Experimental robotics is at the core of validating robotics research for both its system science and theoretical foundations. Robotics experiments serve as a unifying theme for robotics system science and theoretical foundations. This book collects papers on the state of the art in experimental robotics. The papers were presented at the 2000 International Symposium on Experimental Robotics.
Inhalt
Humanoids and Human-Robot Interaction.- Haptically Augmented Teleoperation.- Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay.- Virtual Exoskeleton for Telemanipulation.- Design of Programmable Passive Compliance for Humanoid Shoulder.- Design, Implementation, and Remote Operation of the Humanoid H6.- Cooperative Human and Machine Perception in Teleoperated Assembly.- Regulation and Entrainment in Human-Robot Interaction.- Perception.- Advancing Active Vision Systems by Improved Design and Control.- S-NETS: Smart Sensor Networks.- Six Degree of Freedom Sensing For Docking Using IR LED Emitters and Receivers.- Height Estimation for an Autonomous Helicopter.- Ladar-based Discrimination of Grass from Obstacles for Autonomous Navigation.- Reality-based Modeling with ACME: A Progress Report.- Assembly and Manipulation.- Grasp Strategy Simplified by Detaching Assist Motion (DAM).- Force-Based Interaction for Distributed Precision Assembly.- Design and Implementation of a New Discretely-Actuated Manipulator.- Design and Experiments on a Novel Biomechatronic Hand.- Autonomous Injection of Biological Cells Using Visual Servoing.- Medical, Space, and Field Applications.- An active tubular polyarticulated micro-system for flexible endoscope.- Towards semi-autonomy in laparoscopic surgery through vision and force feedback control.- Optimized Port Placement for the Totally Endoscopic Coronary Artery Bypass Grafting using the da Vinci Robotic System.- ETS-VII Flight Experiments For Space Robot Dynamics and Control.- Experimental Demonstrations of a New Design Paradigm in Space Robotics.- A first-stage experiment of long term activity of autonomous mobile robot - result of repetitive base-docking over a week.- Locomotion.- Comparing the Locomotion Dynamics of the Cockroach and a Shape Deposition Manufactured Biomimetic Hexapod.- Super Mechano-System: New Perspective for Versatile Robotic System.- Using Modular Self-reconfiguring Robots for Locomotion.- Open-loop Verification of Motion Planning for an Underwater Eel-like Robot.- Quadruped Robot Running With a Bounding Gait.- Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot.- Multi-robot Systems.- A Framework and Architecture for Multirobot Coordination.- Motion Control of Distributed Robot Helpers Transporting a Single Object in Cooperation with a Human.- First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly.- Towards A Team of Robots with Repair Capabilities: A Visual Docking System.- Merging Gaussian Distributions for Object Localization in Multi-Robot Systems.- Principled Communication for Dynamic Multi-Robot Task Allocation.- Progress in RoboCup Soccer Research in 2000.- Modeling and Motion Planning.- View Planning via C-space Entropy for Efficient Exploration with Eye-in-Hand Systems.- Motion Planning for a Self-Reconfigurable Modular Robot.- Experimental comparison of techniques for localization and mapping using a bearing-only sensor.- Robot Navigation for Automatic Model Construction using Safe Regions.- Simulation and Experimental Evaluation of Complete Sensor-based Coverage in Rectilinear Environments.- An interactive model of the human liver.- Control.- The Biomechanical Fidelity of Slope Simulation on the Sarcos Treadport Using Whole-Body Force Feedback.- A New Approach to the Control of a Hydraulic Stewart Platform.- Design of life-size haptic environments.- Micro Nafion Actuators for Cellular Motion Control and Underwater Manipulation.- Control of an under actuated unstable nonlinear object.- Singularity Handling on Puma in Operational Space Formulation.- Navigation and Localization.- Autonomous Rover Navigation on Unknown Terrains Functions and Integration.- Map Building and Localization for Underwater Navigation.- Visually Realistic Mapping of a Planar Environment with Stereo.- Incorporation of Delayed Decision Making into Stochastic Mapping.- Tele-Autonomous Watercraft Navigation.- An Underwater Vehicle Monitoring System and Its Sensors.- Real Time Obstacle Detection for AGV Navigation Using Multi-baseline Stereo.- A new Generation of Light-weight Robot Arms and Multifingerd Hands.