ICRA 1994: San Diego, CA, USA

Proceedings of the 1994 International Conference on Robotics and Automation, San Diego, CA, USA, May 1994. IEEE Computer Society 1994, ISBN 0-8186-5330-2

Manipulator Control

Nilanjan Sarkar, Xiaoping Yun, Vijay Kumar: Control of a Single Robot in a Decentralized Multi-Robot System. 896-901
Kenji Kaneko, Kiyoshi Komoriya, Kouhei Ohnishi, Kazuo Tanie: Manipulator Control Based on a Disturbance Observer in the Operational Space. 902-909
Ting Ying, Sabri Tosunoglu, Benito Fernández: Control Algorithms for Fault-Tolerant Robots. 910-917

Force Control

G. T. Marth, Tzyh Jong Tarn, Antal K. Bejczy: An Event Based Approach to Impact Control: Theory and Experiments. 918-923
Yangming Xu, John M. Hollerbach, Donghai Ma: Force and Contact Transient Control Using Nonlinear PD Control. 924-930
P. J. Hacksel, S. E. Salcudean: Estimation of Environment Forces and Rigid-Body Velocities Using Observers. 931-936
Yonghwan Oh, Wan Kyun Chung, K. W. Jeong, Youngil Youm: Implementation of Passive Hardware Damper for Force and Impact Control. 937-944

Path Planning I

Yoshihito Koga, Jean-Claude Latombe: On Multi-Arm Manipulation Planning. 945-952
Jean-Daniel Boissonnat, Olivier Devillers, Sylvain Lazard: From Spider Robots to Half Disk Robots. 953-958
Harry H. Cheng, Rajan Penkar: Stacking Irregular-Sized Packages by a Robot Manipulator. 959-966
K. Sridharan, Harry E. Stephanou: Algorithms for Rapid Computation of Some Distance Functions Between Objects for Path Planning. 967-973

Kinematics I

Luc Baron, Jorge Angeles: The Decoupling of the Direct Kinematics of Parallel Manipulators Using Redundant Sensors. 974-979
D. Zlatanov, Robert G. Fenton, Beno Benhabib: Singularity Analysis of Mechanisms and Robots via a Motion-Space Model of the Instantaneous Kinematics. 980-985
D. Zlatanov, Robert G. Fenton, Beno Benhabib: Singularity Analysis of Mechanisms and Robots via a Velocity-Equation Model of the Instantaneous Kinematics. 986-991
Robert L. Williams II: Local Performance Optimization for a Class of Redundant Eight-Degree-of-Freedom Manipulators. 992-998

Walking Robots II

Kan Yoneda, Hiroyuki Iiyama, Shigeo Hirose: Sky-Hook Suspension Control of a Quadruped Walking Vehicle. 999-1004
Akihiko Nagakubo, Shigeo Hirose: Walking and Running of the Quadruped Wall-Climbing Robot. 1005-1012
G. Caurin, Nadine N. Tschichold-Gürman: The Development of a Robot Terrain Interaction System for Walking Machines. 1013-1018
Dinesh K. Pai, Roderick A. Barman, Scott K. Ralph: Platonic Beasts: A New Family of Multilimbed Robots. 1019-1026

Distributed Robot Systems

Toshio Fukuda, Go Iritani, Tsuyoshi Ueyama, Fumihito Arai: Optimization of Group Behavior on Cellular Robotic System in Dynamic Environment. 1027-1032
Kai Jin, Ping Liang, Gerardo Beni: Stability of Synchronized Distributed Control of Discrete Swarm Structures. 1033-1038
Kazutaka Yokota, Tsuyoshi Suzuki, Hajime Asama, Akihiro Matsumoto, Isao Endo: A Human Interface System for the Multi-Agent Robotic System. 1039-1044
Jing Wang: On Sign-Board Based Inter-Robot Communication in Distributed Robotic Systems. 1045-1051

Motion Estimation

Bikash Sabata, Jake K. Aggarwal: Surface Correspondence and Motion Computation from a Sequence of Range Images. 1052-1059
Frank Tong, Ze-Nian Li: Reciprocal-Wedge Transform in Motion Stereo. 1060-1065
Yasuhiro Masutani, Takeshi Iwatsu, Fumio Miyazaki: Motion Estimation of Unknown Rigid Body Under No External Forces and Moments. 1066-1072
K. Chaudhury, R. Mehrotra, C. Srinivasan: Detecting 3D Flow. 1073-1078

Design Methodology

Leo Joskowicz, Elisha Sacks: Configuration Space Computation for Mechanism Desigu. 1080-1087
G. Grübel, Reinhard Finsterwalder, H.-D. Joos, A. Lewald, M. Otter: ANDECS: A Computation Environment for Robot-Dynamics Design Automation. 1088-1093
Anton C. Pil, Haruhiko Asada: Recursive Experimental Structure Re-Desigu of a Robot Arm Using Rapid Prototyping. 1094-1099
Manja V. Kircanski: Robotic Isotropy and Optimal Robot Desigu of Planar Manipulators. 1100-1106

Inspection

Antonia J. Spyridi, Aristides A. G. Requicha: Automatic Programming of Coordinate Measuring Machines. 1107-1112
A. Noble, Richard I. Hartley, Joseph L. Mundy, J. Farley: X-Ray Metrology for Quality Assurance. 1113-1119
Christopher C. Yang, Michael M. Marefat, Rangasami L. Kashyap: Active Visual Inspection Based on CAD Models. 1120-1125
Collin Wang, David J. Cannon: Neural Network and Skeleton Based Inspection of Surface Flaws. 1126-1132

Simulation

Scott McMillan, David E. Orin, Robert B. McGhee: Efficient Dynamic Simulation of an Unmanned Underwater Vehicle with a Manipulator. 1133-1140
George K. Adam, Edward Grant: QMTOOL - A Qualitative Modelling and Simulation CAD System for Desiguing Automated Workeells. 1141-1146
Paul U. Lee, Diego C. Ruspini, Oussama Khatib: Dynamic Simulation of Interactive Robotic Environment. 1147-1152

Geometric Methods

Wilhelm Burger, Bir Bhanu: A Geometric Constraint Method for Estimating 3-D Camera Motion. 1155-1160
K. E. Nicewarner, Arthur C. Sanderson: A General Representation for Orientational Uncertainty Using Random Unit Quarternions. 1161-1168
Jean Ponce, David H. Marimont, Todd A. Cass: Geometric Methods for Relative Reconstruction from Weakly Calibrated Images. 1169-1174
Peter Stöhr: Using Two-Dimensional Subspaces Gained by Intersections to Recognize Three-Dimensional Objects. 1175-1180

Low Level Control

Martin Damm: A Real-Time Control System for the Coordination of Two Industrial Robots. 1182-1187
David Lim, Thomas S. Lee, Homayoun Seraji: A Real-Time Control System for a Mobile Dextrous 7 DOF Arm. 1188-1195
Wilco Oelen, Harry Berghuis, Henk Nijmeijer, Carlos Canudas de Wit: Implementation of a Hybrid Stabilizing Controller on a Mobile Robot with Two Degrees of Freedom. 1196-1201
Brian Armstrong-Hélouvry: Dynamic Friction in the Control of Robots. 1202-1207

Impedance / Admitance Control

Gregory D. Glosser, Wyatt S. Newman: The Implementation of a Natural Admittance Controller on an Industrial Manipulator. 1209-1215
Craig R. Carignan, Jennifer A. Smith: Manipulator Impedance Accuracy in Position-Based Impedance Control Implementations. 1216-1221
David W. Meer, Stephen M. Rock: Experiments in Object Impedance Control for Flexible Objects. 1222-1227
Michel Pelletier, Michel Doyon: On the Implementation and Performance of Impedance Control on Position Controlled Robots. 1228-1233

Multi-Robot Motion Planning

Jérôme Barraquand, Pierre Ferbach: A Penalty Function Method for Constrained Motion Planning. 1235-1242
Daniel J. Cox, Delbert Tesar: Multi-Level Criteria for Dual-Arm Robotic Operations. 1243-1249
Ryo Kurazume, Shigemi Nagata: Cooperative Positioning with Multiple Robots. 1250-1257
Helmut Hoyer, Markus Gerke, Ulrich Borgolte: Online Collision Avoidance for Industrial Robots with Six Degrees of Freedom. 1258-1265

Mechanisms I

Gregory J. Hamlin, Arthur C. Sanderson: A Novel Concentric Multilink Spherical Joint with Parallel Robotics Applications. 1267-1272
Mohamed Dekhil, Tarek M. Sobh, Thomas C. Henderson: URK: Utah Robot Kit - A 3-Link Robot Manipulator Prototype. 1273-1278
Ali Meghdari: The Cooperative Dual-Arm Cam-Lock Manipulators. 1279-1285
James Hwang, Eugene Wu, Alan Bell, Andy Cordell, LeBarian Stokes, Scott Hankins: Design of a SPDM-Like Robotic Manipulator System for Space Station on Orbit Replaceable Unit Ground Testing - An Overview of the System Architecture. 1286-1291

Mobile Robot Navigation

Erann Gat, Gregory Dorais: Robot Navigation by Conditional Sequencing. 1293-1299
D. N. Green, J. Z. Sasiadek, G. S. Vukovich: Path Tracking, Obstacle Avoidance, and Position Estimation by an Autonomous, Wheeled Planetary Rover. 1300-1305
Chris Gourley, Mohan M. Trivedi: Sensor Based Obstacle Avoidance and Mapping for Fast Mobile Robots. 1306-1311
Rachid Alami, Thierry Siméon: Planning Robust Motion Strategies for a Mobile Robot. 1312-1318

Walking Robots III

Jessica K. Hodgins: Simulation of Human Running. 1320-1325
Katsuhiko Inagaki, Hisato Kobayashi: Adaptive Wave Gait for Hexapod Synchronized Walking. 1326-1331
Prabir K. Pal, Mahadev Venkatraman, K. Jayarajan: Gait Generation for a Six-Legged Walking Machine Through Graph Search. 1332-1337
Kan Yoneda, Keiji Suzuki, Yutaka Kanayama: Gait Planning for Versatile Motion of a Six-Legged Robot. 1338-1343

Sensor Planning

Amy J. Briggs, Bruce Randall Donald: Automatic Sensor Configuration for Task-Directed Planning. 1345-1350
Bradley J. Nelson, Pradeep K. Khosla: Integrating Sensor Placement and Visual Tracking Strategies. 1351-1356
Keiichi Kemmotsu, Takeo Kanade: Sensor Placement Desigu for Object Pose Determination with Three Light-Stripe Range Finders. 1357-1364
Kiriakos N. Kutulakos, Charles R. Dyer, Vladimir J. Lumelsky: Provable Strategies for Vision-Guided Exploration in Three Dimensions. 1365-1372

Fault Detection and Error Recovery

Hsien-Jung Wu, Sanjay B. Joshi: Error Recovery in MPSG-Based Controllers for Shop Floor Control. 1374-1379
Christopher L. Lewis, Anthony A. Maciejewski: An Example of Failure Tolerant Operation of a Kinematically Redundant Manipulator. 1380-1387
M. L. Visinsky, Ian D. Walker, Joseph R. Cavallaro: New Dynamic Model-Based Fault Detection Thresholds for Robot Manipulators. 1388-1395
Yung Ting, Sabri Tosunoglu, Robert A. Freeman: Torque Redistribution Method for Fault Recovery in Redundant Serial Manipulators. 1396-1401

Inspection and Servicing

Hagen Schempf: Neptune: Above-Ground Storage Tank Inspection Robot System. 1403-1408
Leoncio Briones, Paul Bustamante, Miguel A. Serna: Wall-Climbing Robot for Inspection in Nuclear Power Plants. 1409-1414
Eugene Wu, James Hwang, Scott Hankins: Design of the Control System for a Robotic Manipulator for Space Station On-Orbit Replaceable Unit Ground Testing. 1415-1420
Robert J. Anderson, Brady Davies: Using Virtual Objects to Aid Underground Storage Tank Teleoperation. 1421-1426

Teleoperation and Telepresence II

Nadine Miner, Sharon A. Stansfield: An Interactive Virtual Reality Simulation System for Robot Control and Operator Training. 1428-1435
Christopher Cooke, Sharon A. Stansfield: Interactive Graphical Model Building Using Telepresence and Virtual Reality. 1436-1440
Praveen Bhatia, Masaru Uchiyama: Shared Intelligence for Telerobots with Time Delay: Theory and Human Interface with Local Intelligence. 1441-1448
Massimo Bergamasco, Benedetto Allotta, L. Bosio, L. Ferretti, G. Parrini, G. M. Prisco, Fabio Salsedo, G. Sartini: An Arm Exoskeleton System for Teleoperation and Virtual Environments Applications. 1449-1454

Assembly Planning II

H. Miyaguchi, K. Iwama: A Strategy of Assembly Task Execution in the Presence of Uncertainties. 1456-1461
Th. Meitinger, Friedrich Pfeiffer: Automated Assembly with Compliant Mating Parts. 1462-1467
Roland Almgren: Comparative Topological Modeling and Analysis of Assemblies and Assembly Systems - An Aid in Computerized Assembly Planning. 1468-1475
Ke Chen, Jean-Michel Henrioud: Systematic Generation of Assembly Precedence Graphs. 1476-1482

Actuators II

C. C. H. Ma: Rapid Tracking of Short Complex Trajectories by a DC Motor. 1484-1489
Jehuda Ish-Shalom, Tamer Wasfy: A Finite Element Model for Real-Time Compensation of the Thermal Deformation of the Platen of a Planar Step Motor. 1490-1495
Richard S. Wallace: Miniature Direct Drive Rotary Actuators II: Eye, Finger, and Leg. 1496-1501
Mohsen Shahinpoor: Electro-Thermo-Mechanics of Resilient Contractile Fiber Bundles as Robotic Actuators. 1502-1507

Multi-Robots

Hisahi Osumi, Tamio Arai: Cooperative Control Between Two Position-Controlled Manipulators. 1509-1514
Tzyh Jong Tarn, Ning Xi, A. K. Ramadorai, Antal K. Bejczy: A Versatile Experimental System for Dual-Arm Planning and Control. 1515-1520
Robert G. Bonitz, Tien C. Hsia: Force Decomposition in Cooperating Manipulators Using the Theory of Metric Spaces and Generalized Inverses. 1521-1527
Ali Zilouchian: An Iterative Learning Control Technique for a Dual Arm Robotic System. 1528-1533

Dynamics II

1535-1560

Frank C. Park, James E. Bobrow: A Recursive Algorithm for Robot Dynamics Using Lie Groups. 1535-1540
N. Hemati: Modeling Multi D.O.F. Robots as Coupled Lorenz-Type Systems. 1541-1546
Amir Fijany, Inna Sharf, Gabriele M. T. D'Eleuterio: Parallel O(log N) Algorithms for the Computation of Manipulator Forward Dynamics. 1547-1553
Evangelos Papadopoulos, Ahmed Abu-Abed: Design and Motion Planning for a Zero-Reaction Manipulator. 1554-1559

Motion Planning II

A. B. Doyle, D. I. Jones: A Tangent Based Method for Robot Path Planning. 1561-1566
J. L. Marion, C. Rodriguez, M. de Rougemont: The Evaluation of Strategies in Motion Planning with Uncertainty. 1567-1573
Jonathan M. Cameron, Wayne J. Book: Optimal Path Planning for the Motion of a Wheel. 1574-1580
Sunil Kumar Agrawal, Siyan Li, Madhu Annapragada: Hyper-Redundant Planar Manipulators: Motion Planning with Discrete Modal Summation Procedure. 1581-1586

Performance Measures

Bernard T. Barcio, Ian D. Walker: Impact Ellipsoids and Measures for Robot Manipulators. 1588-1594
Chengche Feng, Alan A. Desrochers: Petri Net Sensitivity Analysis with Respect to a Structural Change of a Discrete Event Dynamic System. 1595-1600
Kees van den Doel, Dinesh K. Pai: Constructing Performance Measures for Robot Manipulators. 1601-1607
Peter I. Corke, Brian Armstrong-Hélouvry: A Search for Consensus Among Model Parameters Reported for the PUMA 560 Robot. 1608-1613

Mobile Robots I

Paul MacKenzie, Gregory Dudek: Precise Positioning Using Model-Based Maps. 1615-1621
Steven G. Goodridge, Ren C. Luo: Fuzzy Behavior Fusion for Reactive Control of an Autonomous Mobile Robot: MARGE. 1622-1627
Bernt Schiele, James L. Crowley: A Comparison of Position Estimation Techniques Using Occupancy Grids. 1628-1634
Andre Yakovleff, X. Thong Nguyen, Abdesselam Bouzerdoum, Alireza Moini, Robert E. Bogner, Kamran Eshraghian: Dual-Purpose Interpretation of Sensory Information. 1635-1640

Simple Sensors and End Effectors

Yan-Bin Jia, Michael A. Erdmann: Sensing Polygon Poses by Inscription. 1642-1649
Brian Carlisle, Kenneth Y. Goldberg, Anil S. Rao, Jeff Wiegley: A Pivoting Gripper for Feeding Industrial Parts. 1650-1655
Eric Paulos, John F. Canny: Accurate Insertion Strategies Using Simple Optical Sensors. 1656-1662
Kazuyuki Nagata: Manipulation by a Parallel-Jaw Gripper Having a Turntable at Each Fingertip. 1663-1671

Sensor Fusion II

Jonathan D. Courtney, Anil K. Jain: Mobile Robot Localization via Classification of Multisensor Maps. 1672-1678
Yasushi Yagi, Hitoshi Okumura, Masahiko Yachida: Multiple Visual Sensing System for Mobile Robot. 1679-1684
Sangwoo Park, C. S. George Lel: A Global and Local Robot Tracking and Control Strategy Using Multisensory Inputs. 1686-1692

Petri Net Applications

Pudji Astuti, Brenan J. McCarragher: Sufficient Conditions for the Success of Robotic Assembly. 1693-1699
P. Lutz, N. Djemel, A. Bourjault: Petri Net Modeling for Multiproducts Assembly Systems Including Testing. 1700-1705
E. D. Adamides, Dominique Bonvin: Obtaining Synergetic Behavior by Exploiting Relations in Distributed Robot Plans. 1706-1712
Armando W. Colombo, Javier Martínez, Ricardo O. Carelli: Formal Validation of Complex Production Systems Using Coloured Petri Nets. 1713-1718

Medical Robtics

Achim Schweikard, Rhea Tombropoulos, Lydia E. Kavraki, John R. Adler Jr., Jean-Claude Latombe: Treatment Planning for a Radiosurgical System with General Kinematics. 1720-1727
Tomomasa Sato, Junri Ichikawa, Mamoru Mitsuishi, Yotaro Hatamura: A New Micro-Teleoperation System Employing a Hand-Held Force-Feedback Pencil. 1728-1733
Sunil K. Singh, Mikael Bostrom, Dan O. Popa, Christopher W. Wiley: Design of an Interactive Lumbar Puncture Simulator with Tactile Feedback. 1734-1739
Sean Graves, John Mollenhauer, Bryan D. Morgan: Dynamic Session Management for Telerobotic Control and Simulation. 1740-1745

Human-Machine Interaction

Jie Yang, Yangsheng Xu, C. S. Chen: Gesture Interface: Modeling and Learning. 1747-1752
Thea Iberall, Gaurav S. Sukhatme, Denise Beattie, George A. Bekey: On the Development of EMG Control for a Prosthesis Using a Robotic Hand. 1753-1758
Sing Bing Kang, Katsushi Ikeuchi: Grasp Recoguition and Manipulative Motion Characterization from Human Hand Motion Sequences. 1759-1764
Michael C. Nechyba, Yangsheng Xu: SM² for New Space Station Structure: Autonomous Locomotion and Teleoperation Control. 1765-1770

Contact Sensing

Raju Patil, Anup Basu, Hong Zhang: Crack Detection Using Contact Sensing. 1772-1777
Mikhail M. Svinin, Masaru Uchiyama: Analytical Models for Desiguing Force Sensors. 1778-1783
Naohiro Ueno, Makoto Kaneko: Dynamic Active Antenna - A Principle of Dynamic Sensing. 1784-1790
Branislav Borovac, Milan Nikolic, Laszlo Nagy: A New Type of Force Sensor for Contact Tasks. 1791-1796

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