Recent Progress in Robotics: Viable Robotic Service to Human: An Edition of the Selected Papers from the 13th International Conference on Advanced Robotics

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Springer Science & Business Media, Jan 14, 2008 - Language Arts & Disciplines - 410 pages
th This volume is an edition of the papers selected from the 13 International Conference on Advanced Robotics, ICAR 2007, held in Jeju, Korea, August 22-25, 2007, with the theme: “Viable Robotics Service to Human. ” It is intended to deliver readers the most recent technical progress in robotics, in particular, toward the advancement of robotic service to human. To ensure its quality, this volume took only 28 papers out of the 214 papers accepted for publication for ICAR 2007. The selection was based mainly on the technical merit, but also took into consideration whether the subject represents a theme of current interest. For the final inclusion, authors of the selected papers were requested for another round of revision and expansion. In this volume, we organize the 28 contributions into three chapters. Chapter 1 covers Novel Mechanisms, Chapter 2 deals with perception guided navigation and manipulation, and Chapter 3 addresses human-robot interaction and intelligence. Chapters 1, 2 and 3 consist of 7, 13 and 8 contributions, respectively. For the sake of clarity, Chapter 2 is divided further into two parts with Part 1 for Perception Guided Navigation and Part 2 for Perception Guided Manipulation. Chapter 3 is also divided into two parts with Part 1 for Human- Robot Interaction and Part 2 for Intelligence. For the convenience of readers, a ch- ter summary is introduced as an overview in the beginning of each chapter. The chapter summaries were prepared by Dr. Munsang Kim for Chapter 1, Prof.
 

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Contents

Summary of Novel Mechanisms
4
Feasibility Study of Robust Neural Network Motion Tracking Control of Piezoelectric Actuation Systems for MicroNano Manipulation
6
Hybrid Formation Control for NonHolonomic Wheeled Mobile Robots
21
Novel Tripedal Mobile Robot and Considerations for Gait Planning Strategies Based on Kinematics
35
Safe Joint Mechanism Based on Passive Compliance for Collision Safety
49
A Guidance Control Strategy for Semiautonomous Colonoscopy Using a Continuum Robot
63
FullyIsotropic T1R3Type RedundantlyActuated Parallel Manipulators
79
Early Reactive Grasping with Second Order 3D Feature Relations
91
VisionBased Control of the RoboTenis System
229
Particle Filter Based Robust Recognition and Pose Estimation of 3D Objects in a Sequence of Images
241
Preliminary Development of a Line FeatureBased Object Recognition System for Textureless Indoor Objects
254
Modelling of Second Order Polynomial Surface Contacts for Programming by Human Demonstration
269
Robot Selfmodeling of Rotational Symmetric 3D Objects Based on Generic Description of Object Categories
283
HumanRobot Interaction and Intelligence
299
Summary of HumanRobot Interaction and Intelligence
301
Dynamic Speech Interaction for Robotic Agents
303

Perception Guided Navigation and Manipulation
106
Summary of Perception Guided Navigation and Manipulation
109
Link Graph and Feature Chain Based Robust Online SLAM for Fully Autonomous Mobile Robot Navigation System Using Sonar Sensors
112
Services Robots Navigating on Smart Floors
133
Maintaining Separation
145
Improved Mapping and Image Segmentation by Using Semantic Information to Link Aerial Images and GroundLevel Information
157
Active Visual Search by a Humanoid Robot
170
Visual Control of a Micro Helicopter under Dynamic Occlusions
185
Visual Servoing from Spheres with Paracatadioptric Cameras
199
Dynamic Targets Detection for Robotic Applications Using Panoramic Vision System
214
Hand Posture Recognition Using Adaboost with SIFT for Human Robot Interaction
316
Multimodal Navigation with a Vibrotactile Display in Computer Assisted Surgery
331
A Behavior Based Control System for Assistive Bimanual Manipulation
344
A Customizable Multihost Simulation and Visualization Framework for Robot Applications
357
Imitation of Walking Paths with a LowCost Humanoid Robot
370
Intelligent Robot Software Architecture
385
OntologyBased Semantic Context Modeling for Object Recognition of Intelligent Mobile Robots
398
Author Index
409
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