Robotics Research

Preface.- List of Authors.- 1. Manipulation.- Session Summary.- Hands for Dexterous Manipulation and Powerful Grasping: A Difficult Road Towards Simplicity.- An Exploration of Nonprehensile Two-Palm Manipulation : Planning and Execution.- Control of Physical Contact and Dynamic Interaction.- Reorienting Objects with a Robot Hand Using Grasp Gaits.- 2.Control.- Session Summary.- Another Language for Describing Robot Motions: A Nonlinear Position-dependent Circuit Theory.- Nonlinear Behavior and Control of Underactuated Robotic Mechanisms.- Parallel Force/Position Control of Robot Manipulators.- Modeling, Controllability and Vibration Suppression of 3D Flexible Robots.- Moving Base Robotics and Reaction Management Control.- 3. Robot Assistance for Surgery and Personal Care.- Session Summary.- Robotic Aids for Laparoscopic Surgery Problems.- Design of Customized Rehabilitation Aids.- 4. Tight Coupling of Perception with Action.- Session Summary.- Perception-Action Network for Sensor Fusion and Planning.- Toward A Systems Theory for the Composition of Dynamically Dexterous Robot Behaviors.- Research Program on Mechanisms for Emergent Machine Intelligence.- 5. Telerobotics and Virtual Reality.- Session Summary.- Force Replication to the Human Operator: The Development of Arm and Hand Exoskeletons as Haptic Interfaces.- Intelligent Tele-Robotics.- Performance Measures for Haptic Interfaces.- Operator Control of Robotic Systems.- Haptic Virtual Reality: Display of Operating Feel of Dynamic Virtual Objects.- 6. Motion Planning and Task-Level Programming.- Session Summary.- Formal Verification in Robotics: Why and How?.- Robot Motion Planning in Dynamic Environments.- A Random Sampling Scheme for Path Planning.- Planar Manipulation on a Conveyor with a One Joint Robot.- 7. Learning and Skill Acquisition.- Session Summary.- Behavior Acquisition via Vision-Based Robot Learning.- Perception and Manipulation in Robotics: Neural Network Approaches.- Integration of Symbolic and Subsymbolic Learning to Support Robot Programming by Human Demonstration.- Designing Skills with Visual Feedback for APO.- 8. Multi-Robot Interacting Systems.- Session Summary.- A Multi-Robot Cooperation Scheme Based on Incremental Plan-Merging.- Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems.- Behavior Matching by Observation for Multi-Robot Cooperation.- 9.3D Vision.- 3D Vision - Shape and Colour.- A Multi-body Factorization Method for Motion Analysis.- Focus Range Sensors.- Is Structure-From-Motion Worth Pursuing?.- 10. Active/Real-Time Vision.- Session Summary.- Visual Guidance of an AGV.- Active Vision and Seeing Robots.- Automatic Task Planning for Robot Vision.- Object Tracking by Using Optical Flows and Edges.- 11. How Do We Build Reliable and Efective Mobile Robots?.- Session Summary.- Adaptive Navigation for Autonomous Mobile Robots.- Parallel Use of Differential and Integral Representation for Realising Efficient Mobile Robots.- Robust Autonoraous Low-Cost Mobility.- Obstacle Detection for Unmanned Ground Vehicles: A Progress Report.- 12. Visual Servoing.- Session Summary.- Dynamic Issues in Robot Visual-Servo Systems.- Extended Vision with the Robot Sensor Suit: A Primary Sensor Image Approach to Interfacing Body to Brain.- 13. Symbolic Geometry and Effective Algebra for Robotics and Vision.- Session Summary.- Symbolic Geometry and Effective Algebra for Solving Problems in Computer Vision: Where do we Stand, Where may we Go.- Sine-Cosine Polynomial Systems.- 14. Mechanisms and Design.- Session Summary.- Geometrie Perspectives on the Mechanics and Control of Robotic Locomotion.- Design of Hyper-Redundant Arm.- The Calibration Index and the Role of Input Noise in Robot Calibration.- 15. Microrobotics.- Session Summary.- A Planar Milli-Robot System on an Air Bearing.- Sub-Micron Large Motion Multi-Robot Planar Motion System or ROBOTWORLD - The Next Generation.- Intelligent Manipulation Robot in Micro and Nano meter World.- Hybrid Robots Consisting of Mechanical Parts and Living Organisms for Microrobot Application.- 16. Industrial Systems Issues.- Session Summary.- Localization of Autonomous Guided Vehicles.- Hardware Design Methods and Proposals for Open System Architecture of Intelligent Robots.- Robots, Transportation, and Society.- Participants.