The International Symposium on Experimental Robotics (ISER) is a series of biennial symposia which began in 1989, and is sponsored by the International Foundation of Robotics Research (IFRR). The goal of ISER is to provide the robotics community with a forum for research driven by creative ideas, bold visions, new systems, and novel applications of robotics, emphasizing experimental work. The tradition in ISER is to foster scholarly work that either addresses validation of theoretical paradigms through careful experimentation or contributes to the creation of novel experimental platforms that in turn inspire new theoretical developments. The ISER symposia are conceived to bring together in a small group setting researchers from around the world who are at the forefront of experimental robotics research, to assess and share their views and ideas about the state of the art and to discuss promising new avenues for future research exploration in experimental robotics. The ISER meetings are organized around oral technical presentations in a single-track format.

This volume includes the complete collection of the contributions presented at the symposium, with authoritative introductions to each section by the chairs of the corresponding sessions.

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By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Inhalt

Session 1: Design.- Session 1: Design.- The SDM Hand: A Highly Adaptive Compliant Grasper for Unstructured Environments.- Reliable External Actuation for Extending Reachable Robotic Modular Self-Reconfiguration.- Design and Development of a Soft Actuator for a Robot Inspired by the Octopus Arm.- Portable Autonomous Vehicle Controller.- Design and Control of a Bio-inspired Human-Friendly Robot.- Session 2: Autonomous Driving.- Session 2: Autonomous Driving.- Path Planning for Autonomous Driving in Unknown Environments.- Experimental Results for Over-the-Horizon Planetary Exploration Using a LIDAR Sensor.- Efficient Techniques for Dynamic Vehicle Detection.- Comparison of Boosting Based Terrain Classification Using Proprioceptive and Exteroceptive Data.- Session 3: Cooperation.- Session 3: Cooperation.- Demonstrating the Benefits of Cooperation for a UAV Team Performing Vision Based Feature Localisation.- Maintaining Connectivity in Mobile Robot Networks.- From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots.- Co-ordinated Tracking and Planning Using Air and Ground Vehicles.- Distributed Robotic Radiation Mapping.- Session 4: Mini and Micro Robots.- Session 4: Mini and Micro Robots.- Visual Tracking for Teams of Miniature Robots.- Small, Fast, and under Control: Wireless Resonant Magnetic Micro-agents.- Visually Servoed Orientation Control of Biological Cells in Microrobotic Cell Manipulation.- Session 5: Human Robot Interaction.- Session 5: Human Robot Interaction.- A First Investigation into the Teleoperation of a Miniature Rotorcraft.- Toward Socially Assistive Robotics for Augmenting Interventions for Children with Autism Spectrum Disorders.- Teaching Robots via Natural Nonverbal Cues.- The Psychological Effects of Attendance of an Android on Communication.- SHARY: A Supervision System Adapted to Human-Robot Interaction.- Session 6: Medical Robotics.- Session 6: Medical Robotics.- EMG-Based Position and Force Estimates in Coupled Human-Robot Systems: Towards EMG-Controlled Exoskeletons.- An Image-Based Localization Algorithm for Catheter Navigation in the Left Atrium.- Mechanical Response of Embryonic Stem Cells Using Haptics-Enabled Atomic Force Microscopy.- Task-Space Control of Continuum Manipulators with Coupled Tendon Drive.- Session 7: Locomotion.- Session 7: Locomotion.- Passing under Obstacles with Humanoid Robots.- Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2.- A Physical Model for Dynamical Arthropod Running on Level Ground.- Reliable Dynamic Motions for a Stiff Quadruped.- Bioinspired Jumping Locomotion in Small Robots: Natural Observation, Design, Experiments.- Session 8: Localization and Mapping.- Session 8: Localization and Mapping.- A Robust Method of Localization and Mapping Using Only Range.- Visual Appearance Mapping for Optimal Vision Based Servoing.- Place Recognition Using Keypoint Similarities in 2D Lidar Maps.- A First-Estimates Jacobian EKF for Improving SLAM Consistency.- Session 9: UUVs and UAVs.- Session 9: UUVs and UAVs.- Autonomous Autorotation of an RC Helicopter.- Preliminary Results for Model-Based Adaptive Control of an Autonomous Underwater Vehicle.- Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV.- A Boosting Approach to Visual Servo-Control of an Underwater Robot.- Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads.- Session 10: Sensing and Planning.- Session 10: Sensing and Planning.- Adaptive Full Scan Model for Range Finders in Dynamic Environments.- Empirical Sampling of Path Sets for Local Area Motion Planning.- Motion Strategies for People Tracking in Cluttered and Dynamic Environments.- Tracking Odor Plumes in a Laminar Wind Field with Bio-inspired Algorithms.- Session 11: Vision.- Session 11: Vision.- Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing.- Humanoid Vision Resembles Primate Archetype.- Learning to Associate Image Features with CRF-Matching.- Fast Relative Pose Calibration for Visual and Inertial Sensors.- Scale Invariant Detection and Tracking of Elongated Structures.- Session 12: Manipulation.- Session 12: Manipulation.- Shape Recognition and Optimal Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Camera.- Coordinated Control and Range Imaging for Mobile Manipulation.- Experimental Evaluation of Several Strategies for Human Motion Based Transparency Control.- Development of a Manipulation Component for a Container Transferring Robot in Living Space.