Experimental Robotics: The Eleventh International Symposium

Front Matter....Pages -
Session 1: Design....Pages 1-1
The SDM Hand: A Highly Adaptive Compliant Grasper for Unstructured Environments....Pages 3-11
Reliable External Actuation for Extending Reachable Robotic Modular Self-Reconfiguration....Pages 13-23
Design and Development of a Soft Actuator for a Robot Inspired by the Octopus Arm....Pages 25-33
Portable Autonomous Vehicle Controller....Pages 35-41
Design and Control of a Bio-inspired Human-Friendly Robot....Pages 43-52
Session 2: Autonomous Driving....Pages 53-54
Path Planning for Autonomous Driving in Unknown Environments....Pages 55-64
Experimental Results for Over-the-Horizon Planetary Exploration Using a LIDAR Sensor....Pages 65-77
Efficient Techniques for Dynamic Vehicle Detection....Pages 79-91
Comparison of Boosting Based Terrain Classification Using Proprioceptive and Exteroceptive Data....Pages 93-102
Session 3: Cooperation....Pages 103-104
Demonstrating the Benefits of Cooperation for a UAV Team Performing Vision Based Feature Localisation....Pages 105-115
Maintaining Connectivity in Mobile Robot Networks....Pages 117-126
From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots....Pages 127-136
Co-ordinated Tracking and Planning Using Air and Ground Vehicles....Pages 137-146
Distributed Robotic Radiation Mapping....Pages 147-156
Session 4: Mini and Micro Robots....Pages 157-158
Visual Tracking for Teams of Miniature Robots....Pages 159-168
Small, Fast, and under Control: Wireless Resonant Magnetic Micro-agents....Pages 169-178
Visually Servoed Orientation Control of Biological Cells in Microrobotic Cell Manipulation....Pages 179-187
Session 5: Human Robot Interaction....Pages 189-190
A First Investigation into the Teleoperation of a Miniature Rotorcraft....Pages 191-199
Toward Socially Assistive Robotics for Augmenting Interventions for Children with Autism Spectrum Disorders....Pages 201-210
Teaching Robots via Natural Nonverbal Cues....Pages 211-220
The Psychological Effects of Attendance of an Android on Communication....Pages 221-228
SHARY: A Supervision System Adapted to Human-Robot Interaction....Pages 229-238
Session 6: Medical Robotics....Pages 239-240
EMG-Based Position and Force Estimates in Coupled Human-Robot Systems: Towards EMG-Controlled Exoskeletons....Pages 241-250
An Image-Based Localization Algorithm for Catheter Navigation in the Left Atrium....Pages 251-260
Mechanical Response of Embryonic Stem Cells Using Haptics-Enabled Atomic Force Microscopy....Pages 261-269
Task-Space Control of Continuum Manipulators with Coupled Tendon Drive....Pages 271-280
Session 7: Locomotion....Pages 281-282
Passing under Obstacles with Humanoid Robots....Pages 283-291
Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2....Pages 293-302
A Physical Model for Dynamical Arthropod Running on Level Ground....Pages 303-317
Reliable Dynamic Motions for a Stiff Quadruped....Pages 319-328
Bioinspired Jumping Locomotion in Small Robots: Natural Observation, Design, Experiments....Pages 329-338
Session 8: Localization and Mapping....Pages 339-340
A Robust Method of Localization and Mapping Using Only Range....Pages 341-351
Visual Appearance Mapping for Optimal Vision Based Servoing....Pages 353-362
Place Recognition Using Keypoint Similarities in 2D Lidar Maps....Pages 363-372
A First-Estimates Jacobian EKF for Improving SLAM Consistency....Pages 373-382
Session 9: UUVs and UAVs....Pages 383-384
Autonomous Autorotation of an RC Helicopter....Pages 385-394
Preliminary Results for Model-Based Adaptive Control of an Autonomous Underwater Vehicle....Pages 395-405
Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV....Pages 407-416
A Boosting Approach to Visual Servo-Control of an Underwater Robot....Pages 417-428
Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads....Pages 429-438
Session 10: Sensing and Planning....Pages 439-440
Adaptive Full Scan Model for Range Finders in Dynamic Environments....Pages 441-450
Empirical Sampling of Path Sets for Local Area Motion Planning....Pages 451-462
Motion Strategies for People Tracking in Cluttered and Dynamic Environments....Pages 463-472
Tracking Odor Plumes in a Laminar Wind Field with Bio-inspired Algorithms....Pages 473-482
Session 11: Vision....Pages 483-484
Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing....Pages 485-494
Humanoid Vision Resembles Primate Archetype....Pages 495-504
Learning to Associate Image Features with CRF-Matching....Pages 505-514
Fast Relative Pose Calibration for Visual and Inertial Sensors....Pages 515-524
Scale Invariant Detection and Tracking of Elongated Structures....Pages 525-533
Session 12: Manipulation....Pages 535-536
Shape Recognition and Optimal Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Camera....Pages 537-546
Coordinated Control and Range Imaging for Mobile Manipulation....Pages 547-556
Experimental Evaluation of Several Strategies for Human Motion Based Transparency Control....Pages 557-565
Development of a Manipulation Component for a Container Transferring Robot in Living Space....Pages 567-576
Back Matter....Pages -