Advances in Robotics: FIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009, Proceedings

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Jong-Hwan Kim, Shuzhi Sam Ge, Prahlad Vadakkepat, Norbert Jesse, Abdullah Al Mamun
Springer Science & Business Media, Aug 28, 2009 - Computers - 322 pages
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th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social Robotics (ICSR) • International Conference on Advanced Humanoid Robotics Research (ICAHRR) • International Conference on Entertainment Robotics (ICER) • International Robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.
 

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Contents

Intelligent Systems and Its Applications in Robotics
1
Neurodynamic Optimization and Its Applications in Robotics
2
VisionBased Control of Robot Motion
3
Merging Intelligent Robotics Strategic Policy Business Development and Fun
4
Detecting Underlying Stance Adopted When Human Construe Behavior of Entities
5
Motion and Emotional Behavior Design for Pet Robot Dog
13
Grounding Robot Autonomy in Emotion and Selfawareness
23
A New Dynamic Edge Detection toward Better HumanRobot Interaction
44
MultiRobot Architecture for Dynamic Task Role and Behavior Selections
161
A Robot Localization Method Based on Laser Scan Matching
171
An Algorithm for Sensory Area Coverage by Mobile Robots Operating in Complex Arenas
179
Topological SLAM Using Fast Vision Techniques
187
Virtual DoorBased Coverage Path Planning for Mobile Robot
197
Vision Module for Minirobots Providing Optical Flow Processing for Obstacle Avoidance
208
AdHoc Communication and Localization System for Mobile Robots
220
Robotic Implementation of Realistic Reaching Motion Using a Sliding ModeOperational Space Controller
230

Face Recognition Using ALLE and SIFT for Human Robot Interaction
53
A Case Study with a Robot Head
63
Handshake Experiments and Finger Phalange Indentations
73
ThreeDimensional Finite Element Simulations of Synthetic Finger Phalanges
80
Investigating the Effects of Gain and Loss of Esteem on HumanRobot Interaction
87
A Simple Momentum Controller for Humanoid Push Recovery
95
Optimal Trajectory Generation for Walking Up and Down a Staircase with a Biped Robot Using Genetic Algorithm GA
103
A Study on the Motion Energy of Biped Robot Walking on Different Postures
112
Footstep Planning Based on Univector Field Method for Humanoid Robot
125
Tendon Based Full Size Biped Humanoid Robot Walking Platform Design
135
FPGABased Vocabulary Recognition Module for Humanoid Robot
151
Topology Control in LargeScale High Dynamic Mobile AdHoc Networks
239
A Gait Generation for an Unlocked Joint Failure of the Quadruped Robot with Balance Weight
251
Development of a Micro QuadRotor UAV for Monitoring an Indoor Environment
262
An Improved Method for RealTime 3D Construction of DTM
272
Depth Estimation Using Variant of Depth of Field by Horizontal Planes of Sharp Focus
282
A Study on Stereo and Motion Data Accuracy for a Moving Platform
292
Equivalent Relationship of Feedforward Neural Networks and RealTime Face Detection System
301
Determination of Gender and Age Based on Pattern of Human Motion Using AdaBoost Algorithms
311
Author Index
320
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