Intelligent Robotics and Applications: 4th International Conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part I

Front Matter....Pages -
On the Way to a Real-Time On-Board Orthogonal SLAM for an Indoor UAV....Pages 1-11
Quadrocopter Localization Using RTK-GPS and Vision-Based Trajectory Tracking....Pages 12-21
Five-Axis Milling Simulation Based on B-rep Model....Pages 22-32
Exploration Strategies for Building Compact Maps in Unbounded Environments....Pages 33-43
The Basic Component of Computational Intelligence for KUKA KR C3 Robot....Pages 44-52
An Experimental Comparison of Model-Free Control Methods in a Nonlinear Manipulator....Pages 53-62
Research on Modular Design of Perpendicular Jointed Industrial Robots....Pages 63-72
Online Path Planning for Industrial Robots in Varying Environments Using the Curve Shortening Flow Method....Pages 73-82
Parallel-Populations Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots....Pages 83-92
Integrative Path Planning and Motion Control for Handling Large Components....Pages 93-101
Automatic Configuration of Robot Systems - Upward and Downward Integration....Pages 102-111
Process and Human Safety in Human-Robot-Interaction - A Hybrid Assistance System for Welding Applications....Pages 112-121
Operation Simulation of a Robot for Space Applications....Pages 122-131
Re-grasping: Improving Capability for Multi-Arm-Robot-System by Dynamic Reconfiguration....Pages 132-141
A Parallel Kinematic Concept Targeting at More Accurate Assembly of Aircraft Sections....Pages 142-151
Dimensional Synthesis of Parallel Manipulators Based on Direction-Dependent Jacobian Indices....Pages 152-161
EMG Classification for Application in Hierarchical FES System for Lower Limb Movement Control....Pages 162-171
Situated Learning of Visual Robot Behaviors....Pages 172-182
Humanoid Motion Planning in the Goal Reaching Movement of Anthropomorphic Upper Limb....Pages 183-191
Human Sitting Posture Exposed to Horizontal Perturbation and Implications to Robotic Wheelchairs....Pages 192-201
Automatic Circumference Measurement for Aiding in the Estimation of Maximum Voluntary Contraction (MVC) in EMG Systems....Pages 202-211
Classification of the Action Surface EMG Signals Based on the Dirichlet Process Mixtures Method....Pages 212-220
Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device....Pages 221-229
Inverse Kinematics Solution of a Class of Hybrid Manipulators....Pages 230-239
Stiffness Analysis of Clavel’s DELTA Robot....Pages 240-249
Optimum Kinematic Design of a 3-DOF Parallel Kinematic Manipulator with Actuation Redundancy....Pages 250-259
Integrated Structure and Control Design for a Flexible Planar Manipulator....Pages 260-269
Effects of Clearance on Dynamics of Parallel Indexing Cam Mechanism....Pages 270-280
Design and Compliance Experiment Study of the Forging Simulator....Pages 281-290
Design of Compliant Bistable Mechanism for Rear Trunk Lid of Cars....Pages 291-299
DynaMOC: A Dynamic Overlapping Coalition-Based Multiagent System for Coordination of Mobile Ad Hoc Devices....Pages 300-311
Design of a High Performance Quad-Rotor Robot Based on a Layered Real-Time System Architecture....Pages 312-323
Simple Low Cost Autopilot System for UAVs....Pages 324-334
A Marsupial Relationship in Robotics: A Survey....Pages 335-345
Multi-objective Robot Coalition Formation for Non-additive Environments....Pages 346-355
Development of a Networked Multi-agent System Based on Real-Time Ethernet....Pages 356-365
A Conceptual Agent-Based Planning Algorithm for the Production of Carbon Fiber Reinforced Plastic Aircrafts by Using Mobile Production Units....Pages 366-375
Trajectory Tracking and Vibration Control of Two Planar Rigid Manipulators Moving a Flexible Object....Pages 376-387
Concept and Design of the Modular Actuator System for the Humanoid Robot MYON....Pages 388-396
Design of a Passive, Bidirectional Overrunning Clutch for Rotary Joints of Autonomous Robots....Pages 397-405
DeWaLoP-Monolithic Multi-module In-Pipe Robot System....Pages 406-415
Design and Control of a Novel Visco-elastic Braking Mechanism Using HMA....Pages 416-425
Topological Design of Weakly-Coupled 3-Translation Parallel Robots Based on Hybrid-Chain Limbs....Pages 426-435
Working Space and Motion Analysis on a Novel Planar Parallel Manipulator with Three Driving Sliders....Pages 436-444
Optimal Kinematic Design of a 2-DoF Translational Parallel Manipulator with High Speed and High Precision....Pages 445-454
Modeling and Control of Cable Driven Parallel Manipulators with Elastic Cables: Singular Perturbation Theory....Pages 455-464
CAD-2-SIM – Kinematic Modeling of Mechanisms Based on the Sheth-Uicker Convention....Pages 465-477
Non-rigid Object Trajectory Generation for Autonomous Robot Handling....Pages 478-485
Robotized Sewing of Fabrics Based on a Force Neural Network Controller....Pages 486-495
Dynamic Insertion of Bendable Flat Cables with Variation Based on Shape Returning Points....Pages 496-508
A Vision System for the Unfolding of Highly Non-rigid Objects on a Table by One Manipulator....Pages 509-519
Optimizing Motion of Robotic Manipulators in Interaction with Human Operators....Pages 520-531
Haptic Display of Rigid Body Contact Using Generalized Penetration Depth....Pages 532-541
Assistive Robots in Eldercare and Daily Living: Automation of Individual Services for Senior Citizens....Pages 542-552
Key Factors for Freshmen Education Using MATLAB and LEGO Mindstorms....Pages 553-562
Adaptive Dynamic Path Following Control of an Unicycle-Like Mobile Robot....Pages 563-574
A Study on Localization of the Mobile Robot Using Inertial Sensors and Wheel Revolutions....Pages 575-583
Robust and Accurate Genetic Scan Matching Algorithm for Robotic Navigation....Pages 584-593
Beacon Scheduling Algorithm for Localization of a Mobile Robot....Pages 594-603
Position Estimation Using Time Difference of Flight of the Multi-coded Ultrasonic....Pages 604-609
Detecting Free Space and Obstacles in Omnidirectional Images....Pages 610-619
A Composite Random Walk for Facing Environmental Uncertainty and Reduced Perceptual Capabilities....Pages 620-629
Motion Design for Service Robots....Pages 630-638
Back Matter....Pages -