Intelligent Robotics and Applications: Third International Conference, ICIRA 2010, Shanghai, China, November 10-12, 2010. Proceedings, Part I

Front Matter....Pages -
The Development of Robot Technology in China....Pages 1-9
Obstacle Avoidance for Kinematically Redundant Manipulators Based on Recurrent Neural Networks....Pages 10-13
Nonlinear Disturbance Observer for Robot Manipulators in 3D Space....Pages 14-23
Novel Design and Analysis of Magnetic Couplings Used for Vacuum Robot....Pages 24-35
Property Identification of 6-3 Stewart Parallel Manipulators for Special Orientations....Pages 36-45
Analysis of Dynamical Behavior of a Planetary Gear Train....Pages 46-53
Trajectory Optimization of Flexible Mobile Manipulators Using Open-Loop Optimal Control Method....Pages 54-63
Force Planning for Underground Articulated Robot....Pages 64-74
Retracted: Formation Control of Multiple Mobile Robots Systems....Pages 75-82
Dynamic Leg Motion Generation of Humanoid Robot Based on Human Motion Capture....Pages 83-92
The Simulation Analysis of Humanoid Robot Based on Dynamics and Kinematics....Pages 93-100
Design and Coordinated Motion Control of a Welding Robot for Large Scale Workpieces....Pages 101-110
A New Expression to Construct Jacobian Matrix of Parallel Mechanism....Pages 111-121
Fuzzy Behavioral Navigation for Bottom Collision Avoidance of Autonomous Underwater Vehicles....Pages 122-130
Orientation-Singularity and Orientation-Workspace Analyses of the Stewart Platform Using Unit Quaternion....Pages 131-140
Dimensional Synthesis and Analysis of the 2-UPS-PU Parallel Manipulator....Pages 141-151
Performance Analysis of a Forging Manipulator Based on the Composite Modeling Method....Pages 152-160
A New View Planning Method for Automatic Modeling of Three Dimensional Objects....Pages 161-170
An Method for Forward Kinematics of Stewart Parallel Manipulators....Pages 171-178
Analysis and Experimental Investigation of Parallel Machine Tool with Redundant Actuation....Pages 179-188
A Hybrid Intelligent System for Pipeline Robot Navigation in Unknown Environment....Pages 189-198
Trajectory Planning of a Novel 2-DoF High-Speed Planar Parallel Manipulator....Pages 199-207
Analysis on the Processing Dexterity of Parallel Robot Based on MATLAB....Pages 208-215
3 Points Calibration Method of Part Coordinates for Arc Welding Robot....Pages 216-224
Multi-axis Path Planning for Hybrid Plasma Deposition and Milling Based on Slicing Characteristics....Pages 225-234
Multi-robot Cooperative Pursuit Based on Task Bundle Auctions....Pages 235-244
Optimization Design of Flapping Mechanism and Wings for Flapping-Wing MAVs....Pages 245-255
Computing Contact Force and Deformation in the Heavy-Duty Gripping with Over-Constraint....Pages 256-264
Grey Self Adaptive Fuzzy Sliding Mode Control for Flight Simulator Servo System....Pages 265-274
Robot Navigation in a Networked Swarm....Pages 275-285
Design and Analysis of Vacuum Robot for Cluster Tools....Pages 286-293
RATTLE Method for Dissipative Constrained Hamiltonian Systems....Pages 294-303
The Control Mechanism of a New Fish-Like Underwater Robot with Two Tails....Pages 304-313
Research on Piezoelectric Six-Dimensional Heavy Force Sensor with Four-Point Supporting Structure....Pages 314-321
Preliminary Design Method Study for the Space Deployable Articulated Mast....Pages 322-331
Virtual Force Compensation for MIS Robot....Pages 332-341
Kinematics and Task-Oriented Manipulability Measure for the Bionic Cricket Hopping Robot....Pages 342-351
Parameter Design for a Central Pattern Generator Based Locomotion Controller....Pages 352-361
Development of an Onboard Software System for Mini Unmanned Aerial Vehicle Based on VxWorks....Pages 362-370
Biped Robot Walking Using Three-Mass Linear Inverted Pendulum Model....Pages 371-380
Non-fragile Reliable Guaranteed Cost Control of an Interval System with Actuator Failures and Application to Flight Control Testing....Pages 381-390
Dynamic Modeling and Control of Rigid-Flexible Constrained Robot with Three Links....Pages 391-400
Robust Control of Linear Continuous-Time Polytopic Systems and Application to an Electro-Hydraulic Servo System....Pages 401-409
System Identification and Profile Planning for High Accuracy Servo System....Pages 410-419
Research on Nonlinear Dynamics of Two-Degrees-of-Freedom Robot....Pages 420-426
Research on the Sensors Condition Monitoring Method for AUV....Pages 427-436
Global Optimization of Robot Control System Via Generalized Geometric Programming....Pages 437-445
Travel Speed Prediction Using Fuzzy Reasoning....Pages 446-455
Syntactic Approach to Cognitive Interpretation of Medical Patterns....Pages 456-462
An Improved Method for Circle Detection....Pages 463-468
Feature-Based Image Fusion Quality Metrics....Pages 469-478
The Application of Virtual Reality Technology in Constructing Virtual Machining Workshop....Pages 479-487
Representing and Selecting Landmarks in Autonomous Learning of Robot Navigation....Pages 488-497
A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus....Pages 498-509
Enhancing Plan Execution in Dynamic Domains Using Model-Based Reasoning....Pages 510-519
Design of Human-Like Leg-Foot for Human-Assisted Biped Walking....Pages 520-527
A Novel DGO Based on Pneumatic Exoskeleton Leg for Locomotor Training of Paraplegic Patients....Pages 528-537
A Multi-layered Interaction Architecture for Elderly Companion Robot....Pages 538-546
Analysis of Mechanism and Application Research for 4-PTT Parallel Mechanism Manipulator....Pages 547-555
Embedded Control System of Digital Operating Table....Pages 556-565
Modeling and Optimizing of Human Upper Limb Posture of Mechanical System Human-Machine Interface....Pages 566-576
Simulation and Experimental Study of Human Riding Comfort in Dynamic Man-Automobile System....Pages 577-587
A Hybrid Robot System Guided by Computer Tomography for Percutaneous Lung Cancer Cryosurgery....Pages 588-596
Super Under-Actuated Humanoid Robot Hand with Gear-Rack Mechanism....Pages 597-606
Mechanical Damage Evaluation of Living Tissue in Vascular Therapy....Pages 607-616
Modeling and Simulation of Inchworm Mode Locomotion....Pages 617-624
Face Recognition Using Cortex Mechanism and SVM....Pages 625-632
Study of Cooperation Strategy of Robot Based on Parallel Q-Learning Algorithm....Pages 633-642
Short-Term Load Forecasting Based on Bayes and SVR....Pages 643-650
The Application of Hybrid Distributed Reinforcement Learning Algorithm in RoboCup 2D Soccer Simulation System....Pages 651-659
Shadow Detection and Removal from Solo Natural Image Based on Retinex Theory....Pages 660-668
Dynamic Grasp Recognition Using Time Clustering, Gaussian Mixture Models and Hidden Markov Models....Pages 669-678
A Skill-Based Autonomous Control Method for Robotic Teleoperation....Pages 679-688
Lunar Rover’s Behavior Fusion Learning Based on Nonholonomic Dynamics....Pages 689-698
Study on the Non-expandability of DNF and Its Application to Incremental Induction....Pages 699-706
Detection of Local Mura Defects in TFT-LCD Using Machine Vision....Pages 707-715
Qualitative Spatial Scene Modeling for Ambient Intelligence Environments....Pages 716-725
A Polygon Detection Algorithm for Robot Visual Servoing....Pages 726-733
System Calibration and Error Rectification of Binocular Active Visual Platform for Parallel Mechanism....Pages 734-743
An Efficient Method to Realize Space Registration in Image-Guided Robot-Assisted Surgery....Pages 744-752
Three-Dimensional Shape Measurement Using Maar Wavelet Transform....Pages 753-760
Design of Multi-resolution 3D Measurement System Using Light Sectioning Method and Multi-sensor Data Fusion Techniques....Pages 761-770
The Autonomous Underwater Vehicle Vision Denoising Method of Surfacelet Based on Sample Matrix....Pages 771-778
Based on the Multi-scale Integration Face Image Detection Technology Research....Pages 779-785
An Improved Algorithm of Hand Gesture Recognition under Intricate Background....Pages 786-794
Contour Based Multi-object Classification Technology....Pages 795-803
A New Genetic-Fuzzy Algorithm for Mobile Robot Way-Finding in Environments with Any Types of Concave Obstacle....Pages 804-813
Kinematics of Robot with Castered-and-Cambered Wheels with Respect to Drive Configuration Topology....Pages 814-823
Dynamic Route Construction for Mobile Collectors in Wireless Sensor Networks....Pages 824-833
Body Posture Control of Wheeled Foot Quadruped Robot Based on Virtual Suspension Model....Pages 834-843
Path Planning for Mobile Robot Based on Improved Framed-Quadtree....Pages 844-852
Research on Navigation for Search and Rescue Robot Based on Traversability....Pages 853-862
Vehicle Control Strategy on High Speed Obstacle Avoidance under Emergency....Pages 863-872
Real-Time Control of Full Actuated Biped Robot Based on Nonlinear Model Predictive Control....Pages 873-882
Evolutionary Computation for Simultaneous Localization and Mapping Based on Topological Map of a Mobile Robot....Pages 883-891
A Nonlinear Adaptive Variable Structure Trajectory Tracking Algorithm for Mobile Robots....Pages 892-900
A Method of Landmark Visual Tracking for Mobile Robot....Pages 901-910
Dynamic Modeling, Control and Simulation with Slip for an Omnidirectional Mobile Microrobot....Pages 911-920
Leaving Flatland: Realtime 3D Stereo Semantic Reconstruction....Pages 921-932
Dynamic Model and Analysis of the Flexible Two-Wheeled Mobile Robot....Pages 933-942
Reinforcement Learning Based Precise Positioning Method for a Millimeters-Sized Omnidirectional Mobile Microrobot....Pages 943-952
A Method to Estimate the Basin of Attraction of the System with Impulse Effects: Application to the Biped Robots....Pages 953-962
Mobile Robot Localization Method Based on Adaptive Particle Filter....Pages 963-972
A Wheeling-Hopping Combination Scout Robot....Pages 973-981
Modeling and Control of a Link-Based Dolphin-Like Robot Capable of 3D Movements....Pages 982-991
Gait Analysis of the Passive Dynamic Walker with Knees....Pages 992-1002
A Robust Pose Estimation Algorithm for Mobile Robot Based on Clusters....Pages 1003-1010
Dynamic Modeling and Simulation of a Flexible Two-Wheeled Balancing Robot....Pages 1011-1020
Body-Deformation Steering Approach to Guide a Multi-mode Amphibious Robot on Land....Pages 1021-1030
Research on a Tri-axial Differential-Drive In-Pipe Robot....Pages 1031-1040
Design of Pneumatic Cable Maintenance Robot....Pages 1041-1049
Research of Dynamic Model and Control Ling of Flexible Two-Wheel Upright Self-balance Humanoid Robot....Pages 1050-1059
A Research on Dynamics of a Hexapod with Closed-Loop Legs....Pages 1060-1069
Biological Characteristics Analysis and Mechanical Jumping Leg Design for Frog Robot....Pages 1070-1080
Path Planning Algorithm for Robot in 3D Environment Based on Neural Network....Pages 1081-1088
Development of Hanging-Arm Inspection Robot for High-Voltage Transmission Line....Pages 1089-1098
Mobile Manipulators’ Object Recognition Method Based on Multi-sensor Information Fusion....Pages 1099-1108
Effect of Slip on Tractive Performance of Small Rigid Wheel on Loose Sand....Pages 1109-1116
Observation-Based Multi-robot Cooperative Formation Control....Pages 1117-1126
A Fuzzy Neural Network Based on T-S Model for Mobile Robots to Avoid Obstacles....Pages 1127-1134
A 3-D Locomotion Biomimetic Robot Fish with Information Relay....Pages 1135-1144
A Solar-Powered Amphibian Robot for Aquatic Monitoring Network....Pages 1145-1154
Traction Control on Loose Soil for a Redundantly Actuated Mobile Robot....Pages 1155-1164
Flocking Motion of Mobile Agents with a Leader Based on Distance-Dependent Adjacency Matrix....Pages 1165-1174
A Dynamic Control Allocation Method for Unmanned Aerial Vehicles with Multiple Control Effectors....Pages 1175-1184
The Dynamic Modeling of Snake-Like Robot by Using Nominal Mechanism Method....Pages 1185-1194
Motion Planning of Non-collision Obstacles Overcoming for High-Voltage Power Transmission-Line Inspection Robot....Pages 1195-1205
Probability-PSO Algorithm for Multi-robot Based Odor Source Localization in Ventilated Indoor Environments....Pages 1206-1215
Further Research and Comparison of Gaits for Compass-Like Biped and Kneed Passive Dynamic Walker....Pages 1216-1226
Tanbot: A Self-reconfigurable Robot Enhanced with Mobility....Pages 1227-1237
Formation Control for Multi-robots Based on Flocking Algorithm....Pages 1238-1247
The Use of Robots for Advanced Fixing Operations in Difficult-to-Access Areas....Pages 1248-1255
HLA Based Multidisciplinary Collaborative Simulation Framework for Forging and Manipulating Process....Pages 1256-1264
A Novel Virtual Reality Robot Interface for Isoglide3 Parallel Robot....Pages 1265-1275
Erratum: Formation Control of Multiple Mobile Robots Systems....Pages E1-E1
Back Matter....Pages -