Intelligent Robotics and Applications: 9th International Conference, ICIRA 2016, Tokyo, Japan, August 22-24, 2016, Proceedings, Part I

Front Matter....Pages I-XXIII
Front Matter....Pages 1-1
Robust Backstepping Control for Spacecraft Rendezvous on Elliptical Orbits Using Transformed Variables....Pages 3-13
Sampled Adaptive Control for Multi-joint Robotic Manipulator with Force Uncertainties....Pages 14-25
Rapid Developing the Simulation and Control Systems for a Multifunctional Autonomous Agricultural Robot with ROS....Pages 26-39
Design of 3D Printer-Like Data Interface for a Robotic Removable Machining....Pages 40-50
Combined Model-Free Decoupling Control and Double Resonant Control in Parallel Nanopositioning Stages for Fast and Precise Raster Scanning....Pages 51-62
Towards the Development of Fractional-Order Flight Controllers for the Quadrotor....Pages 63-74
Design and Implementation of Data Communication Module for a Multi-motor Drive and Control Integrated System Based on DSP....Pages 75-86
A Novel Continuous Single-Spindle Doffing Robot with a Spatial Cam and Multiple Grippers....Pages 87-98
Front Matter....Pages 99-99
Design of Wireframe Expansion and Contraction Mechanism and Its Application to Robot....Pages 101-110
Practical Robot Edutainment Activities Program for Junior High School Students....Pages 111-121
Modeling and Analysis on Position and Gesture of End-Effector of Cleaning Robot Based on Monorail Bogie for Solar Panels....Pages 122-133
PASA Hand: A Novel Parallel and Self-Adaptive Underactuated Hand with Gear-Link Mechanisms....Pages 134-146
Topological Structure Synthesis of 3T1R Parallel Mechanism Based on POC Equations....Pages 147-161
Structural Analysis of Parallel Mechanisms Using Conformal Geometric Algebra....Pages 162-174
Kinematics Analysis of a New Type 3T1R PM....Pages 175-185
Power Efficiency-Based Stiffness Optimization of a Compliant Actuator for Underactuated Bipedal Robot....Pages 186-197
Analysis of the Stiffness of Modular Reconfigurable Parallel Robot with Four Configurations....Pages 198-209
Kinematic Analysis and Simulation of a Ball-Roller Pair for the Active-Caster Robotic Drive with a Ball Transmission....Pages 210-221
Front Matter....Pages 223-223
Fast Hierarchical Template Matching Strategy for Real-Time Pose Estimation of Texture-Less Objects....Pages 225-236
Latent Force Models for Human Action Recognition....Pages 237-246
Front Matter....Pages 223-223
A Study on Classification of Food Texture with Recurrent Neural Network....Pages 247-256
A Rotating Platform for Swift Acquisition of Dense 3D Point Clouds....Pages 257-268
Kinematic Calibration and Vision-Based Object Grasping for Baxter Robot....Pages 269-278
Stiffness Estimation in Vision-Based Robotic Grasping Systems....Pages 279-288
Contour Based Shape Matching for Object Recognition....Pages 289-299
Robust Gaze Estimation via Normalized Iris Center-Eye Corner Vector....Pages 300-309
Front Matter....Pages 311-311
Large Scale Indoor 3D Mapping Using RGB-D Sensor....Pages 313-321
Performance Comparison of Probabilistic Methods Based Correction Algorithms for Localization of Autonomous Guided Vehicle....Pages 322-333
Driving Control by Based upon the Slip Pattern of the Ball Robot....Pages 334-342
Straight Driving Improvement of Mobile Robot Using Fuzzy/Current Sensor....Pages 343-350
Efficiency of Dynamic Local Area Strategy for Frontier-Based Exploration in Indoor Environments....Pages 351-361
Optimization of a Proportional-Summation-Difference Controller for a Line-Tracing Robot Using Bacterial Memetic Algorithm....Pages 362-372
Navigation and Control for an Unmanned Aerial Vehicle....Pages 373-383
Robot Path Control with Rational-Order Calculus....Pages 384-395
Path Planning Based on Direct Perception for Unknown Object Grasping....Pages 396-406
An Efficient RFID-Based Localization Method with Mobile Robot....Pages 407-417
Vector Maps: A Lightweight and Accurate Map Format for Multi-robot Systems....Pages 418-429
Front Matter....Pages 431-431
Optimal Viewpoint Selection Based on Aesthetic Composition Evaluation Using Kullback-Leibler Divergence....Pages 433-443
Guidance of Robot Swarm by Phase Gradient in 3D Space....Pages 444-451
Collective Construction by Cooperation of Simple Robots and Intelligent Blocks....Pages 452-461
Front Matter....Pages 431-431
Can Haptic Feedback Improve Gesture Recognition in 3D Handwriting Systems?....Pages 462-471
Meta-module Self-configuration Strategy for Modular Robotic System....Pages 472-484
Quantized Consensus of Multi-agent Systems with Additive Noise....Pages 485-497
Design and Development of a Multi-rotor Unmanned Aerial Vehicle System for Bridge Inspection....Pages 498-510
Front Matter....Pages 511-511
Evaluating Trust in Multi-Agents System Through Temporal Difference Leaning....Pages 513-524
Controlling Logistics Robots with the Action-Based Language YAGI....Pages 525-537
Robots that Refuse to Admit Losing – A Case Study in Game Playing Using Self-Serving Bias in the Humanoid Robot MARC....Pages 538-548
Cognitive Architecture for Adaptive Social Robotics....Pages 549-562
Accelerating Humanoid Robot Learning from Human Action Skills Using Context-Aware Middleware....Pages 563-574
Front Matter....Pages 575-575
Optimization of Throwing Motion by 2-DOF Variable Viscoelastic Joint Manipulator....Pages 577-588
Development of the Attachment for the Cable of Peristaltic Crawling Robot to Reduce Friction in Elbow Pipe....Pages 589-595
Multimodal Recurrent Neural Network (MRNN) Based Self Balancing System: Applied into Two-Wheeled Robot....Pages 596-608
A Prototype of a Laparoscope Holder Operated by a Surgeon Through Head and Jaw Movements....Pages 609-618
The Design and the Gait Planning Analysis of Hexapod Wall-Climbing Robot....Pages 619-631
Front Matter....Pages 633-633
Adaptive Control of Magnetostrictive-Actuated Positioning Systems with Input Saturation....Pages 635-645
Adaptive Dynamic Surface Inverse Output Feedback Control for a Class of Hysteretic Systems....Pages 646-662
A Neural Hysteresis Model for Smart-Materials-Based Actuators....Pages 663-671
Modeling of Rate-Dependent Hysteresis in Piezoelectric Actuators Using a Hammerstein-Like Structure with a Modified Bouc-Wen Model....Pages 672-684
A High Efficiency Force Predicting Method of Multi-axis Machining Propeller Blades....Pages 685-696
A High-Flexible ACC/DEC Look-Ahead Strategy Based on Quintic Bézier Feed Rate Curve....Pages 697-708
Front Matter....Pages 633-633
Data-Driven Feedforward Decoupling Filter Design for Parallel Nanopositioning Stages....Pages 709-720
Study on the Relationship Between the Stiffness of RV Reducer and the Profile Modification Method of Cycloid-pin Wheel....Pages 721-735
Front Matter....Pages 737-737
Proposal of Carburization Depth Inspection of Both Surface and Opposite Side on Steel Tube Using 3D Nonlinear FEM in Consideration of the Carbon Concentration....Pages 739-748
Evaluation for Electromagnetic Non-destructive Inspection of Hardened Depth Using Alternating Leakage Flux on Steel Plate....Pages 749-758
Estimation of Mutual Induction Eddy Current Testing Method Using Horizontal Exciting Coil and Spiral Search Coil....Pages 759-769
Examination of Evaluation Method of Power Generation Current Using Static Magnetic Field Around Polymer Electrolyte Fuel Cell....Pages 770-779
Evaluation of Nondestructive Inspecting Method of Surface and Opposite Side Defect in Steel Plate Using Large Static and Minute Alternating Magnetic Field....Pages 780-789
Evaluation of Positions of Thinning Spots in a Dual Structure Using ECT with DC Magnetization....Pages 790-796
Back Matter....Pages 797-801