Robotics: Science and Systems VI

Cover\n......Page 1
Contents......Page 6
Preface......Page 10
Organizing Committee......Page 14
Program Committee......Page 16
Sponsors......Page 18
Biophysically Inspired Development of a Sand-Swimming Robot......Page 20
Passive Torque Regulation in an Underactuated Flapping Wing Robotic Insect\n......Page 28
Color-Accurate Underwater Imaging Using Perceptual Adaptive Illumination......Page 36
Probabilistic Lane Estimation Using Basis Curves......Page 44
Reinforcement Learning to Adjust Robot Movements to New Situations......Page 52
Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation......Page 60
On Motion and Force Control of Grasping Hands with Postural Synergies......Page 68
Back-drivable and Inherently Safe Mechanism for Artificial Finger\n......Page 76
Segmentation and Unsupervised Part-based Discovery of Repetitive Objects......Page 84
Scale Drift-Aware Large Scale Monocular SLAM......Page 92
Preliminary Results in Decentralized Estimation for Single-Beacon Acoustic Underwater Navigation......Page 100
A Non-invasive, Real-Time Method for Measuring Variable Stiffness\n......Page 108
Consistent Data Association in Multi-robot Systems with Limited Communications......Page 116
Singularity-invariant Leg Rearrangements in Doubly-planar Stewart-Gough Platforms\n......Page 124
On the Kinematic Design of Exoskeletons and Their Fixations with a Human Member\n......Page 132
Assessing Optimal Assignment under Uncertainty......Page 140
LQG-MP\n......Page 148
The Smooth Curvature Flexure Model......Page 156
Multi-priority Cartesian Impedance Control\n......Page 164
Variable Impedance Control......Page 172
A Fast Traversal Heuristic and Optimal Algorithm for Effective Environmental Coverage\n......Page 180
Stochastic Complementarity for Local Control of Discontinuous Dynamics......Page 188
Distributed Optimization with Pairwise Constraints and Its Application to Multi-robot Path Planning......Page 196
PLISS......Page 204
A Constant-Time Algorithm for Vector Field SLAM Using an Exactly Sparse Extended Information Filter......Page 212
Efficient Probabilistic Planar Robot Motion Estimation Given Pairs of Images......Page 220
Efficient Non-parametric Surface Representations Using Active Sampling for Push Broom Laser Data......Page 228
Sensor Placement for Improved Robotic Navigation......Page 236
Task-driven Tactile Exploration......Page 244
On the Role of Hand Synergies in the Optimal Choice of Grasping Forces......Page 252
Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems\n......Page 262
Design and Optimization Strategies for Muscle-like Direct Drive Linear Permanent Magnet Motors......Page 270
Study of Group Food Retrieval by Ants as a Model for Multi-robot Collective Transport Strategies......Page 278
Incremental Sampling-based Algorithms for Optimal Motion Planning......Page 286
Stochastic Modeling of the Expected Time to Search for an Intermittent Signal Source Under a Limited Sensing Range\n......Page 294
Closing the Learning-Planning Loop with Predictive State Representations......Page 302
Belief Space Planning Assuming Maximum Likelihood Observations\n......Page 310
Motion Planning under Bounded Uncertainty Using Ensemble Control......Page 318
Remotely Powered Propulsion of Helical Nanobelts\n......Page 326
A Molecular Algorithm for Path Self-Assembly in 3 Dimensions\n......Page 334