ICRA 1999: Detroit, Michigan, USA

Mobile Robot Maneuvering

• Sungon Lee, Youngil Youm, Wan Kyun Chung: Control of a Car-Like Mobile Robot for Parking Problem. 1-6 BibTeX
• Fernando Díaz del Río, Gabriel Jiménez, José Luis Sevillano, Saturnino Vicente Diaz, Antón Civit Balcells: A Generalization of Path Following for Mobile Robots. 7-12 BibTeX
• Wen J. Li, Takashi Tsubouchi, Shin'ichi Yuta: On a Manipulative Difficulty of a Mobile Robot with Multiple Trailers for Pushing and Towing? 13-18 BibTeX
• Doh-Hyun Kim, Jun-Ho Oh: Experiments of Backward Tracking Control for Trailer System. 19- BibTeX

Navigation In Unknown Environment

• Xianyi Yang, Max Q.-H. Meng: A Neural Network Approach to Real-Time Collision-Free Navigation of 3-D.O.F. Robots in 2D. 23-28 BibTeX
• Matthias Strobel: Navigation in Partially Unknown, Narrow, Cluttered Spaces. 29-34 BibTeX
• Nicholas Roy, Wolfram Burgard, Dieter Fox, Sebastian Thrun: Coastal Navigation: Mobile Robot Navigation with Uncertainty in Dynamic Environments. 35-40 BibTeX
• Weiguo Wu, Ping Jiang, Huitang Chen: Optimal Motion Planning for a Wheeled Mobile Robot. 41- BibTeX

Biped Robots I

• Ambarish Goswami: Foot Rotation Indicator (FRI) Point: A New Gait Planning Tool to Evaluate Postural Stability of Biped Robots. 47-52 BibTeX
• Abhay Kataria, Hitay Özbay, Hooshang Hemami: Point to Point Motion of Skeletal Systems with Multiple Transmission Delays. 53-58 BibTeX
• Filipe M. Silva, José António Tenreiro Machado: Energy Analysis During Biped Walking. 59-64 BibTeX
• Qiang Huang, Shuuji Kajita, Noriho Koyachi, Kenji Kaneko, Kazuhito Yokoi, Hirohiko Arai, Kiyoshi Komoriya, Kazuo Tanie: A High Stability, Smooth Walking Pattern for a Biped Robot. 65- BibTeX

Underwater Vehicles

• Massimo Caccia, Gabriele Bruzzone, Gianmarco Veruggio: Hovering and Altitude Control for Open-Frame UUVs. 72-77 BibTeX
• Gianluca Antonelli, Stefano Chiaverini, Roberto Finotello, Emanuele Morgavi: Real-Time Path Planning and Obstacle Avoidance for an Autonomous Underwater Vehicle. 78-83 BibTeX
• Tarun Kanti Podder, Nilanjan Sarkar: Fault Tolerant Decomposition of Thruster Forces of an Autonomous Underwater Vehicle. 84-89 BibTeX
• I-Ming Chen, Hsi-Shang Li, Arnaud Cathala: Design and Simulation of Amoebot-A Metamorphic Underwater Vehicle. 90- BibTeX

Robot Planning and Programming For Assembly

• Toshio Fukuda, Kousuke Sekiyama, Yoshiaki Hasebe, Yasuhisa Hasegawa, Susumu Shibata, Hironobu Yamamoto, Yuji Inada: Distributed Control of Flexible Transfer System (FTS) Using Learning Automata. 96-101 BibTeX
• Xiaobu Yuan, Yuqing Gu: An Integration of Robot Programming and Sequence Planning. 102-107 BibTeX
• X. F. Zha: An Integrated Intelligent Approach and System for Rapid Robotic Assembly Prototyping, Planning and Control. 108-113 BibTeX
• Y. X. Chu, J. B. Gou, Z. X. Li: A Geometric Algorithm for Hybrid Localization/Inspection/Machinability Problem. 114-119 BibTeX

Discrete Event Control of Manufacturing Systems

• A. Ramírez, C. Sriskandarajah, Beno Benhabib: Control of Flexible-Manufacturing Workcells Using Extended Moore Automata. 120-125 BibTeX
• Satya Ranjan Mohanty, Vigyan Chandra, Ratnesh Kumar: A Computer Implementable Algorithm for the Synthesis of an Optimal Controller for Acyclic Discrete Event Processes. 126-130 BibTeX
• Michael Heymann, Feng Lin, George Meyer, Satya Ranjan Mohanty, Vigyan Chandra, Ratnesh Kumar: Discrete Event Control with Active Events. 131-136 BibTeX
• Euisu Park, Dawn M. Tilbury, Pramod P. Khargonekar: Performance Analysis of Machining Systems with Modular Logic Controllers. 137- BibTeX

Motion Planning I

• Mehran Mehrandezh, M. N. Sela, Robert G. Fenton, Beno Benhabib: Proportional Navigation Guidance in Robot Trajectory Planning for Intercepting Moving Objects. 145-150 BibTeX
• Florent Lamiraux, Lydia E. Kavraki: Path Planning for Elastic Plates Under Manipulation Constraints. 151-156 BibTeX
• S. Bobyr, Vladimir J. Lumelsky: Control of Dynamics and Sensor Based Motion Planning for a Differential Drive Robot. 157-162 BibTeX
• Ishay Kamon, Ehud Rivlin, Elon Rimon: Range-Sensor Based Navigation in Three Dimensions. 163- BibTeX

Robot Control I

• M. A. Jarrah, Omar M. Al-Jarrah: Position Control of a Robot Manipulator Using Continuous Gain Scheduling. 170-175 BibTeX
• Shih-Lang Chang, Chi-haur Wu, D. T. Lee: A Muscular-Like Compliance Control for Active Vehicle Suspension. 3275- BibTeX
• D. M. Miljanovic, Elizabeth A. Croft: A Taxonomy for Robot Control. 176-181 BibTeX
• Shuguang Huang, Joseph M. Schimmels: The Extremal Properties of Spatial Stiffness Matrices. 182- BibTeX

Actuator

• Naoyuki Takesue, Guoguang Zhang, Junji Furusho, Masamichi Sakaguchi: High Stiffness Control of Direct-Drive Motor System by a Homogeneous ER Fluid. 188-192 BibTeX
• Shigeo Hirose, Craig Tibbetts, Tetsuo Hagiwara: Development of X-Screw: A Load-Sensitive Actuator Incorporating a Variable Transmission. 193-199 BibTeX
• N. Niksefat, N. Sepehri: Robust Force Controller Design for an Electro-Hydraulic Actuator Based on Nonlinear Model. 200-206 BibTeX
• Kyunghwan Kim, Nicola J. Ferrier: Distributed Control Scheme for Motor Networks with Communication-Constrained Channels. 207- BibTeX

Teleoperation I: Force and Position Control

• Sooyong Lee, Jangwook Lee, Dae-Sung Choi, Munsang Kim, Chong-Won Lee: The Distributed Controller Architecture for a Masterarm and Its Application to Teleoperation with Force Feedback. 213-218 BibTeX
• Ning Xi, Tzyh Jong Tarn: Action Synchronization and Control of Internet Based Telerobotic Systems. 219-224 BibTeX
• Robert L. Williams II, Jason M. Henry, Mark A. Murphy, Daniel W. Repperger: Free and Constrained Motion Teleoperation via Naturally-Transitioning Rate-to-Force Control. 225-230 BibTeX
• Wen-Hong Zhu, S. E. Salcudean: Teleoperation with Adaptive Motion/Force Control. 231- BibTeX

Contact and Grasping Control

• Xuerong Ji, Jing Xiao: Automatic Generation of High-Level Contact State Space. 238-244 BibTeX
• Sascha Stoeter, Stephan Voss, Nikolaos Papanikolopoulos, Heiko Mosemann: Planning of Regrasp Operations. 245-250 BibTeX
• J. D. Han, Y. C. Wang, W. L. Xu: Experimental Investigation into Contact Transition Control with Joint Acceleration Feedback Damping. 251-256 BibTeX
• Mikhail M. Svinin, Kanji Ueda, Makoto Kaneko: Analytical Conditions for the Rotational Stability of an Object in Multi-Finger Grasping. 257- BibTeX

Visual Servo Control I

• Koichi Hashimoto, Toshiro Noritsugu: Visual Servoing with Linearized Observer. 263-268 BibTeX
• Joon-Soo Lee, Il Hong Suh, Bum-Jae You, Sang-Rok Oh: A Novel Visual Servoing Approach Involving Disturbance Observer. 269-274 BibTeX
• Paul Y. Oh, Peter K. Allen: Performance of a Partitioned Visual Feedback Controller. 275-280 BibTeX
• Kevin Stanley, Q. M. Jonathan Wu, Ali Jerbi, William A. Gruver: Neural Network-Based Vision Guided Robotics. 281- BibTeX

Tactile Sensing

• Darwin G. Caldwell, Nikolaos G. Tsagarakis, C. Giesler: An Integrated Tactile/Shear Feedback Array for Stimulation of Finger Mechanoreceptor. 287-292 BibTeX
• Martin Nilsson: Tactile Sensing with Minimal Wiring Complexity. 293-298 BibTeX
• J. Dargahi, Shahram Payandeh, M. Parameswaran: A Micromachined Piezoelectric Teeth-like Laparoscopic Tactile Sensor: Theory, Fabrication and Experiments. 299-304 BibTeX
• Guilio Ambrosi, Antonio Bicchi, Danilo De Rossi, Enzo Pasquale Scilingo: The Role of Contact Area Spread Rate in Haptic Discrimination of Softness. 305- BibTeX

Mobile Robots and Applications

• K. Jiang, Lakmal D. Seneviratne: A Sensor Guided Autonomous Parking System for Nonholonomic Mobile Robots. 311-316 BibTeX
• Moëz Cherif: Kinodynamic Motion Planning for All-Terrain Wheeled Vehicles. 317-322 BibTeX
• Raul Mihali, Tarek M. Sobh: The Formula One Tire Changing Robot (F-T.C.R.). 323-328 BibTeX
• Xiaowei Ma, Yili Fu, Yufei Yuan, Wang Wei, Yulin Ma, Hegao Cai: The Path Planning of Mobile Manipulator with Genetic-Fuzzy Controller in Flexible Manufacturing Cell. 329- BibTeX

Sensor-Based Navigation

• Zvi Shiller: On-Line Sub-Optimal Obstacle Avoidance. 335-340 BibTeX
• Oliver Brock, Oussama Khatib: High-Speed Navigation Using the Global Dynamic Window Approach. 341-346 BibTeX
• Sharon L. Laubach, Joel W. Burdick: An Autonomous Sensor-Based Path-Planner for Planetary Microrovers. 347-354 BibTeX
• Hiroshi Noborio, Kenji Urakawa: On the Near-Optimality of Sensor-Based Navigation in a 2-D Unknown Environment with Simple Shape. 355- BibTeX

Biped Robots II

• Samuel Agus Setiawan, Sang Ho Hyon, Jin'ichi Yamaguchi, Atsuo Takanishi: Physical Interaction Between Human and a Bipedal Humanoid Robot: Realization of Human-Follow Walking. 361-367 BibTeX
• Jin'ichi Yamaguchi, Eiji Soga, Sadatoshi Inoue, Atsuo Takanishi: Development of a Bipedal Humanoid Robot: Control Method of Whole Body Cooperative Dynamic Biped Walking. 368-374 BibTeX
• M. Yagi, Vladimir J. Lumelsky: Biped Robot Locomotion in Scenes with Unknown Obstacles. 375-380 BibTeX
• Chee-Meng Chew, Jerry E. Pratt, Gill A. Pratt: Blind Walking of a Planar Bipedal Robot on Sloped Terrain. 381- BibTeX

Underwater Robotics: Sensing, Navigation, and Control

• Nilanjan Sarkar, Tarun Kanti Podder: Motion Coordination of Underwater Vehicle-Manipulator Systems Subject to Drag Optimization. 387-392 BibTeX
• Junku Yuh, Jing Nie, C. S. George Lee: Experimental Study on Adaptive Control of Underwater Robots. 393-398 BibTeX
• Louis L. Whitcomb, Dana R. Yoerger, Hanumant Singh: Advances in Doppler-Based Navigation of Underwater Robotic Vehicles. 399-406 BibTeX
• Liu Hsu, Ramon R. Costa, Fernando C. Lizarralde, José Paulo Vilela Soares da Cunha: Passive Arm Based Dynamic Positioning System for Remotely Operated Underwater Vehicles. 407- BibTeX

Flexible Manipulators I

• Jee-Hwan Ryu, Dong-Soo Kwon, Youngjin Park: A Robust Controller Design Method for a Flexible Manipulator with a Time Varying Payload and Parameter Uncertainties. 413-418 BibTeX
• Francis Ching, David Wang: An Infinite-Dimensional Analysis of a PD-Controlled Single Flexible Link in Collision. 419-426 BibTeX
• Milind Ghanekar, David W. L. Wang, Glenn R. Heppler: Scaling Laws for the Dynamics and Control of Flexible-Link Manipulators. 427-434 BibTeX
• Jose Andres S. Somolinos, Vicente B. Feliu, Luis Sánchez, José Antonio Cerrada: Modeling and Control of a New Three-Degree-of-Freedom Flexible Arm with Simplified Dynamics. 435- BibTeX

Task Scheduling

• Il-Jun Jeong, George P. Papavassilopoulos, David S. Bayard: Task Scheduling on Spacecraft by Hydrid Genetic Algorithms. 441-446 BibTeX
• Young Cheol Cho, Zavarin Gagov, Wook Hyun Kwon: Elevator Group Control with Accurate Estimation of Hall Call Waiting Times. 447-452 BibTeX
• Wan-rong Jih, Jane Yung-jen Hsu: Dynamic Vehicle Routing Using Hybrid Genetic Algorithms. 453-458 BibTeX
• Ming-Hung Lin, Li-Chen Fu: Scheduling in an Advanced Manufacturing System. 459- BibTeX

Motion Planning II

• Eliana P. L. Aude, G. H. M. B. Carneiro, Henrique Serdeira, Julio Silveira, Mario F. Martins, Ernesto P. Lopes: CONTROLAB MUFA: A Multi-Level Fusion Architecture for Intelligent Navigation of a Telerobot. 465-472 BibTeX
• Steven M. LaValle, James J. Kuffner Jr.: Randomized Kinodynamic Planning. 473-479 BibTeX
• Chia-Yu E. Wang, Wojciech K. Timoszyk, James E. Bobrow: Weightlifting Motion Planning for a Puma 762 Robot. 480-485 BibTeX
• Scott K. Ralph, Dinesh K. Pai: Computing Fault Tolerant Motions for a Robot Manipulator. 486- BibTeX

Robot Control II

• Chien-Chern Cheah, Sadao Kawamura, Suguru Arimoto, K. Lee: PID Control of Robotic Manipulator with Uncertain Jacobian Matrix. 494-499 BibTeX
• Anthony M. Bloch, Naomi Ehrich Leonard, Jerrold E. Marsden: Stabilization of the Pendulum on a Rotor Arm by the Method of Controlled Lagrangians. 500-505 BibTeX
• Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama: Real-Time Motion Control in the Neighborhood of Singularities: A Comparative Study Between the SC and the DLS Method. 506-511 BibTeX
• Fabrizio Caccavale, Ciro Natale, Luigi Villani: Task-Space Tracking Control Without Velocity Measurements. 512- BibTeX

Actuators and Joint Actuation

• Shunmugham R. Pandian, F. Takemura, Yasuhiro Hayakawa, Sadao Kawamura: Control Performance of an Air Motor: Can Air Motors Replace Electric Motors? 518-524 BibTeX
• Darwin G. Caldwell, Nikolaos G. Tsagarakis, Gustavo A. Medrano-Cerda, J. Schofield, S. Brown: Development of a Pneumatic Muscle Actuator Driven Manipulator Rig for Nuclear Waste Retrieval Operations. 525-530 BibTeX
• Sungbok Kim: Joint Actuation Switching in Closed-Chain Mechanisms for High Task Adaptability. 531-536 BibTeX
• Tetsuo Hagiwara, Shigeo Hirose: Development of Dual Mode X-Screw: A Novel Load-Sensitive Linear Actuator with a Wide Transmission Range. 537- BibTeX

Teleoperation II: Sensor-Based Teleoperation

• S. E. Everett, Y. Isoda, Rajiv V. Dubey, C. Dumont: Vision-Based End-Effector Alignment Assistance for Teleoperation. 543-549 BibTeX
• Martin Jägersand: Image Based Predictive Display for Tele-Manipulation. 550-556 BibTeX
• Takafumi Matsumaru, Shun'ichi Kawabata, Tetsuo Kotoku, Nobuto Matsuhira, Kiyoshi Komoriya, Kazuo Tanie, Kunikatsu Takase: Task-Based Data Exchange for Remote Operation System Through a Communication Network. 557-564 BibTeX
• Miguel Hernando, Ernesto Gambao, E. Pinto, Antonio Barrientos: Collision Control in Teleoperation by Virtual Force Reflection: An Application to the ROBTET System. 565- BibTeX

Contact Geometry

• Ernesto Staffetti, Lluís Ros, Federico Thomas: A Simple Characterization of the Infinitesimal Motions Separating General Polyhedra in Contact. 571-577 BibTeX
• Iddo Drori, Leo Joskowicz, Elisha Sacks: Contact Analysis of Spatial Fixed-Axes Pairs Using Configuration Spaces. 578-584 BibTeX
• Tetsuya Mouri, Takayoshi Yamada, Yasuyuki Funahashi, Nobuharu Mimura: Identification of Contact Conditions from Contaminated Data of Contact Moment. 585-591 BibTeX
• Min-Hyung Choi, James F. Cremer: Interactive Manipulation of Articulated Objects with Geometry Awareness. 592- BibTeX

Visual Servo Control II

• Rafael Kelly, Fernando Reyes, Javier Moreno, Seth Hutchinson: A Two Loops Direct Visual Control of Direct-Drive Planar Robots with Moving Target. 599-604 BibTeX
• Wen-Chung Chang, A. Stephen Morse: Exponentially Stable Positioning of a Rigid Robot Using Stereo Vision. 605-610 BibTeX
• Noah J. Cowan, Daniel E. Koditschek: Planar Image Based Visual Servoing as a Navigation Problem. 611-617 BibTeX
• Hong Zhang, James P. Ostrowski: Visual Servoing with Dynamics: Control of an Unmanned Blimp. 618- BibTeX

Sonar-Based Sensing

• Paul Gilkerson, Penelope Probert: A Diffuse Reflection Model for Time of Flight Sonar. 624-629 BibTeX
• Teruko Yata, Akihisa Ohya, Shin'ichi Yuta: A Fast and Accurate Sonar-Ring Sensor for a Mobile Robot. 630-636 BibTeX
• Youngjoon Han, Hernsoo Hahn: Localization and Classification of Target Surfaces Using Two Pairs of Ultrasonic Sensors. 637-643 BibTeX
• Keiji Nagatani, Howie Choset, Nicole Lazar: The Arc-Transversal Median Algorithm: An Approach to Increasing Ultrasonic Sensor Accuracy. 644- BibTeX

Mobile Robot-Environment Interaction

• Amol Dattatraya Mali: Marker-Augmented Robot-Environment Interaction. 652-657 BibTeX
• Jamieson Schulte, Charles R. Rosenberg, Sebastian Thrun: Spontaneous, Short-Term Interaction with Mobile Robots. 658-663 BibTeX
• Paul E. Rybski, Richard M. Voyles: Interactive Task Training of a Mobile Robot through Human Gesture Recognition. 664-669 BibTeX
• Hedvig Sidenbladh, Danica Kragic, Henrik I. Christensen: A Person Following Behaviour for a Mobile Robot. 670- BibTeX

Mobile Robot Motion Planning I

• Ioannis M. Rekleitis, Vida Dujmovic, Gregory Dudek: Efficient Topological Exploration. 676-681 BibTeX
• S. Sathiya Keerthi, Chong Jin Ong, Eugene Huang, Elmer G. Gilbert: EquiDistance Diagram: A New Roadmap Method for Path Planning. 682-687 BibTeX
• Nancy M. Amato, Lucia K. Dale: Probabilistic Roadmap Methods are Embarrassingly Parallel. 688-694 BibTeX
• Peter Leven, Seth Hutchinson, Darius Burschka, Georg Färber: Perception-Based Motion Planning for Indoor Exploration. 695- BibTeX

Biology-Inspired Methods

• Karsten Berns, Tamim Asfour, Rüdiger Dillmann: ARMAR: An Anthropomorphic Arm for Humanoid Service Robot. 702-707 BibTeX
• Richard M. Voyles, Pradeep K. Khosla: Gesture-Based Programming: A Preliminary Demonstration. 708-713 BibTeX
• Katsu Yamane, Yoshihiko Nakamura: Dynamics Computation of Structure-Varying Kinematic Chains for Motion Synthesis of Humanoid. 714-721 BibTeX
• D. Um, Vladimir J. Lumelsky: Fault Tolerance via Component Redundancy for a Modularized Sensitive Skin. 722- BibTeX

Service and Underwater Robots

• Prasad Akella, Michael A. Peshkin, J. Edward Colgate, Wit Wannasuphoprasit, Nidamaluri Nagesh, Jim Wells, Steve Holland, Tom Pearson, Brian Peacock: Cobots for the Automobile Assembly Line. 728-733 BibTeX
• Byung-Ju Yi, Jai Hoon Lee: Feedforward Modulation of Dynamic Behaviour in Anthropomorphic Robots via Force Redundancies. 734-740 BibTeX
• H. F. Machiel Van der Loos, J. Joseph Wagner, Niels Smaby, K. Chang, O. Madrigal, Larry J. Leifer, Oussama Khatib: ProVAR Assistive Robot System Architecture. 741-746 BibTeX
• Josep Amat, Alicia Casals, Josep Fernández: Vision Based Assisted Operations in Underwater Environments Using Ropes. 747- BibTeX

Flexible Manipulators II

• Xiang-Rong Xu, Won-Jee Chung, Young-Hyu Choi: Modeling of Kineto-Elastodynamics of Robots with Flexible Links. 753-758 BibTeX
• Frédéric Boyer, N. Glandais: Simulation of Flexible Manipulators with Elastic Non-Linearities. 759-766 BibTeX
• Shinichi Tokumoto, Yoshiaki Fujita, Shinichi Hirai: Deformation Modeling of Viscoelastic Objects for Their Shape Control. 767-772 BibTeX
• Richard Mason, Joel W. Burdick: Propulsion and Control of Deformable Bodies in an Ideal Fluid. 773- BibTeX

Manufacturing Planning and Scheduling

• Angela Di Febbraro, Riccardo Minciardi, Simona Sacone: An Operational Approach for the Control of Manufacturing Processes. 781-786 BibTeX
• Peter B. Luh, Xiaohui Zhou, Robert N. Tomastik: An Effective Method to Reduce Inventory in Job Shops. 787-792 BibTeX
• Hyung Seok Kim, Naehyuck Chang, Wook Hyun Kwon: A Translation Method for Ladder Diagram with Application to a Manufacturing Process. 793-798 BibTeX
• Hsien-Jung Wu: Methodology of Generating Recovery Procedures in a Robotic Cell. 799- BibTeX

Constraint and Nonholonomic System

• Hanqi Zhuang, Shui H. Motaghedi, Zvi S. Roth: Robot Calibration with Planar Constraints. 805-810 BibTeX
• Wei Liang Xu, Bao Li Ma, Shiu Kit Tso: Curve Fitting Approach to Motion Planning of Nonholonomic Chained Systems. 811-816 BibTeX
• Sepanta Sekhavat, M. Chyba: Nonholonomic Deformation of a Potential Field for Motion Planning. 817-822 BibTeX
• Marilena Vendittelli, Jean-Paul Laumond, Giuseppe Oriolo: Steering Nonholonomic Systems via Nilpotent Approximations: The General Two-Trailer System. 823- BibTeX