
WAI2
2
UserGuided Reinforcement Learning of Robot Assistive Tasks for an Intelligent
424
Bezier Curve Online Trajectory Generation
429
TAII6
442
Autonomous Map Building and Smart Localization of the Service Robot PSR
454
Mapping and Exploration with Mobile Robots using Coverage Maps
467
H0140 Robot Control 1
484
Delay Dependent Stability Limits in High Performance Realtime
485
Uncalibrated Active Affme Reconstruction Closing the Loop by Visual Servoing
498

WAI3
3
Motion Control for Robust Landing of Acrobat Robot SMB 1141
4
TPIII5
5
WPII6
6
A System Design for Tactile Recognition of HumanRobot Contact State
7
HUMANOID ROBOTS ll
12
A Novel Pointing Device Utilizing the Deformation of the Fingertip
13
Recognizing Cylindrical Surface Using Impedance Perception
19
Tactile Sensor with Automatic Gain Control
25
Sensing the Texture of Surfaces by Anthropomorphic Sofl Fingertips with
31
Locomotion SensorBased
35
Landmark Recognition for Localisation and Navigation of Aerial Vehicles
42
Tracking Minimum Distances between Curved Objects with Parametric
46
Coordinated Decentralized Search for a Lost Target in a Bayesian World
48
Robust Sound Source
51
Design and Verification of Controllers for Airships
54
An Aerial Robot Prototype for Situational Awareness in Closed Quarters
61
Optimal Aerobot Trajectory Planning for WindBased Opportunistic Flight Control
67
ZMP Analysis for ArmLeg Coordination
75
Humanoid Motion Planning based on the Linear
76
MOBILITY AND MANIPULATION
81
Highly Mobile and Robust Small Quadruped Robots
82
Predictive Display System for Telemanipulation using ImageBased Modeling
84
Robot Implementation of DutyCycle Invariance in Cricket Calling Song Preference
88
Hopping through Stiffness Modulation Method STIMM
94
g How to He Peo Ie b Deminln and Rescue Robots
97
Learning Adaptive Leg Cycles Using Fitness Biasing
100
MANUFACTURING SYSTEMS
105
Unified Approach for mStability Analysis and Control of Legged Robots
106
NonLearning Artificial Neural Network Approach to Motion Plamiing for
112
Adaptation of Rescue Robot Behaviour in Unknown Terrains Based on Stochastic
117
Creating Gas Concentration Gridmaps with a Mobile Robot
118
SENSING FOR MOBILE PLATFORMS
123
Trajectory Planning of Cooperative Multiple Mobile Manipulators
136
MEDICAL ROBOTS
148
Primary Vowel Imitation between Agents with Different Articulation Parameters
149
Multiple Target Tracking using Sequential Monte Carlo Methods and Statistical Data
154
Interactive Learning in HumanRobot Collaboration
162
RAI3
174
Adaptive Audio Servo for Multirate Robot Systems
182
Using 3D Laser Range Data for SLAM in Outdoor Environments
188
Adaptive Fuzzy Neural Modeling and Control Scheme for Mean Arterial Pressure
198
MULTIROBOT SYSTEMS III
200
The Stability of Covariance Inflation Methods for SLAM 2749
205
An Efficient F astSLAM Algorithm for Generating Maps of LargeScale Cyclic
206
Robust Object Detection for Intelligent Surveillance Systems based on Radial Reach
224
Highspeed Object Tracking in Ordinary Surroundings Based on Temporally
242
Efficient Particle FilterBased Tracking of Multiple Interacting Targets Using
254
Automatic Program Production Using Networkconnected Robot Cameras
260
A Distributed Framework for MultiRobot Perception and Control
266
RAI7
271
Collaborative Tracking for Robotic Tasks
272
Indoor Target Intercept Using an Acoustic Sensor Network and Dual Wavefront
278
Heterogeneous Mobile Sensor Net Deployment Using Robot Herding and LineofSight
283
Identification of Moving Objects by a Team of Robots Based on Kinematic Information
284
TPIII6
290
Cooperative Behavior based on a Subjective Map with Shared Information in
291
Recognition of Traversable Areas for Mobile Robotic Navigation
297
Quality Assessment of Traversability Maps from Aerial LIDAR Data for
305
Enhanced Locomotion Control for a Planetary Rover
311
Experiments and Analysis of the Role of Solar Power in Limiting Mars Rover Range
317
Terrain Model Registration for Single Cycle Insuument Placement
323
Pages 2084 3040
328
Coevolution of Morphology and Walking Pattem of Biped Humanoid Robot using
340
VisionBased Reinforcement Learning for Humanoid Behavior Generation with Rhythmic
357
A Computational Approach to Dynamic Bipedal Walking
358
Recursive Agent Modeling with Probabilistic Velocity Obstacles for Mobile Robot
376
Inevitable Collision States A Step Towards Safer Robots?
388
TAII5
406
Sensor Design and Experiments
516
Compliant
517
Identification of Contact Conditions from Position and Velocity Information
527
Mobile Manipulation of Humanoid Robots Control Method
529
Theoretical Foundations and Application to
534
A New Method of Tactile Sensing Using Fingertip with Soft Skin
535
A New Method of Pipeline Detection in Sonar Imagery using SelfOrganizing Maps
541
A Framework for Calibration of Electromagnetic Surgical Navigation Systems
547
Motion Control
555
TPI2
558
Task Description Language for Underwater Robots
565
Adaptive DOB Control of Underwater Robots
571
Dynamic Analysis and TwoTirne Scale Control for Underwater VehicleManipulator
577
Design of Supervisory Control Scheme for Fault Tolerant Control of Telerobotic
580
Differential Flatness Trajectory
582
A Nonlinear Hco Controller for Autonomous Underwater Vehicles
583
An Adaptive Gait for Quadruped Robots to Walk on a Slope
589
Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor
595
Motion Creating System for a Small Biped Entertainment Robot 1394
600
Analysis of Limit Cycle in Passive Walking
601
Development of Dinosaurlike Robot TITRUS Its Dynamics and the Motion Utilizing
607
Experimental Study on Energy Efficiency for Quadruped Walking Vehicles
613
Design of Quadruped Walking and Climbing Robot
619
A Catalog of InverseKinematics Planners for Underactuated Systems on Matrix
625
Exploiting Group Symmetries to Improve Precision in Kinodynamic
631
Collision Avoidance for any Shape Mobile Robots
637
Representing Dynamic Environments for Autonomous Ground Vehicle Navigation
644
TPI5
668
WPII1
671
Incremental Purposive Behavior Acquisition based on SelfInterpretation
686
Advanced Sonar and Odometry Error Modeling for Simultaneous Localisation
699
Autonomous Exploration via Regions of Interest 1691
710
A Study on the Environmental Map Building for a Mobile Robot Using Infrared
711
Viewpoint Planning in Map Updating Task for Improving Utility of a Map
729
Visual Servoing of a UGV from a UAV using Differential Flatness
743
Preferential Direction Control for Visual Servoing based on Orthogonal Curvilinear
761
SENSORY SYSTEMS I
767
3D Ultrasonic Tagging System for Observing Human Activity
785
MULTIROBOT SYSTEMS ll
798
Smart Sensor Network Testbeds
799
using One Transponder
817
An AutoEpipolar Strategy for Mobile Robot Visual Servoing 1802
825
Benthic Boundary Tracking using a Profiler Sonar
830
Task Driven Dynamic QoS based Bandwidth Allocation for Realtime Teleoperation
837
Design of a Prototype Miniature Autonomous Underwater Vehicle
842
Development of a Seriallink Structural Robot Supported by Wire Cable Drive
854
Dynamics and Generation of Gaits for a Planar Rollerblader
860
Distributed Manipulation with StickSlip Contact
866
Control and Online Computation of Stable Movement for Biped Robots
874
Dynamic Sensing Experiments of Reaction Force Distributions on the Sole of a Walking
879
Legless Locomotion for Legged Robots
880
Fast Obstacle Avoidance Using Monocular Vision
886
Keyframe Compression and Decompression for Time Series Data based on the Continuous
891
Sensor Based Trajectory Following for Nonholonornic Systems in Highly
892
RealTirne Obstacle Avoidance Performed by an Autonomous Vehicle throughout
898
Negative Obstacle Detection by Thermal Signature
906
Robots
914
Steps Towards Conversational Robotics
928
Learning to Select Primitives and Generate Subgoals From Practice
946
Autonomous Behavior Control Architecture of Entertainment Humanoid Robot SDR4X
960
Toward Ubiquitous Intelligent Robotics 1826
967
Experimental Results in RangeOnly Localization with Radio
974
WAI6
979
Enhancing Appearancebased Robot Localimtion Using Sparse Disparity Maps
980
SelfLocalization in Dynamic Environments based on Laser and Vision Data
998
A Comparison of Eigendecomposition for Sets of Correlated Images at Different
1011
Visual Perception Based on Salient Features
1024
Simplified Intrinsic Camera Calibration and IlandEye Calibration for Robot Vision
1037
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