ICRA 1994: San Diego, CA, USA

Proceedings of the 1994 International Conference on Robotics and Automation, San Diego, CA, USA, May 1994, Volume 4. IEEE Computer Society Press, 1994, ISBN 0-8186-5330-2

Robot Control I

Zvi Shiller: Time-Energy Optimal Control of Articulated Systems with Geometric Path Constraints. 2680-2685 BibTeX
Manja V. Kircanski, Nenad Kircanski, Dj. Lekovic, Miomir Vukobratovic: An Experimental Study of Resolved Acceleration Control in Singularities: Damped Least-Squares Approach. 2686-2691 BibTeX
Christine Chevallereau, B. Daya: A New Method for Robot Control in Singular Configurations with Motion in any Cartesian Direction. 2692-2697 BibTeX
Dragomir N. Nenchev: Recursive Local Kinematic Inversion with Dynamic Task-Priority Allocation. 2698-2703 BibTeX

Compliant / Force Control

Homayoun Seraji: Adaptive Admittance Control: An Approach to Explicit Force Control in Compliant Motion. 2705-2712 BibTeX
Michel Pelletier, Laeeque Daneshmend: Synthesis of Robust Compliant Motions Based on Impedance Models. 2713-2718 BibTeX
Richard Colbaugh, A. Engelmann: Adaptive Compliant Motion Control of Manipulators: Theory and Experiments. 2719-2726 BibTeX
Sarath Krishnaswamy, Warren P. Seering: Effects of Kinematic Force Errors on Robot Task Performance. 2727-2732 BibTeX

Motion Planning III

Susan Hert, Vladimir J. Lumelsky: The Ties That Bind: Motion Planning for Multiple Tethered Robots. 2734-2741 BibTeX
Prasanta K. De, Tzyh Jong Tarn, Antal K. Bejczy: Synthesis of Trajectory Planning Using Semi-Algebraic Sets and Control of Manipulators. 2742-2748 BibTeX
Dimitry M. Gorinevsky, A. Kapitanovsky, Andrew A. Goldenberg: RBF Network Architecture for Motion Planning and Attitude Stabilization of Nonholonomic Spacecraft/Manipulator Systems. 2749-2754 BibTeX
Michael Barbehenn, Pang C. Chen, Seth Hutchinson: An Efficient Hybrid Planner in Changing Environments. 2755-2760 BibTeX

Calibration II

Donghai Ma, John M. Hollerbach, Yangming Xu: Gravity Based Autonomous Calibration for Robot Manipulators. 2763-2768 BibTeX
Won S. Kim: Virtual Reality Calibration for Telerobotic Servicing. 2769-2775 BibTeX
Gaetano Canepa, John M. Hollerbach, Alexander J. M. A. Boelen: Kinematic Calibration by Means of a Triaxial Accelerometer. 2776-2782 BibTeX

Mobile Robots IV

Aleksandar Timcenko, Peter K. Allen: Probability-Driven Motion Planning for Mobile Robots. 2784-2789 BibTeX
Igor E. Paromtchik, Ulrich Rembold: A Practical Approach to Motion Generation and Control for an Omnidirectional Mobile Robot. 2790-2795 BibTeX
Barbara Siemiatkowska: A Highly Parallel Method for Mapping and Navigation of an Autonomous Mobile Robot. 2796-2801 BibTeX
Victor Fernand Muñoz, Aníbal Ollero, Maria Prado Novoa, Antonio Simón Mata: Mobile Robot Trajectory Planning with Dynamic and Kinematic Constraints. 2802-2807 BibTeX

Power Grasping

Makoto Kaneko, Kazunobu Honkawa: Contact Point and Force Sensing for Inner Link Based Grasps. 2809-2814 BibTeX
Jeffrey C. Trinkle, A. O. Farahat, Peter F. Stiller: Second-Order Stability Cells of a Frictionless Rigid Body Grasped by Rigid Fingers. 2815-2821 BibTeX
W. Stamps Howard, Vijay Kumar: Stability of Planar Grasps. 2822-2827 BibTeX
X.-Y. Zhang, Yoshihiko Nakamura, K. Goda, K. Yoshimoto: Robustness of Power Grasp. 2828-2835 BibTeX

Robot Vision

Giorgio Cannata, Enrico Grosso: Active Eye-Head Control. 2837-2843 BibTeX
Aage Bendiksen, Gregory D. Hager: A Vision-Based Grasping System for Unfamiliar Planar Objects. 2844-2849 BibTeX
Gregory D. Hager, Wen-Chung Chang, A. Stephen Morse: Robot Feedback Control Based on Stereo Vision: Towards Calibration-Free Hand-Eye Coordination. 2850-2856 BibTeX
Suchendra M. Bhandarkar, Hamid R. Arabnia: A Novel Reconfigurable Multiprocessor for Robot Vision. 2857-2862 BibTeX

Communication

Toshio Fukuda, Kousuke Sekiyama: Communication Reduction with Risk Estimate for Multiple Robotic System. 2864-2869 BibTeX
Gerardo Pardo-Castellote, Stanley A. Schneider: The Network Data Delivery Service: Real-Time Data Connectivity for Distributed Control Applications. 2870-2876 BibTeX
Sudhir Aggarwal, Sandeep Mitra, Sanjay S. Jagdale: Specification and Automated Implementation of Coordination Protocols in Distributed Controls for Flexible Manufacturing Cells. 2877-2882 BibTeX
Johann Schweiger: Facilitating Teamwork of Autonomous Systems with a Distributed Real-Time Knowledge Base. 2883-2888 BibTeX

Industrial Applications II

K. Hartmann, R. Krishnan, R. Merz, G. Neplotnik, Fritz B. Prinz, L. Schultz, M. Terk, Lee E. Weiss: Robot-Assisted Shape Deposition Manufacturing. 2890-2896 BibTeX
Ren C. Luo, Yawei Ma: Free Form Surface Representation and Machining for Complex Parts. 2897-2902 BibTeX
Denis E. Malone, Werner E. Friedrich, Natalie R. Spooner, Patrick P. K. Lim: Knowledge Based Control in the Processing of Highly Varying Products. 2903-2908 BibTeX

Learning

Pasquale Lucibello, Stefano Panzieri: Experiments on Repositioning Control of Robots by Learning. 2910-2914 BibTeX
Ethan Z. Evans, C. S. George Lee: Automatic Generation of Error Recovery Knowledge Through Learned Reactivity. 2915-2920 BibTeX
Tomohide Naniwa, Suguru Arimoto, Louis L. Whitcomb: Learning Control for Robot Tasks under Geometric Constraints. 2921-2927 BibTeX
Stefan Schaal, Christopher G. Atkeson: Memory-Based Robot Learning. 2928-2933 BibTeX

Object Manipulation

Alfred A. Rizzi, Daniel E. Koditschek: Further Progress in Robot Juggling: Solvable Mirror Laws. 2935-2940 BibTeX
T. Sakaguchi, Fumio Miyazaki: Dynamic Manipulation of Ball-in-Cup Game. 2941-2948 BibTeX
Nina B. Zumel, Michael Erdmann: Balancing of a Planar Bouncing Object. 2949-2954 BibTeX
Shinichi Hirai, Hidefumi Wakamatsu, Kazuaki Iwata: Modeling of Deformable Thin Parts for Their Manipulation. 2955-2960 BibTeX

Robot Control II

Roberto F. Jacobus, Miguel A. Serna: Modal Analysis of a Three Dimensional Flexible Robot. 2962-2967 BibTeX
G. Liu, Andrew A. Goldenberg: Asymptotically Stable Robust Control of Robot Manipulators. 2968-2973 BibTeX
Andrea Caiti, Giorgio Cannata: Coordinate Transformation and On-Line Planning for Position/Force Control of Constrained Robots. 2974-2978 BibTeX
Kemalettin Erbatur, Richard B. Vinter, Okyay Kaynak: Feedback Linearization Control for a 3-DOF Flexible Joint Elbow Manipulator. 2979-2984 BibTeX

Fuzzy and Adaptive Control

Jianwei Zhang, Andreas Herp: Design of a Fuzzy Controller for Optimal Execution of Subgoal-Guided Robot Motions. 2986-2991 BibTeX
Richard Colbaugh, Homayoun Seraji: Adaptive Tracking Control of Manipulators: Theory and Experiments. 2992-2999 BibTeX
Prasad Akella, Vicente Parra-Vega, Suguru Arimoto, Kazuo Tanie: Discontinuous Model-Based Adaptive Control for Robots Executing Free and Constrained Tasks. 3000-3007 BibTeX
Yongduan Song: Adaptive Motion Tracking Control of Robot Manipulators - Non-Regressor Based Approach. 3008-3013 BibTeX

Motion Planning IV

Christopher I. Connolly: Harmonic Functions and Collision Probabilities. 3015-3019 BibTeX
Hirohisa Hirukawa, Yves Papegay, T. Matsui: A Motion Planning Algorithm for Convex Polyhedra in Contact Under Translation and Rotation. 3020-3027 BibTeX
A. O. Farahat, Peter F. Stiller, Jeffrey C. Trinkle: On the Algebraic Geometry of Contact Formation Cells for Systems of Polygons. 3028-3033 BibTeX
Howie Choset, Joel W. Burdick: Sensor-Based Planning and Nonsmooth Analysis. 3034-3041 BibTeX

Kinematics IV

Kourosh E. Zanganeh, Jorge Angeles: Instantaneous Kinematics and Design of a Novel Redundant Parallel Manipulator. 3043-3048 BibTeX
Kourosh E. Zanganeh, Jorge Angeles: Mobility and Position Analyses of a Novel Redundant Parallel Manipulator. 3049-3054 BibTeX
Xiaolun Shi, Robert G. Fenton: A Complete and General Solution to the Forward Kinematics Problem of Platform-Type Robotic Manipulators. 3055-3062 BibTeX
Gregory S. Chirikjian: A Binary Paradigm for Robotic Manipulators. 3063-3069 BibTeX

Mobile Robots - Control and Kinematics

F. Demick Boyden, Steven A. Velinsky: Dynamic Modeling of Wheeled Mobile Robots for High Load Applications. 3071-3078 BibTeX
Yutaka Kanayama: Two Dimensional Wheeled Vehicle Kinematics. 3079-3084 BibTeX
Johann Borenstein: The CLAPPER: A Dual-Drive Mobile Robot with Internal Correction of Dead-Reckoning Errors. 3085-3090 BibTeX
Liqiang Feng, Yoram Koren, Johann Borenstein: A Model-Reference Adaptive Motion Controller for a Differential-Drive Mobile Robot. 3091-3096 BibTeX

Grasping

R. A. Hilhorst, Kazuo Tanie: Dexterous Manipulation of Objects with Unknown Parameters by Robot Hands. 3098-3103 BibTeX
Toru Omata, Kazuyuki Nagata: Planning Reorientation of an Object with a Multifingered Hand. 3104-3110 BibTeX
O. M. Ismaeil, R. E. Ellis: Grasping Using the Whole Finger. 3111-3116 BibTeX
Jefferson A. Coelho Jr., Roderic A. Grupen: Control Pre-Imaging for Multifmgered Grasp Synthesis. 3117-3122 BibTeX

Ultrasonic Sensing for Navigation

John Budenske, Maria L. Gini: Why Is It So Difficult for a Robot to Pass Through a Doorway Using Ultrasonic Sensors? 3124-3129 BibTeX
Lindsay Kleeman, Roman Kuc: An Optimal Sonar Array for Target Localization and Classification. 3130-3135 BibTeX
Larry Korba: Variable Aperture Sonar for Mobile Robots. 3136-3141 BibTeX
Angelo M. Sabatini, Orazio Di Benedetto: Towards a Robust Methodology for Mobile Robot Localization Using Sonar. 3142-3147 BibTeX

Scheduling

Pearl Pu, James Hughes: Integrating AGV Schedules in a Scheduling System for a Flexible Manufacturing Environment. 3149-3154 BibTeX
Roberto MacChiaroli, Stefano Riemma: Clustering Methods for Production Planning and Scheduling in a Flexible Manufacturing System. 3155-3160 BibTeX
Carlos Ramos: An Architecture and a Negotiation Protocol for the Dynamic Scheduling of Manufacturing Systems. 3161-3166 BibTeX
Y. Narahari, Sundar Ram Vedula: Real-World Extensions to a Production Scheduling Algorithm Based on Lagrangian Relaxation. 3167-3172 BibTeX

Neural Network Application

Hyo-Gyu Kim, Se-Young Oh: Stable Neural Controller Design Based on Composite Adaptation. 3174-3179 BibTeX
Ming Z. Chen, Yuan F. Zheng: Deform Flexible Beams by Two Manipulators Through Neural Network Learning. 3180-3185 BibTeX
F. Liang, Hoda A. ElMaraghy: Direct Adaptive Neurocontrol of Flexible Joint Robots Using Localized Polynomial Networks. 3186-3191 BibTeX
Farrokh Janabi-Sharifi, Hussein H. H. Fakhry, William J. Wilson: Integration of a Robust Trajectory Planner with a Feedforward Neural Controller for Robotic Manipulators. 3192-3197 BibTeX

Hand Controller Design

Ernest D. Fasse, Neville Hogan: Quantitative Measurement of Haptic Perception. 3199-3204 BibTeX
J. Edward Colgate, J. Michael Brown: Factors Affecting the Z-Width of a Haptic Display. 3205-3210 BibTeX
Dale A. Lawrence, Jim D. Chapel: Performance Trade-Offs for Hand Controller Design. 3211-3216 BibTeX
Leena Singh, Andrew Silverthorne, Susan N. Gottschlich, Harry E. Stephanou: Variably-Autonomous Manipulation. 3217-3222 BibTeX

Learning and Self-Organisation

Tsuyoshi Ueyama, Toshio Fukuda: Self-Organization of Hierarchical Structure on Cellular Robotic System. 3224-3229 BibTeX
Michele Rucci, Paolo Dario: Autonomous Learning of Tactile-Motor Coordination in Robotics. 3230-3236 BibTeX
Shree K. Nayar, Hiroshi Murase, Sameer A. Nene: Learning, Positioning, and Tracking Visual Appearance. 3237-3244 BibTeX
Sukhan Lee, Judy Chen: Skill Learning from Observations. 3245-3250 BibTeX

Robot Control III

Sukhan Lee, Hahk Sung Lee: Design of Optimal Time Delayed Teleoperator Control System. 3252-3258 BibTeX
Dong-Soo Kwon, Dong-Hwan Hwang, Scott M. Babcock, Barry L. Burks: Input Shaping Filter Methods for the Control of Structurally Flexible, Long-Reach Manipulators. 3259-3264 BibTeX
Bruno Siciliano, Luigi Villani: A Passivity-Based Force/Position Control Scheme for Robot Manipulators. 3265-3270 BibTeX
Luya Li, Qixian Zhang, Zongxu Yang, William A. Gruver, Gongliang Guo: Cntrol of Redundant Robots Based on the Motion Optimizability Measure. 3271-3276 BibTeX

Fuzzy Control

Essam Badreddin: Fuzzy Relations for Behaviour-Fusion of Mobile Robots. 3278-3283 BibTeX
Paul J. A. Lever, Fei-Yue Wang, Deqian Chen: A Fuzzy Control System for an Automated Mining Excavator. 3284-3289 BibTeX
Changman Son, George J. Vachtsevanos: A Fuzzy Expert Organizer/Robust Control Strategy for a Moving Base Robotic Part Assembly. 3290-3295 BibTeX
Vivek G. Moudgal, Kevin M. Passino, Stephen Yurkovich: Expert Supervisory Control for a Two-Link Flexible Robot. 3296-3301 BibTeX

Collision-Free Path Planning

John T. Feddema, J. L. Novak: Whole Arm Obstacle Avoidance for Teleoperated Robots. 3303-3309 BibTeX
Anthony Stentz: Optimal and Efficient Path Planning for Partially-Known Environments. 3310-3317 BibTeX
Th. Horsch, F. Schwarz, Henning Tolle: Motion Planning with Many Degrees of Freedom - Random Reflections at C-Space Obstacles. 3318-3323 BibTeX
Sean Quinlan: Efficient Distance Computation Between Non-Convex Objects. 3324-3329 BibTeX

Kinematics V

A. K. Ramadorai, U. Ganapathy, F. Guida: A Generic Kinematics Software Package. 3331-3336 BibTeX
Rodney G. Roberts, Daniel W. Repperger: The Kinematics of Robotic Wrists. 3337-3341 BibTeX
S. J. Remis, M. M. Stanisic: A Geometric Approach to the Design of a Singularity-Free Articulated Arm-Subassembly. 3342-3347 BibTeX
Dinesh Manocha, Yunshan Zhu: A Fast Algorithm and System for the Inverse Kinematics of General Serial Manipulators. 3348-3353 BibTeX

Vision-Based Navigation II

Karen T. Sutherland, William B. Thompson: Pursuing Projections: Keeping a Robot on Path. 3355-3361 BibTeX
Martial Hebert: Pixel-Based Range Processing for Autonomous Driving. 3362-3367 BibTeX
Jun Miura, Yoshiaki Shirai: Modeling Obstacles and Free Spaces for a Mobile Robot Using Stereo Vision with Uncertainty. 3368-3373 BibTeX
Clint Bidlack, Arun Hampapur, Arun Katkere, Liqiang Feng, Farhana Kagalwala, Tom Kraljevic, Gopal Sarma Pingali, Shraga Shoval, Terry E. Weymouth: Visual Robot Navigation Using Flat Earth Obstacle Projection. 3374-3381 BibTeX

Dexterous Manipulation

Paul Michelman, Peter K. Allen: Forming Complex Dextrous Manipulations from Task Primitives. 3383-3388 BibTeX
Nak Young Chong, Donghoon Choi, Il Hong Suh: Dextrous Manipulation Planning of Multifingered Hands with Soft Finger Contact Model. 3389-3396 BibTeX
Ying Xue, Imin Kao: Dextrous Sliding Manipulating Using Soft Fingertips. 3397-3402 BibTeX
Martin Buss, Hideki Hashimoto: Manipulation Skill Modeling for Dexterous Hands. 3403-3408 BibTeX

Calibration III

Emanuele Trucco, Robert B. Fisher: Acquisition of Consistent Range Data Using Local Calibration. 3410-3415 BibTeX
Hanqi Zhuang, Zvi S. Roth: Modeling Gimbal Axis Misalignments and Mirror Center Offset in a Single-Beam Laser Tracking Measurement System. 3416-3421 BibTeX
Shishir Shah, J. K. Aggarwal: A Simple Calibration Procedure for Fish-Eye (High-Distortion) Lens Camera. 3422-3427 BibTeX
Hanqi Zhuang: A Self-Calibration Approach to Extrinsic Parameter Estimation of Stereo Cameras. 3428-3433 BibTeX

Manufacturing

Shun-Feng Su, C. S. George Lee: Generation of the Destination for a Mating Action in the Presence of Uncertainty. 3435-3440 BibTeX
Jahng-Hyon Park, Haruhiko Asada: Sequence Optimization for High Speed Robotic Assembly Using Simulated Annealing. 3441-3446 BibTeX
Yong Li, Peter B. Luh, Xiaohong Guan: Fuzzy Optimization-Based Scheduling of Identical Machines with Possible Breakdown. 3447-3452 BibTeX
Anders Adlemo, Sven-Arne Andréasson: Communication Protocols and Failure Semantics in Intelligent Manufacturing Systems. 3453-3458 BibTeX

Space Robotics

F. Xi, Robert G. Fenton: On the Inverse Kinematics of Space Manipulators for Avoiding Dynamic Singularities. 3460-3465 BibTeX
Richard Volpe, Robert Ivlev: A Survey and Experimental Evaluation of Proximity Sensors for Space Robotics. 3466-3473 BibTeX
Richard Volpe, Douglas McAffee: A Robotic Lighting System for Solar Illumination Simulation. 3474-3479 BibTeX
Arata Ejiri, Ichiro Watanabe, Keiju Okabayashi, Masayoshi Hashima, Masayuki Tatewaki, Takashi Aoki, Tsugito Maruyama: Satellite Berthing Experiment with a Two-Armed Space Robot. 3480-3487 BibTeX

Frameworks for Autonomous Agents II

Edward J. Nicolson: Standardizing I/O for Mechatronic Systems (SIOMS) Using Real Time Unix Device Drivers. 3489-3494 BibTeX
Tim Lüth, Ulrich Rembold: Extensive Manipulation Capabilities and Reliable Behavior at Autonomous Robot Assembly. 3495-3500 BibTeX
Francesco Zanichelli, Stefano Caselli, Antonio Natali, Andrea Omicini: A Multi-Agent Framework and Programming Environment for Autonomous Robotics. 3501-3507 BibTeX
Sara Fleury, Matthieu Herrb, Raja Chatila: Design of a Modular Architecture for Autonomous Robot. 3508-3513 BibTeX

Manufacturing: Assembly and Inspection

Paolo Dario, Michele Rucci, C. Guadagnini, Cecilia Laschi: An Investigation on a Robot System for Disassembly Automation. 3515-3521 BibTeX
Tadashi Nagata, Jun-ichi Hirai: Distributed Planning for Assembly Tasks by Multiple Manipulators. 3522-3529 BibTeX
Khalid W. Khawaja, Daniel Tretter, Anthony A. Maciejewski, Charles A. Bouman: Automated Assembly Inspection Using a Multiscale Algorithm Trained on Synthetic Images. 3530-3536 BibTeX
Mukesh Taneja, Nukala Viswanadham: Inspection Allocation in Manufacturing Systems: A Genetic Algorithm Approach. 3537-3542 BibTeX

Addendum

Daniel I. Racoceanu, Abdellah El Moudni, Michel Ferney, S. Zerhouni: Use of an homographic transformation jointly to the singular perturbation for the resolution of Markov chains: application to the operation safety study. 3544-3549 BibTeX
Yoji Yamada, Mark R. Cutkosky: Tactile sensor with 3-axis force and vibration sensing function and its application to detect rotational slip. 3550-3557 BibTeX
Darwin G. Caldwell, Gustavo A. Medrano-Cerda, Michael Goodwin: Characteristics and adaptive control of pneumatic muscle actuators for a robotic elbow. 3558-3563 BibTeX
Rajeev Govindan, Anil S. Rao: Optimal strategies for recognizing polygonal parts. 3564-3569 BibTeX
George L. Kovács, J. Nasca, D. Gavalcová: A knowledge based and a hybrid system to evaluate flexible manufacturing systems. 3570-3575 BibTeX
M. Rombaut, Dominique Meizel: Dynamic data temporal multisensor fusion in the Prometheus ProLab2 Demonstrator. 3576-3583 BibTeX
William Lim: An agent-based approach for programming mobile robots. 3584-3589 BibTeX