Robotics research. Volume 1

Front Matter ....Pages i-xi
Front Matter ....Pages 1-3
 High-Power Propulsion Strategies for Aquatic Take-off in Robotics  (Robert Siddall, Grant Kennedy, Mirko Kovac)....Pages 5-20
 A Global Strategy for Tailsitter Hover Control  (Robin Ritz, Raffaello D’Andrea)....Pages 21-37
 Autonomous Flights Through Image-Defined Paths  (Tien Do, Luis C. Carrillo-Arce, Stergios I. Roumeliotis)....Pages 39-55
 Altitude Estimation and Control of an Insect-Scale Robot with an Onboard Proximity Sensor  (E. Farrell Helbling, Sawyer B. Fuller, Robert J. Wood)....Pages 57-69
 Tensile Web Construction and Perching with Nano Aerial Vehicles  (Adam Braithwaite, Talib Alhinai, Maximilian Haas-Heger, Edward McFarlane, Mirko Kovač)....Pages 71-88
 Analytical SLAM Without Linearization  (Feng Tan, Winfried Lohmiller, Jean-Jacques Slotine)....Pages 89-105
 Exploiting Photometric Information for Planning Under Uncertainty  (Gabriele Costante, Jeffrey Delmerico, Manuel Werlberger, Paolo Valigi, Davide Scaramuzza)....Pages 107-124
 Optimal-State-Constraint EKF for Visual-Inertial Navigation  (Guoquan Huang, Kevin Eckenhoff, John Leonard)....Pages 125-139
Front Matter ....Pages 141-142
 A Multi-soft-body Dynamic Model for Underwater Soft Robots  (Federico Renda, Francesco Giorgio-Serchi, Frederic Boyer, Cecilia Laschi, Jorge Dias, Lakmal Seneviratne)....Pages 143-160
 Learning Dynamic Robot-to-Human Object Handover from Human Feedback  (Andras Kupcsik, David Hsu, Wee Sun Lee)....Pages 161-176
 Decoding the Neural Mechanisms Underlying Locomotion Using Mathematical Models and Bio-inspired Robots: From Lamprey to Human Locomotion  (Auke Jan Ijspeert)....Pages 177-186
 Towards Real-Time SMA Control for a Neurosurgical Robot: MINIR-II  (Shing Shin Cheng, Yeongjin Kim, Jaydev P. Desai)....Pages 187-200
 Variable Stiffness Pneumatic Structures for Wearable Supernumerary Robotic Devices  (Frank L. Hammond III, Faye Wu, H. Harry Asada)....Pages 201-217
 Reproducing Expert-Like Motion in Deformable Environments Using Active Learning and IOC  (Calder Phillips-Grafflin, Dmitry Berenson)....Pages 219-235
 Computer-Aided Compositional Design and Verification for Modular Robots  (Tarik Tosun, Gangyuan Jing, Hadas Kress-Gazit, Mark Yim)....Pages 237-252
 Automated Fabrication of Foldable Robots Using Thick Materials  (Cynthia Sung, Daniela Rus)....Pages 253-266
 Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots  (Arthur W. Mahoney, Trevor L. Bruns, Ron Alterovitz, Robert J. Webster III)....Pages 267-282
Front Matter ....Pages 283-284
 Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming  (Hongkai Dai, Anirudha Majumdar, Russ Tedrake)....Pages 285-305
 Using Geometry to Detect Grasp Poses in 3D Point Clouds  (Andreas ten Pas, Robert Platt)....Pages 307-324
 Grasping with Your Brain: A Brain-Computer Interface for Fast Grasp Selection  (Robert Ying, Jonathan Weisz, Peter K. Allen)....Pages 325-340
 Spine Balancing Strategy Using Muscle ZMP on Musculoskeletal Humanoid Kenshiro  (Yuki Asano, Soichi Ookubo, Toyotaka Kozuki, Takuma Shirai, Kohei Kimura, Shunichi Nozawa et al.)....Pages 341-357
 How to Think About Grasping Systems - Basis Grasps and Variation Budgets  (Leif P. Jentoft, Qian Wan, Robert D. Howe)....Pages 359-372
 Using Fractional Order Elements for Haptic Rendering  (Ozan Tokatli, Volkan Patoglu)....Pages 373-388
 Design of a Novel 3-DoF Serial-Parallel Robotic Wrist: A Symmetric Space Approach  (Yuanqing Wu, Marco Carricato)....Pages 389-404
 A Taxonomy of Benchmark Tasks for Robot Manipulation  (Ana Huamán Quispe, Heni Ben Amor, Henrik I. Christensen)....Pages 405-421
 The Robotic Sixth Finger: A Wearable Compensatory Tool to Regain Grasping Capabilities in Paretic Hands  (Gionata Salvietti, Irfan Hussain, Domenico Prattichizzo)....Pages 423-437
Front Matter ....Pages 439-439
 Towards Cooperative Multi-robot Belief Space Planning in Unknown Environments  (Vadim Indelman)....Pages 441-457
 Collision-Free Reactive Mission and Motion Planning for Multi-robot Systems  (Jonathan A. DeCastro, Javier Alonso-Mora, Vasumathi Raman, Daniela Rus, Hadas Kress-Gazit)....Pages 459-476
 An Optimal Control Approach to Mapping GPS-Denied Environments Using a Stochastic Robotic Swarm  (Ragesh K. Ramachandran, Karthik Elamvazhuthi, Spring Berman)....Pages 477-493
 An Effective Algorithmic Framework for Near Optimal Multi-robot Path Planning  (Jingjin Yu, Daniela Rus)....Pages 495-511
 Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots  (Philip Dames, Pratap Tokekar, Vijay Kumar)....Pages 513-529