ICAR 2001 Final Papers



Proceedings of ICAR 2001

Towards a Topographic Microprocessor with TeraOPS Speed and Kilo Real-Time Frame Rate
Tamás Roska, Csaba Rekeczky, Ákos Zarándy, András Radványi, István Szatmári, Tamás Szirányi, Péter Szolgay


Mutlisensor Fusion and Integration: Approaches, Applications and Future Research Directions
Ren C. Luo, Chih-Chen Yih


Planetary Rover Developments Supporting Mars Exploration, Sample Return and Future Human-Robotic Colonization
Paul S. Schenker, Terry L. Huntsberger, Paolo Pirjanian, Eric T. Baumgartner


Mars Rover Autonomous Navigation
Michel Maurette


A Local-Area GPS Pseudolite-based Mars Navigation System
Edward A. LeMaster, Stephen M. Rock


Task-allocation and Coordination of Multiple Robots for Planetary Exploration
Maja J. Matric, Gaurav S. Sukhatme


Cooperative Robot Teams Applied to the Site Preparation Task
Lynne E. Parker, Yi Guo, David Jung


Stochastic Active Observers: Active State Analysis - Theory and A Robotic Force Control Application
Rui Cortesao, Ralf Koeppe, Urbano Nunes, Gerd Hirzinger


Estimation and Propagation of Geometrical Parameters During Force-Controlled Execution of Polyhedral Contact Formation Sequences
Tine Lefebvre, Herman Bruyninckx, Joris De Schutter


Markov Techniques for Object Localization with Force-controlled Robots
Klaas Gadeyne, Herman Bruyninckx


Force Control of Cable-driven Robotic Segment
Uros Mali, Marko Munih


Skin Harvesting Robotization with Force Control
G. Duchemin, E. Dombre, F. Pierrot, Ph. Poignet


Adjoint Dextrity Inverse Kinematics Algorithm for Mobile Manipulators
Krzysztof Tchon, Janusz Jakubiak, Katarzyna Zadarnowska


On the Task Priority Manipulation Scheme with High Execution Performance for a Robotic Manipulator
Youngjin Choi, Wan Kyun Chung, Yonghwan Oh, Sang Rok Oh, Il Hong Suh


Design and Control of a Novel Compact Dexterous Hand
Guowu Jia, Qiang Liu, Guang Chen, Ming Xie


Manipulation Analysis of Two Cooperating Arms
N. M. Fonseca Ferreira, J. A. Tenreiro Machado


The Potential of Robotic Airships for Plenetary Exploration
Alberto Elfes, Marcel Bergerman, Samuel S. Bueno


Towards Cooperative Air/Ground Robotics: Issues Related to Environment Modeling
Simon Lacroix, Il-Kyun Jung, Anthony Mallet, Raja Chatila


New Themes in Robitic Exploration and Assembly for Space Applications
S. Singh, D. Wettergreen, P. Staritz, S. Skaff


Modular Reconfigurable Robots in Space Applications
Mark Yim, Kimon Roufas, David Duff, Ying Zhang, Sam Homans


Fine Mobility for Hopping Robots
Joel Burdick, Paolo Fiorini


An Adaptive Control Law for Mobile Manipulators with Parametric Uncertainty in the Dynamics
Alicja Mazur


A New Adaptive Terminal Sliding Mode Control Scheme for Robotic Manipulators Designed Following and Energy-based Approach
O. Barambones, V. Etxebarria


Set Point Control for Serial Manipulators Using Generalized Velocity Components Method
Przemyslaw Herman, Krzysztof Kozlowski


Motion Control of the Small Fine Arm for the Japanese Experiment Module of the International Space Station
H. Morimoto, Y. Kasama, S. Doi, Y. Wakabayashi


Adaptive Control of an Electrical Actuator
R. Merzouki, J. C. Cadiou, N. K. M'Sirdi


Design of VIRTUOSE 3D: a new haptic interface for teleoperation and virtual reality
Florian Gosselin, Alain Riwan


Stereo Visual Servoing with a Single Point: a Comparative Study
E. Cervera, F. Berry, P. Martineet


Scene Modelling from 2D and 3D sensory data acquired from natural environments
Rafael Murrieta-Cid, Carlos Parra, Michel Devy, Maurice Briot


Color Contour Extraction with Adaptive Color Model: Color Snake
Hyun Keun Park, Do-yoon Kim, Myung Jin Chung


Comparison of Control Structures for Visual Servoing
S. Chroust, J. P. Barreto, H. Araújo, M. Vincze


Vision-based Human-Vehicle Interaction and Skill Training
Xiaoming Yin, Jiangzhou Lu, Ming Xie


On comparing the performance of robots and humans in planetary surface operations
G. Rodrigues, C. R. Weisbin, G. Bekey, A. Bhadoria


Space Robotics - DLR's Telerobotic Concepts, Lightweight Arms and Articulated Hands
Gerd Hirzinger, B. Brunner, K. Landzettel, I. Schaefer, N. Sporer, J. Butterfass, M. Schedl


Robonaut: A Robotic Astronaut's Assistant
W. J. Bluethmann, R. O. Ambrose, R. S. Ashew, S. M. Goza, C. S. Lovchik, D. F. Magruder, M. A. Diftler, F. Rehnmark


Robot FRIEND: an innovative approach to space
Alberto Rovetta, S. Mangiarotti


Functionality of robot FRIEND for manipulation and maintenance in space
A. Rovetta, G. Borgonovo, A. De Crescenzo, P. Allara, S. Magniarotti


Stable Neural Network Adaptive Control of Redundant Robot Manipulators
A. Benallegue, B. Daachi, N. K. M'Sirdi


Modeling and Control of a HSM Machine Tool with Parallel Kinematics
B. C. Bouzgarrou, P. Ray, G. Gogu, B. Thuilot


A Generalized Lorentz Group-based Adaptive Control for DC Drives Driving Mechanical Components
József K. Tar, Imre J. Rudas, János F. Bitó, Karel Jezernik


Adaptive Fuzzy Logic Control of DC Motors with Nonlinear Friction
Ho Dac Loc, Kolomeiseva Margarita Borisovna


Internet-based Telerobotics: UTM's Experience and Future Direction
Shamsudin H. M. Amin, Rosbi Mamat, Mohamad Fauzi Zakaria, Norhayati A. Majid, Lim Cheng Siong, László Horváth, József K. Tar


Nonholonomic Motion Planning based on Nonholonomic Spheres
Ignacy Duleba


Algorithm of a Manipulator Movement Amidst Unknown Obstacles
P. K. Lopatin


An Evolutionary Approach to Robot Structure and Trajectory Optimization
E. J. Solteiro Pires, J. A. Tenreiro Machado, P. B. de Moura Oliveira


A Parallel Motion Planner for Systems with Many Degrees of Freedom
Pekka Isto


Trajectory Planning Based on Position Error Analysis and Fault Area Modelling
István Nagy, László Vajta


A Safeguarded Teleoperation Controller
Terrence Fong, Charles Thorpe, Charles Baur


Evaluation of the Different Master Device Approaches for a Model-based Space Teleoperation System
Woo-Keun Yoon, Shuichi Tachihara, Yuichi Tsumaki, Masaru Uchiyama


A General Concept of the Internet-based Telemanipulation
Péter Szemes, Z. Förhécz, B. Magyar, Péter Korondi, Hideki Hashimoto


Master Device for Micro Tele-Operation Systems
Péter T. Szemes, Péter Korondi, Noriaki ANdo, Hideki Hashimoto


Stability and Perception in Time-Delay Teleoperation
Matteo Franchini, Carlo Benedetti, Paolo Fiorini


Simulated Comparison, Adaptive and Neural Control Strategies for a Robot Arm
Dorin Popescu, Dan Selisteanu, Cosmin Ionete


H2 Control for a Two Revolute Joints Robot Arm
Cosmin Ionete, Dorin Popescu, Dan Selisteanu


Gaits Stabilisation for Legged Robots using Energetic Regulation
N. K. M'Sirdi, D. El Ghanami, T. Boukhobza, N. Khraief


Cooperative Control of Mobile Robots Based on Petri Net
Hideharu Kashima, Ryosuke Masuda


Discrete Stable Control of Mobile Robots with Obstacle Avoidance
Humberto Secchi, Ricardo Carelli, Vicente Mut


Single Beacon Acoustic for AUV Navigation
P. Baccou, B. Jouvencel, V. Creuze


Motion Planning for a Manipulator Equipped on an Underwater Robot
S. Ishibashi, E. Shimizu, M. Ito


Learning Multiresolution Maps in Dynamic Worlds
Rui Araújo, David Lourenco, Aníbal T. de Almeida


Construction of the Environment Map on the Basis of Local Alignment
R. Mahkovic, B. Petelinkar


Innovative Biorobotic System DDX for the Analysis of Neuro-Motor Conditions: Methodlogy and Results
Alberto Rovetta, A. Cucé, M. Bisogni, R. Pegoraro


Biorobotic Criteria in the Design of a New Limb Prosthesis
Alberto Rovetta, Marita Canina, Paolo Allara, Giovanni Campa, Sergio Della Santina


Newly Developed Microrover System for Lunar Exploration
Takashi Kubota, Youji Kuroda, Yasuharu Kunii


Micromanipulator with Lightweight and Low Power Consumption by using Ultra-Sonic Motor for Planetary Explore Mission
Yasuharu Kunii, Yoji Kuroda, Kouhei Tada, Takash Kubota


A Fundamental Study to Develop a New Interface System for Elderly People in Home
S. Shimizu, H. Taya


Control of a Six-legged Robot using Fluidic Muscles
K. Berns, J. Albiez, V. Kepplin, C. Hillenbrand


Cyclic Gait of a Novel One-legged Robot
Tao Geng, Yupu Yang, Xiaoming Xu


Control of Biped Walking Based on Force Interaction
Filipe M. Silva, J. A. Tenreiro Machado


An Approach towards Autonomous Outdoor Walking Robots
Dirk Spenneberg, Frank Kirchner


Performance Analysis of Periodic Gaits in Multi-legged Locomotion
Manuel F. Silva, J. A. Tenreiro Machado, António M. Lopes


Manipulating Deformable Linear Objects: Force/torque Sensor-based Adjustment-Motions for Vibration Elimination
Shigang Yue, Dominik Henrich


Manipulating Deofrmable Linear Objects: Model-based Adjustment-Motion for Vibration Reduction
Shigang Yue, Dominik Henrich


Comparing Tools for Enterprise Modeling
Ladislav Madarász, M. Timko


Modelling Robot Architectures for Modular Robotics Systems
Gerard T McKee, J. Andrew Fryer, Paul S Schenker


Tracking Contact Transitions During Force-controlled Compliant Motion Using an Interacting Multiple Model Estimator
Lyudmila Mihaylova, Tine Lefebvre, Ernesto Staffetti, Herman Bruyninckx, Joris De Schutter


Absolute Localization of a Mobile Robot with an Omnidirectional Vision Sensor
Young Jin Lee, Myung Jin Chung


Vision-based Behaviour Planning for Planetary Exploration Rover
Riho Ejiri, Takashi Kubota, Ichiro Nakatani


Fine Motion Planning Using Skill-based Backprojection with Uncertainties in Control, Visual Sensing and Model
Akira Nakamura, Takashi Suehiro, Kazuo Machida


A Visual Servo System for Microinjection under Stereoscopic Microscope
Hideki Yamamoto, Tetsuya Sano, Junko Sakiyama, Motio Okamoto


A Study on Rotational Lock in a Team of Distributed Object Reorienting Robots
Majid Nili Ahmadabadi, M. R. Barouni Ebrahimi, Eiji Nakano


Reinforcement Learning (RL) Based Collision Avoidance Approach for Multiple Autonomous Robotic Systems (ARS)
O. Azouaoui, M. Ouaaz, A. Farah


Combination Control of Remote Operation with Autonomous Behaviour in Human-Friendly Mobile Robot
Takafumi Matsumaru, Shin'ichi Ichikawa


Method and Effect of Preliminary-Announcement and Display for Translation of Mobile Robot
Takafumi Matsumaru, Kiyoshi Hagiwara


Development of Practical Vision Sensor to Perform Multi-Task on Indoor Mobile Robot
Y. Saito, Y. Choi, T. Iyota, K. Watanabe, Y. Kubota


Rough Surfaces Classification for Environmental Perception of a Mobile Robot using CTFM Sonal Imaging and Neural Networks
Konstantinos Zografos, Penny Probert Smith


Observers with unknown inputs for Estimation of the Road Profile
H. Imine, N. K. M'sirdi, L. Laval, Y. Delanne


LQG vs PID for attitude control of a for unmanned aerial vehicle in hover
A. Barrientos, I. Aguirre, J. Del-Cerro, P. Portero


Design and construction of a stepping shape memory actuator for driving a variable camber aircraft wing
D. Reynaerts, W. Van Moorleghem, H. Van Brussel


On Object Manipulation Methods using Finger Relocation
István Harmati, Béla Lantos, Shahram Payendeh


Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitions
Antoine Schlechter, Dominik Henrich


Handling of an Object Exceeding Load Capacity of Manipulator Using Virtual Unactuated Joints
Jun Imamura, Kazuhiro Kosuge


Efficient Collision Detection between Rigid and Deformable Objects for Simulation and Execution of Telerobotic Process
Christophe Caby, André Crosnier


Gesture Recognition based on 1-Dimensional Encoding of Motion Changes
Kengo Kaora, Atsushi Nishikawa, Kentaro Shinto, Kaoru Ishii, Yoichi Yasui, Fumio Miyazaki


Optimal Design of Parallel Manipulators
A. Fattah, S. Hadian Jazi


System Investigation of PM Servo Motors Applied in Industrial Robots
Attila L. Bencsik


Application of Advanced Product Models in Robot Control
László Horváth, Imre J. Rudas, József K. Tar


Tracking Contact Transitions During Force-Controlled Compliant Motion Using an Interacting Multiple Model Estimator
Lyudmila Mihaylova, Tine Lefebvre, Ernesto Staffetti, Herman Bruyninckx, Joris De Schutter


Development of Range Sensing System Using Spread Spectrum Sound Waves
A. Yamane, K. Mikami, S. Takenobu, Y. Choi, T. Iyota, K. Watanabe, Y. Kubota


A Robust Approach to Simultaneous Pose Estimation and Map-Updating in Dynamic Environments
Gregor Pavlin, Reinhard Braunstingl


ARCHI: A redundant mechanism for machining with unlimited rotation capacities
Frederic Marquet, Sebastien Krut, Olivier Company, Francois Pierrot


A Function Block Based Approach for the Development of Distributed IPMCS Applications
K. Thramboulidis, C. Tranoris


Education of Robotics and Power Electronics at Széchenyi István University of Applied Sciences
L. Hodossy, Z. Puklus, I. Szénásy


Comparison of the Application of the Symplectic and the "Partially Stretched Orthogonal Transformations" in a New Branch of Adaptive Control for Mechanical Devices
Yahya Abdel Hamid El Hini




Proceedings of Workshop

Panoramic Imaging from 1767 to the Present
Ryad Benosman


Omnidirectional Vision and Tele-Presence
Henry Fuchs


Catadioptric Projective Geometry
Christopher Geyer, Kostas Daniilidis


Parametric Eigenspace Representations of Panoramic Images
Matjaz Jogan, Ales Leonardis


Experiments in Visual-based Navigation with an Omnidirectional Camera
Niall Winters, José Gaspar, Etienne Grossmann, José Santos-Victor


Omnidirectional Stereo Vision
Zhigang Zhu


Omnidirectional Holography
Pál Greguss


Absolute Localization with the Calibrated SYCLOP Sensor
Cyril Cauchois, Eric Brassart, Laurent Delahoche, Cyril Drocourt


Simultaneous Localization and Map Building Paradigm based on Omnidirectional Stereoscopic Vision
Cyril Drocourt, Laurent Delahoche, Eric Brassart, Cyril Cauchois


Learning-based Situation Recognition by Sectoring Omnidirectional Images for Robot Localisation
Jianwei Zhang, Kai Huebner, Alois Knoll


Navigation of Mobile Robot Using PAL Optic
András Molnár, Zoltán Vámossy


Determining Epipolar Constraint on Cylindrical Images and Using it for 3D Reconstruction
Laurent Smadja, Ryad Benosman, Jean Devars


Mirror Design for an Omnidirectional Camera with a Space Variant Imager
Stefan Gachter, Tomás Pajdla, Branislav Micusík


PALLAS, a Novel Experimental Concept for Flow Diagnostics
István Goricsán, János Vad, Balázs Tóth, Pál Greguss


Role of Omnidirectional Vision in Space Research
Pál Greguss


Complexity Reduction in Reinforcement Learning
Szilveszter Kovács, Péter Baranyi, Masaharu Sugiyama


A Robotic Camera Holder for Laparoscopy
Patrick A. Finlay


Robotically Assisted Percutaneous Local Therapy and Biopsy
Gabor Fichtinger, Ken Masamune, Alexandru Patriciu, Attila Tanacs, James H. Anderson, Theodore L. DeWeese, Russel H. Taylor, Dan Stoianovici


Hands-on Robots for Surgery
Brian Davies


Planning and Sumulation of Minimally Invasive Surgery using Tele-Operated Manipulators
Louai Adhami, Eve Coste-Maniere, Jean-Daniel Boissonnat


Experiences with the "Caspar" Robot for Total Knee Arthroplastie
S. Mai, W. Siebert


Medical Micro-Robotics
Paolo Dario, Arianna Menciassi, Dino Accoto, Louis Phee, Cesare Stefanini