Robotics Research : Volume 2

Front Matter ....Pages i-xii
Front Matter ....Pages 1-3
 Bridging the Robot Perception Gap with Mid-Level Vision  (Chi Li, Jonathan Bohren, Gregory D. Hager)....Pages 5-20
 Deep Feature Learning for Acoustics-Based Terrain Classification  (Abhinav Valada, Luciano Spinello, Wolfram Burgard)....Pages 21-37
 Generalizing Over Uncertain Dynamics for Online Trajectory Generation  (Beomjoon Kim, Albert Kim, Hongkai Dai, Leslie Kaelbling, Tomas Lozano-Perez)....Pages 39-55
 Inverse KKT – Learning Cost Functions of Manipulation Tasks from Demonstrations  (Peter Englert, Marc Toussaint)....Pages 57-72
 Autonomously Acquiring Instance-Based Object Models from Experience  (John Oberlin, Stefanie Tellex)....Pages 73-90
 Transition State Clustering: Unsupervised Surgical Trajectory Segmentation for Robot Learning  (Sanjay Krishnan, Animesh Garg, Sachin Patil, Colin Lea, Gregory Hager, Pieter Abbeel et al.)....Pages 91-110
 Robot Learning with Task-Parameterized Generative Models  (Sylvain Calinon)....Pages 111-126
 Modeling Objects as Aspect Transition Graphs to Support Manipulation  (Li Yang Ku, Erik Learned-Miller, Roderic Grupen)....Pages 127-143
 An Approximate Inference Approach to Temporal Optimization for Robotics  (Konrad Rawlik, Dmitry Zarubin, Marc Toussaint, Sethu Vijayakumar)....Pages 145-162
Front Matter ....Pages 163-165
 A New Simple Model of Balancing in the Plane  (Roy Featherstone)....Pages 167-183
 Slip Detection and Recovery for Quadruped Robots  (Michele Focchi, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell, Claudio Semini)....Pages 185-199
 Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts  (Nicolas Perrin, Darwin Lau, Vincent Padois)....Pages 201-216
 The Yoyo-Man  (Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz)....Pages 217-233
 Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain  (Cenk Oguz Saglam, Katie Byl)....Pages 235-251
 A Probabilistic Framework for Semi-autonomous Robots Based on Interaction Primitives with Phase Estimation  (Guilherme Maeda, Gerhard Neumann, Marco Ewerton, Rudolf Lioutikov, Jan Peters)....Pages 253-268
 Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped  (Avik De, Daniel E. Koditschek)....Pages 269-285
 A Reachability-Based Planner for Sequences of Acyclic Contacts in Cluttered Environments  (S. Tonneau, N. Mansard, C. Park, D. Manocha, F. Multon, J. Pettré)....Pages 287-303
 On the Dualities Between Grasping and Whole-Body Loco-Manipulation Tasks  (Tamim Asfour, Júlia Borràs, Christian Mandery, Peter Kaiser, Eren Erdal Aksoy, Markus Grotz)....Pages 305-322
Front Matter ....Pages 323-324
 Bayesian Learning for Safe High-Speed Navigation in Unknown Environments  (Charles Richter, William Vega-Brown, Nicholas Roy)....Pages 325-341
 Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty  (Lucas Janson, Edward Schmerling, Marco Pavone)....Pages 343-361
 A Computational Framework for Environment-Aware Robotic Manipulation Planning  (Marco Gabiccini, Alessio Artoni, Gabriele Pannocchia, Joris Gillis)....Pages 363-385
 Small and Adrift with Self-Control: Using the Environment to Improve Autonomy  (M. Ani Hsieh, Hadi Hajieghrary, Dhanushka Kularatne, Christoffer R. Heckman, Eric Forgoston, Ira B. Schwartz et al.)....Pages 387-402
 Unifying Robot Trajectory Tracking with Control Contraction Metrics  (Ian R. Manchester, Justin Z. Tang, Jean-Jacques E. Slotine)....Pages 403-418
 Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces  (Shi Bai, Jinkun Wang, Kevin Doherty, Brendan Englot)....Pages 419-433
 Relative Topometric Localization in Globally Inconsistent Maps  (Mladen Mazuran, Federico Boniardi, Wolfram Burgard, Gian Diego Tipaldi)....Pages 435-451
 Fast Sample-Based Planning for Dynamic Systems by Zero-Control Linearization-Based Steering  (Timothy M. Caldwell, Nikolaus Correll)....Pages 453-469
 Active Multi-view Object Recognition and Online Feature Selection  (Christian Potthast, Andreas Breitenmoser, Fei Sha, Gaurav S. Sukhatme)....Pages 471-488
 An Iterative Kalman Smoother for Robust 3D Localization and Mapping  (Dimitrios G. Kottas, Stergios I. Roumeliotis)....Pages 489-505
 Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance  (Lucas Janson, Brian Ichter, Marco Pavone)....Pages 507-525
 Path Following for Mobile Manipulators  (Rajan Gill, Dana Kulić, Christopher Nielsen)....Pages 527-544
 Incremental Sparse GP Regression for Continuous-Time Trajectory Estimation and Mapping  (Xinyan Yan, Vadim Indelman, Byron Boots)....Pages 545-561
 A General Region-Based Framework for Collaborative Planning  (Jory Denny, Read Sandström, Nancy M. Amato)....Pages 563-579
 Robotic Invention: Challenges and Perspectives for Model-Free Design Optimization of Dynamic Locomotion Robots  (Luzius Brodbeck, Simon Hauser, Fumiya Iida)....Pages 581-596
Front Matter ....Pages 597-598
 A Complete Algorithm for Generating Safe Trajectories for Multi-robot Teams  (Sarah Tang, Vijay Kumar)....Pages 599-616
 Neuromorphic Artificial Sense of Touch: Bridging Robotics and Neuroscience  (Udaya Bhaskar Rongala, Alberto Mazzoni, Domenico Camboni, Maria Chiara Carrozza, Calogero Maria Oddo)....Pages 617-630
 Robot Creation from Functional Specifications  (Ankur M. Mehta, Joseph DelPreto, Kai Weng Wong, Scott Hamill, Hadas Kress-Gazit, Daniela Rus)....Pages 631-648
 Cloud-Based Probabilistic Knowledge Services for Instruction Interpretation  (Daniel Nyga, Michael Beetz)....Pages 649-664
 Identifiability Analysis of Planar Rigid-Body Frictional Contact  (Nima Fazeli, Russ Tedrake, Alberto Rodriguez)....Pages 665-682
 The Importance of a Suitable Distance Function in Belief-Space Planning  (Zakary Littlefield, Dimitri Klimenko, Hanna Kurniawati, Kostas E. Bekris)....Pages 683-700
 Robobarista: Object Part Based Transfer of Manipulation Trajectories from Crowd-Sourcing in 3D Pointclouds  (Jaeyong Sung, Seok Hyun Jin, Ashutosh Saxena)....Pages 701-720