Experimental Robotics VIII

Front Matter....Pages 1-1
Research Robots for Applications in AI, Teleoperation and Entertainment....Pages 2-20
Torque-controlled Light Weight Arms and Articulated Hands — Do We Reach Technological Limits Now?....Pages 21-47
Snakes and Strings: New Robotic Components for Rescue Operations....Pages 48-61
Front Matter....Pages 63-63
HERMES — an Intelligent Humanoid Robot Designed and Tested for Dependability....Pages 64-74
Experimental Study of Biped Locomotion of Humanoid Robot HRP-1S....Pages 75-84
Online Humanoid Walking Control and 3D Vision-based Locomotion....Pages 85-94
Practical Aspects of Biped Locomotion....Pages 95-104
Front Matter....Pages 105-105
Mechanical Characterization of the Immersion Corp. Haptic, Bimanual, Surgical Simulator Interface....Pages 106-112
A New Actuation Approach for Human Friendly Robot Design....Pages 113-122
Robust Controller Design for Cancelling Biodynamic Feedthrough....Pages 123-133
Front Matter....Pages 135-135
Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers....Pages 136-145
Localization for Mobile Robot Teams: A Distributed MLE Approach....Pages 146-155
3D Rover Localization in Airborne Ladar Data....Pages 156-167
Online Sensor-based Behaviour Decision and Navigation of a Mobile Robot in Unknown Indoor Environment....Pages 168-177
Robox, a Remarkable Mobile Robot for the Real World....Pages 178-187
Front Matter....Pages 189-189
Cooperative Data Fusion Amongst Multiple Uninhabited Air Vehicles....Pages 190-199
Robust Simultaneous Localization and Mapping for Very Large Outdoor Environments....Pages 200-209
Recent Results in Extensions to Simultaneous Localization and Mapping....Pages 210-221
Learning Occupancy Grids of Non-Stationary Objects with Mobile Robots....Pages 222-231
Front Matter....Pages 233-233
Tracking People from a Mobile Platform....Pages 234-244
Front Matter....Pages 233-233
Visual Servoing/Tracking Using Central Catadioptric Images....Pages 245-254
A Visually Servoed MEMS Manipulator....Pages 255-264
Visual-servoed Parking with Limited View Angle....Pages 265-274
Front Matter....Pages 275-275
Sensor Computations in Modular Self Reconfigurable Robots....Pages 276-286
Cooperative Transport of Planar Objects by Multiple Mobile Robots Using Object Closure....Pages 287-296
Modeling Swarm Robotic Systems....Pages 297-306
Experiments in Distributed Control for Modular Robots....Pages 307-316
Front Matter....Pages 317-317
An Experimental Robot Load Identification Method for Industrial Application....Pages 318-327
Friction Model Validation in Sliding and Presliding Regimes with High Resolution Encoders....Pages 328-337
Experiments on Rest-to-rest Motion of a Flexible Arm....Pages 338-349
Experimental Bilateral Control Telemanipulation Using a Virtual Exoskeleton....Pages 350-359
Front Matter....Pages 361-361
The Capturing Robot with Super High Acceleration....Pages 362-371
Acquiring Motion Elements for Bidirectional Computation of Motion Recognition and Generation....Pages 372-381
Manipulation of Micro-objects Using Adhesion Forces and Dynamical Effects....Pages 382-391
Toward Self-replicating Robots....Pages 392-401
Front Matter....Pages 403-403
Robotized Skin Harvesting....Pages 404-413
Faithful Haptic Feedback in Medical Simulators....Pages 414-423
Optimal Planning of Robotically Assisted Heart Surgery: Transfer Precision in the Operating Room....Pages 424-434
Towards Semi-autonomy in Laparoscopic Surgery: First Live Experiments....Pages 435-444
Modelling and Experimental Validation of the Locomotion of Endoscopic Robots in the Colon....Pages 445-453
Front Matter....Pages 455-455
Aggressive Maneuvering Flight Tests of a Miniature Robotic Helicopter....Pages 456-465
An Experimental Study of the Autonomous Helicopter Landing Problem....Pages 466-475
Sensing and Control for a Small-Size Helicopter....Pages 476-486
The Autonomous Blimp Project of LAAS/CNRS — Current Status....Pages 487-496
Front Matter....Pages 497-497
SMC Rover: Planetary Rover with Transformable Wheels....Pages 498-506
Sensing Local Geometry for Dexterous Manipulation....Pages 507-516
Contact State Estimation using Multiple Model Estimation and Hidden Markov Models....Pages 517-526
Manipulability Enhancement by an Impedance Parameter Tuning for a Remote Ultrasound Diagnostic System....Pages 527-537
Front Matter....Pages 539-539
Toward Observation of Human Assembly Skill Using Virtual Task Space....Pages 540-549
Testing Time Domain Passivity Control of Haptic Enabled Systems....Pages 550-559
Interactive Exploration of Remote Objects Using a Haptic-VR Interface....Pages 560-569
Change of Height: An Approach to the Haptic Display of Shape and Texture Without Surface Normal....Pages 570-579
Front Matter....Pages 581-581
Experimental BIPedal Walking....Pages 582-591
Practical Experience with Vision-guided Biped Walking....Pages 592-601
Foot Design for a Large Walking Delta Robot....Pages 602-611
Preliminary Bounding Experiments in a Dynamic Hexapod....Pages 612-621
Front Matter....Pages 623-623
A Go Where You Look Tele-autonomous Rough Terrain Mobile Robot....Pages 624-633
Vision In and Out of Vehicles: Integrated Driver and Road Scene Monitoring....Pages 634-643
Slip-based Traction Control of a Planetary Rover....Pages 644-653
Experimental Study of High-speed Rough-terrain Mobile Robot Models for Reactive Behaviors....Pages 654-663