Experimental Robotics IX: The 9th International Symposium on Experimental Robotics

Front Matter....Pages I-XVI
Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission....Pages 3-13
SVM-Based Human Action Recognition and Its Remarkable Motion Features Discovery Algorithm....Pages 15-25
fMRI Compatible Haptic Interfaces to Investigate Human Motor Control....Pages 25-34
Nonholonomic Modeling of Needle Steering....Pages 35-44
Microphone Array for 2D Sound Localization and Capture....Pages 45-54
Experiments on Adaptive Control of Robots with Uncertain Kinematics and Dynamics....Pages 57-67
Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating....Pages 67-76
Adaptive Friction Compensation Using a Velocity Observer....Pages 77-86
Wave-shape pattern control of electroactive polymer gel robots....Pages 87-96
Topological Global Localization and Mapping with Fingerprints and Uncertainty....Pages 99-111
Terrain Aided Localisation and Mapping for Marine Environments....Pages 111-120
The SDR Experience: Experiments with a Large-Scale Heterogeneous Mobile Robot Team....Pages 121-130
Centibots: Very Large Scale Distributed Robotic Teams....Pages 131-140
Large-Scale Robotic 3-D Mapping of Urban Structures....Pages 141-150
A Force Controlled Laparoscopic Surgical Robot without Distal Force Sensing....Pages 153-164
Modeling and Experiments on a Legged Microrobot Locomoting in a Tubular, Compliant and Slippery Environment....Pages 165-174
Quasi Hands Free Interaction with a Robot for Online Task Correction....Pages 175-184
Integration of Manipulation and Locomotion by a Humanoid Robot....Pages 187-197
Design and Modeling of a Selective-Actuation XYZ Flexure Parallel Mechanism....Pages 197-206
On Contact Transition for Nonholonomic Mobile Manipulators....Pages 207-216
Experimental Study of Dynamic Task / Posture Decoupling in Minimally Invasive Surgery Motions....Pages 217-226
A Tele-operated Humanoid Operator....Pages 229-239
Hand-position Oriented Humanoid Walking Motion Control System....Pages 239-248
Body Information Acquisition System of Redundant Musculo-Skeletal Humanoid....Pages 249-258
Coordinated Task Execution for Humanoid Robots....Pages 259-267
Imitation Learning Based on Visuo-Somatic Mapping....Pages 269-278
Crawling and Jumping by a Deformable Robot....Pages 281-291
The Berkeley Lower Extremity Exoskeleton Project....Pages 291-301
Toward Self-Replication of Robot Control Circuitry by Self-Inspection....Pages 303-309
Optimal Mechanical/Control Design for Safe and Fast Robotics....Pages 311-320
Actuation, Sensing, and Fabrication for In Vivo Magnetic Microrobots....Pages 321-330
Deployment and Connectivity Repair of a Sensor Net with a Flying Robot....Pages 333-343
Autonomous Landing of an Unmanned Helicopter based on Vision and Inertial Sensing....Pages 343-352
Synergies in Feature Localization by Air-Ground Robot Teams....Pages 352-361
Autonomous Inverted Helicopter Flight via Reinforcement Learning....Pages 363-372
Collective Inspection of Regular Structures using a Swarm of Miniature Robots....Pages 375-386
Visual Coordination of Heterogeneous Mobile Manipulators....Pages 387-396
Implementation of an Indoor Active Sensor Network....Pages 397-406
An Indoor Experiment in Decentralized Coordinated Search....Pages 407-416
Synthesis and Analysis of Non-Reactive Controllers for Multi-Robot Sequential Task Domains....Pages 417-426
Adaptive Walking of a Quadruped Robot in Outdoor Environment based on Biological Concepts....Pages 429-439
Legged Odometry from Body Pose in a Hexapod Robot....Pages 439-448
Free-Climbing with a Multi-Use Robot....Pages 449-458
Limbless Conforming Gaits with Modular Robots....Pages 459-468
Vision-Based Navigational Competencies for a Car-like Vehicle....Pages 471-481
Comparison of Temporal Filters for Optical Flow Estimation in Continuous Mobile Robot Navigation....Pages 481-490
Experiments in Robot Control from Uncalibrated Overhead Imagery....Pages 491-500
Interactive Multi-Modal Robot Programming....Pages 503-513
Dynamic Virtual Fences for Controlling Cows....Pages 513-522
Design and Control of a Hyper-Redundant Haptic Interface....Pages 523-532
An Experimental Study of the Limitations of Mobile Haptic Interfaces....Pages 533-542
Robust Haptic Teleoperation of a Mobile Manipulation Platform....Pages 543-554
Trajectory Sonar Perception in the Ligurian Sea....Pages 557-570
Construction of a geometric 3-D model from sensor measurements collected during compliant motion....Pages 571-580
Stiffness Imager....Pages 581-587
Towards High-Fidelity On-Board Attitude Estimation for Legged Locomotion via a Hybrid Range and Inertial Approach....Pages 589-598
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments....Pages 599-608
Driving on a Known Sensori-Motor Trajectory with a Car-like Robot....Pages 609-618
Back Matter....Pages 619-624