2016 International Symposium on Experimental Robotics

Front Matter....Pages i-xvi
Front Matter....Pages 1-1
Learning Transferable Policies for Monocular Reactive MAV Control....Pages 3-11
A micro-UAS to Start Prescribed Fires....Pages 12-24
Research on Hammering Test System by Unmanned Aerial Vehicles for Infrastructure Surveillance....Pages 25-32
Uncertainty Quantification for Small Robots Using Principal Orthogonal Decomposition....Pages 33-42
Collaborative 3D Reconstruction Using Heterogeneous UAVs: System and Experiments....Pages 43-56
Front Matter....Pages 57-57
A Modular Folded Laminate Robot Capable of Multi Modal Locomotion....Pages 59-70
Combined Energy Harvesting and Control of Moball: A Barycentric Spherical Robot....Pages 71-83
Control of Pneumatic Actuators with Long Transmission Lines for Rehabilitation in MRI....Pages 84-91
Terrain-Dependant Control of Hexapod Robots Using Vision....Pages 92-102
Untethered One-Legged Hopping in 3D Using Linear Elastic Actuator in Parallel (LEAP)....Pages 103-112
Discrete Foot Shape Changes Improve Dynamics of a Hopping Robot....Pages 113-122
Front Matter....Pages 123-123
Learning Grasps in a Synergy-based Framework....Pages 125-135
Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction....Pages 136-146
Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot....Pages 147-159
Experiments with Hierarchical Reinforcement Learning of Multiple Grasping Policies....Pages 160-172
Learning Hand-Eye Coordination for Robotic Grasping with Large-Scale Data Collection....Pages 173-184
Improving Grasp Performance Using In-Hand Proximity and Dynamic Tactile Sensing....Pages 185-194
Front Matter....Pages 195-195
Learning Object Orientation Constraints and Guiding Constraints for Narrow Passages from One Demonstration....Pages 197-210
Meta-level Priors for Learning Manipulation Skills with Sparse Features....Pages 211-222
Automatic Object Modeling Through Integrating Perception and Robotic Manipulation....Pages 223-233
Front Matter....Pages 195-195
ZMP Features for Touch Driven Robot Control via Tactile Servo....Pages 234-243
Data-Driven Classification of Screwdriving Operations....Pages 244-253
A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments....Pages 254-265
Application of Robot Manipulator for Cardiopulmonary Resuscitation....Pages 266-274
Experimental Analysis of Human Control Strategies in Contact Manipulation Tasks....Pages 275-286
Front Matter....Pages 287-287
Hybrid Human Motion Prediction for Action Selection Within Human-Robot Collaboration....Pages 289-298
Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance....Pages 299-308
Integrated Intelligence for Human-Robot Teams....Pages 309-322
EUROPtus: A Mixed-Initiative Controller for Multi-vehicle Oceanographic Field Experiments....Pages 323-340
Implicitly Assisting Humans to Choose Good Grasps in Robot to Human Handovers....Pages 341-354
Initial Data and Theory for a High Specific-Power Ankle Exoskeleton Device....Pages 355-364
Front Matter....Pages 365-365
High-Speed Wall-Contacting Drive for Underground Automatic Transport Vehicle....Pages 367-373
Realizing Robust Control of Autonomous Vehicles....Pages 374-386
Learning to Plan for Visibility in Navigation of Unknown Environments....Pages 387-398
Parallel Manipulation of Millirobot Swarms Using Projected Light Fields....Pages 399-408
Improving the Accuracy of Stereo Visual Odometry Using Visual Illumination Estimation....Pages 409-419
Experimental Validation of a Template for Navigation of Miniature Legged Robots....Pages 420-430
Front Matter....Pages 431-431
Fruit Pose Estimation and Stem Touch Detection for Green Pepper Automatic Harvesting....Pages 433-442
From Localized Shearing to Localized Slippage Perception....Pages 443-453
Fit for Purpose? Predicting Perception Performance Based on Past Experience....Pages 454-464
Front Matter....Pages 431-431
Deep Multispectral Semantic Scene Understanding of Forested Environments Using Multimodal Fusion....Pages 465-477
Vision-Based Apple Counting and Yield Estimation....Pages 478-487
Towards Learning to Perceive and Reason About Liquids....Pages 488-501
Front Matter....Pages 503-503
Vision-Based Obstacle Avoidance for Micro Air Vehicles Using an Egocylindrical Depth Map....Pages 505-514
Transformable Multirotor with Two-Dimensional Multilinks: Modeling, Control, and Whole-Body Aerial Manipulation....Pages 515-524
Localization of a Ground Robot by Aerial Robots for GPS-Deprived Control with Temporal Logic Constraints....Pages 525-537
On the VINS Resource-Allocation Problem for a Dual-Camera, Small-Size Quadrotor....Pages 538-549
Catching a Flying Ball with a Vision-Based Quadrotor....Pages 550-562
Experience-Based Models of Surface Proximal Aerial Robot Flight Performance in Wind....Pages 563-573
“On-the-Spot Training” for Terrain Classification in Autonomous Air-Ground Collaborative Teams....Pages 574-585
Safe Navigation of Quadrotor Teams to Labeled Goals in Limited Workspaces....Pages 586-598
Front Matter....Pages 599-599
Using Vision for Pre- and Post-grasping Object Localization for Soft Hands....Pages 601-612
Grasping and Manipulation by Underactuated Hand with Multi-Joint Fingers....Pages 613-621
Generalizing Regrasping with Supervised Policy Learning....Pages 622-632
Experimental Validation of Contact Dynamics for In-Hand Manipulation....Pages 633-645
Iterative Visual Recognition for Learning Based Randomized Bin-Picking....Pages 646-655
Mechanism and Control of Whole-Body Electro-Hydrostatic Actuator Driven Humanoid Robot Hydra....Pages 656-665
Front Matter....Pages 667-667
Gait Synthesis for Modular Soft Robots....Pages 669-678
Discovering and Manipulating Affordances....Pages 679-691
Experimental Evaluation of Hybrid Conditional Planning for Service Robotics....Pages 692-702
Front Matter....Pages 667-667
Improved Learning of Dynamics Models for Control....Pages 703-713
Front Matter....Pages 715-715
Data Correlation and Comparison from Multiple Sensors Over a Coral Reef with a Team of Heterogeneous Aquatic Robots....Pages 717-728
Multi Robot Object-Based SLAM....Pages 729-741
Particle Filter Localization on Continuous Occupancy Maps....Pages 742-751
Experimental Methods for Mobility and Surface Operations of Microgravity Robots....Pages 752-763
Multi-Sensor SLAM with Online Self-Calibration and Change Detection....Pages 764-774
Experimental Comparison of Open Source Vision-Based State Estimation Algorithms....Pages 775-786
Front Matter....Pages 787-787
Human Pose Estimation from Imperfect Sensor Data via the Extended Kalman Filter....Pages 789-798
Influence of Emotional Motions in Human-Robot Interactions....Pages 799-808
Energy Based Control for Safe Human-Robot Physical Interaction....Pages 809-818
Psychological Evaluation on Influence of Appearance and Synchronizing Operation of Android Robot....Pages 819-828
Collective Cognition and Sensing in Robotic Swarms via an Emergent Group-Mind....Pages 829-840
Recognizing Unfamiliar Gestures for Human-Robot Interaction Through Zero-Shot Learning....Pages 841-852
Erratum to: Application of Robot Manipulator for Cardiopulmonary Resuscitation....Pages E1-E1
Back Matter....Pages 853-856