Foreword iii Organizing, Program and Video Committees iv Author Index li Volume 1 Symposium (Pages 1-970) Kinematics Kinematics Not Dead! 1(6) J.-P. Merlet Self-Motions of Griffis-Duffy Type Parallel Manipulators 7(6) Manfred L. Husty Adolf Karger Nonintrinsicity of References in Rigid Body Motions 13(6) S. Stramigioli H. Bruyninckx Kinematic Transformations for Remotely-Actuated Planar Continuum Robots 19(8) Ian A. Gravagne Ian D. Walker Kinematic Design of a Humanoid Robotic Shoulder Complex 27(6) Jadran Lenar cic Michael M. Stanisic Vincenzo Parenti-Castelli Mechanisms Coupled and Decoupled Actuation of Robotic Mechanisms 33(7) Shigeo Hirose Keisuke Arikawa Scaling of Robotic Mechanisms 40(6) Kenneth J. Waldron Christopher Hubert A Mechatronics Approach to the Design of Light-Weight Arms and Multifingered Hands 46(9) G. Hirzinger J. Butterfab M. Fischer M. Grebenstein M. Hahnle H. Liu I. Schaefer N. Sporer Mechanism Synthesis Theory and the Design of Robots 55(6) J. Michael McCarthy TerminatorBot: A Robot with Dual-Use Arms for Manipulation and Locomotion 61(6) Richard M. Voyles Architectures Architecture, the Backbone of Robotic Systems 67(6) Eve Coste-Maniere Reid Simmons Social Potentials for Scalable Multi-Robot Formations 73(8) Tucker Balch Maria Hybinette PredN: Achieving Efficiency and Code Re-Usability in a Programming System for Complex Robotic Applications 81(7) Olivier Stasse Yasuo Kuniyoshi Around the Lab in 40 Days 88(7) Rachid Alami Raja Chatila Sara Fleury Matthieu Herrb Felix Ingrand Maher Khatib Benoit Morissett Philippe Moutarlier Thierry Simeon Using Model Checking to Guarantee Safety in Automatically-Synthesized Real-Time Controllers 95(7) David J. Musliner Robert P. Goldman Michael J. Pelican Range Sensing Active and Passive Range Sensing for Robotics 102(9) Martial Hebert Beyond Range Sensing: XYZ-RGB Digitizing and Modeling 111(5) M. Rioux F. Blais A. B. Beraldin G. Godin P. Boulanger M. Greenspan Imaging Laser Scanners for 3-D Modeling and Surveying Applications 116(6) D. Langer M. Mettenleiter F. Hartl C. Frohlich Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation 122(10) Ken Owens Larry Mathies Motion Estimation from Laser Ranging for Autonomous Comet Landing 132(7) Andrew E. Johnson A. Miguel San Martin Part Feeding and Fixturing The Toppling Graph: Designing Pin Sequences for Part Feeding 139(8) Tao Zhang Gordon Smith Robert-Paul Berretty Mark Overmars Ken Goldberg A Reconfigurable Parts Feeder with an Array of Pins 147(7) Sebastien J. Blind Christopher C. McCullough Srinivas Akella Jean Ponce Modeling and Throughput Prediction for Flexible Parts Feeders 154(8) Michael S. Branicky Greg C. Causey Roger D. Quinn An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Coulomb Friction 162(8) David Stewart J. C. Trinkle On Well-Defined Kinematic Metric Functions 170(8) Qiao Lin Joel W. Burdick Positioning and Orienting a Class of Symmetric Parts Using a Combination of a Unit-Radial and a Constant Force Fields 178(6) Florent Lamiraux Lydia E. Kavraki Prototyping Design and Automation New Trends in Prototyping Design and Automation 184(8) Kok-Meng Lee Tarek M. Sobh Prototyping Design and Automation of Micro/nano Manipulation System 192(6) Toshio Fukuda Fumihito Arai Automating High-Throughput Fluid Sample Handling for Biotechnology and Chemistry 198(8) D. R. Meldrum S. E. Moody Data Mining in Engineering Design: A Case Study 206(6) A. Kusiak T. L. Tseng An Approach to Rapid Manufacturing with Custom Fixturing 212(8) Mark Bloomenthal Richard Riesenfeld Elaine Cohen Russell Fish Robot Control Force Control of Robot Manipulators 220(7) Tsuneo Yoshikawa Passivity - Based Control 227(6) Suguru Arimoto Feedforward/Feedback Laws for the Control of Flexible Robots 233(8) Alessandro De Luca Experimental Identification of Robot Dynamics for Control 241(6) J. Swevers C. Ganseman X. Chenut J. C. Samin Design of Steering Mechanism and Control of Nonholomic Trailer Systems 247(8) Yoshihiko Nakamura Hideaki Ezaki Yuegang Tan Woojin Chung Dexterous Manipulation An Overview of Dexterous Manipulation 255(8) Allison M. Okamura Niels Smaby Mark R. Cutkosky The Planning and Control of Robot Dextrous Manipulation 263(7) Li Han Zexiang Li Jeff C. Trinkle Zhiqiang Qin Shilong Jiang Applying Principles of Robotics to Understand the Biomechanics, Neuromuscular Control and Clinical Rehabilitation of Human Digits 270(6) Francisco J. Valero-Cuevas A Discrete-Continuous Control Approach to Dextrous Manipulation 276(6) Martin Buss Thomas Schlegl Rolling Contacts and Dexterous Manipulation 282(6) Antonio Bicchi Alessia Marigo Robot Learning Real-Time Robot Learning with Locally Weighted Statistical Learning 288(6) Stefan Schaal Christopher G. Atkeson Sethu Vijayakumar Inverse Kinematics for Humanoid Robots 294(3801) Gaurav Tevatia Stefan Schaal Q2: Memory-Based Active Learning for optimizing Nosiy Continuous Functions 4095 Andrew W. Moore Jeff G. Schneider Justin A. Boyan Mary S. Lee Robots Can Teach People How to Move Their Arm 300(6) F. A. Mussa-Ivaldi J. L. Patton Towards Programming Tools for Robots that Integrate Probabilistic Computation and Learning 306(7) Sebastian Thrun Mobile Robotics Mobile Robot Navigation in Indoor Environments using Object and Character Recognition 313(8) Masahiro Tomono Shinich Yuta A Real-Time Algorithm for Mobile Robot Mapping With Applications to Multi-Robot and 3D Mapping 321(8) Sebastian Thrun Wolfram Burgard Dieter Fox Its Time to Make Mobile Robots Programmable 329(6) Yutaka J. Kanayama C. Thomas Wu Towards Dynamic Target Identification Using Optimal Design of Experiments 335(7) Alberto Elfes Marcel Bergerman Jose Reginaldo H. Carvalho Sensor Network Perception for Mobile Robotics 342(6) Adam Hoover Bent David Olsen Grasping and Contact Robotic Grasping and Contact: A Review 348(6) Antonio Bicchi Vijay Kumar Controllability of Single Input Rolling Manipulation 354(7) Prasun Choudhury Kevin M. Lynch Stability Characterizations of Fixtured Rigid Bodies with Coulomb Friction 361(8) J. S. Pang J. C. Trinkle Control Algorithm for Grasping and Manipulation by Multifingered Robot Hands Using Virtual Truss Model Representation of Internal Force 369(8) Tsuneo Yoshikawa Grasping Curved Objects through Rolling 377(6) Yan-Bin Jia Flexible Automation Research Issues in Manufacturing Flexibility - An Invited Review Paper for ICRA 2000 Symposium on Flexibility 383(6) Daniel E. Whitney Scheduling and Coordination in Manufacturing Enterprise Automation 389(6) Haoxun Chen Peter B. Luh A Life Cycle Engineering Approach to FMS Development 395(6) Pingtao Yan Meng Chu Zhou Reggie Caudill Object-Oriented Graphical Specification and Seamless Design Procedure for Manufacturing Cell Control Software Development 401(7) Satoshi Kanai Takeshi Kishinami Toyoaki Tomura Supply Chain Engineering and Automation 408(6) N. Viswanadham Locomotion Study on Quadruped Walking Robot in Tokyo Institute of Technology - Past, Present and Future 414(6) Shigeo Hirose Keisuke Kato A Minimally Actuated Hopping Rover for Exploration of Celestial Bodies 420(8) Eric Hale Nathan Schara Joel Burdick Paolo Fiorini Experiments in Carangiform Robotic Fish Locomotion 428(8) Richard Mason Joel W. Burdick Adaptive Dynamic Walking of the Quadruped on Irregular Terrain---Autonomous Adaptation Using Neural System Model 436(8) Hiroshi Kimura Yasuhiro Fukuoka Stable Running in a Quadruped Robot with Compliant Legs 444(6) Didier Papadopoulos Martin Buehler Cooperative Robots Distributed Manipulation of Multiple Objects using Ropes 450(8) Bruce Donald Larry Gariepy Daniela Rus Distributed Robot Helpers Handling a Single Object in Cooperation with a Human 458(6) Yasuhisa Hirata Kazuhiro Kosuge Knowledge Sharing and Cooperation of Autonomous Robots by Intelligent Data Carrier System 464(6) Daisuke Kurabayashi Hajime Asama The Augmented Object Model: Cooperative Manipulation and Parallel Mechanism Dynamics 470(6) Kyong-Sok Chang Robert Holmberg Oussama Khatib Collaborative Multi-Robot Exploration 476(6) Wolfram Burgard Mark Moors Dieter Fox Reid Simmons Sebastian Thrun Experiments on Capturing a Floating Object by Two Flexible Manipulators 482(6) Mitsuhiro Yamano Atsushi Konno Masaru Uchiyama Mechatronics Kinematics of Gel Robots made of Electro-Active Polymer PAMPS Gel 488(6) Mihoko Otake Masayuki Inaba Hirochika Inoue Toward Biomorphic Control Using Custom a VLSI CPG Chips 494(7) M. Anthony Lewis Ralph Etienne-Cummings Avis H. Cohen Mitra Hartmann A Miniature Robotic System for Reconnaissance and Surveillance 501(7) Dean F. Hougen Saifallah Benjaafar Jordan C. Bonney John R. Budenske Mark Dvorak Maria Gini Howard French Donald G. Krantz Perry Y. Li Fred Malver Brad Nelson Nikolaos Papanikolopoulos Paul E. Rybski Sascha A. Stoeter Richard Voyles Kemal Berk Yesin The Performance of a Deformable-Membrane Tactile Sensor: Basic Results on Geometrically-Defined Tasks 508(6) Dimitris Hristu Nicola Ferrier Roger W. Brockett PolyBot: A Modular Reconfigurable Robot 514(7) Mark Yim David G. Duff Kimon D. Roufas Motion Planning Path Planning Using Lazy PRM 521(8) Robert Bohlin Lydia E. Kavraki Enhancing Randomized Motion Planners: Exploring with Haptic Hints 529(8) O. Burchan Bayazit Guang Song Nancy M. Amato Kinodynamic Motion Planning Amidst Moving Obstacles 537(7) Robert Kindel David Hsu Jean-Claude Latombe Stephen Rock A Framework for Planning Feedback Motion Strategies Based on a Random Neighborhood Graph 544(6) Libo Yang Steven M. LaValle Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths 550(6) Oliver Brock Oussama Khatib Human Augmentation and Assist Devices Surface Waves for Active Transport of Bedridden Patients 556(7) Joseph Spano H. Harry Asada Design and Control of Human Assisted Walking Robot 563(7) Peter Neuhaus H. Kazerooni PAMM - A Robotic Aid to the Elderly for Mobility Assistance and Monitoring: A ``Helping-Hand for the Elderly 570(7) Steven Dubowsky Frank Genot Sara Godding Hisamitsu Kozono Adam Skwersky Haoyong Yu Long Shen Yu Detection of Human Mistakes and Misperception for Human Perceptive Augmentation: Behavior Monitoring Using Hybrid Hidden Markov Models 577(6) Mitsuichi Hiratsuka H. Harry Asada Mobile Robot Helper 583(6) Kazuhiro Kosuge Manabu Sato Norihide Kazamura A Human-Robot Interface Using an Interactive Hand Pointer that Projects a Mark in the Real Work Space 589(7) Shin Sato Shigeyuki Sakane Medical Robotics Anisotropic Elasticity and Force Extrapolation to Improve Realism of Surgery Simulation 596(7) Guillaume Picinbono Jean-Christophe Lombardo Herve Delingette Nicholas Ayache Evaluating Control Modes for Constrained Robotic Surgery 603(7) Fuji Lai Robert D. Howe Preliminary Experiments in Cooperative Human/Robert Force Control for Robot Assisted Microsurgical Manipulation 610(8) Rajesh Kumar Peter Berkelman Puneet Gupta Aaron Barnes Patrick S. Jensen Louis L. Whitcomb Russell H. Taylor The Intuitive™ Telesurgery System: Overview and Application 618(3485) Gary S. Guthart J. Kenneth Salisbury, Jr. Neurobot: A Special-Purpose Robot for Neurosurgery 4103 B. Davies S. Starkie S. J. Harris E. Agterhuis V. Paul L. M. Auer Real-Time Visual Servoing and Tracking Real-Time Vision, Tracking and Control 622(8) Peter I. Corke Seth A. Hutchinson 21/2 D Visual Servoing: A Possible Solution to Improve Image-Based and Position-Based Visual Servoings 630(6) Francois Chaumette Ezio Malis On Specifying and Performing Visual Tasks with Qualitative Object Models 636(8) Gregory D. Hager Zachary Dodds Dynamics and System Performance of Visual Servoing 644(6) Markus Vincze Ims Column Parallel Vision System and Its Application of High Speed Target Tracking 650(6) Y. Nakabo M. Ishikawa H. Toyoda S. Mizuno Dynamic Simulation of Humanoid Motion Simulating Leaping, Tumbling, Landing, and Balancing Humans 656(7) W. L. Wooten J. K. Hodgins Force-Based Motion Editing for Locomotion Tasks 663(7) Nancy S. Pollard Fareed Behmaram-Mosavat Editing Dynamic Properties of Captured Human Motion 670(6) Zoran Popovic Dynamic Simulation of Human Movement Using Large-Scale Models of the Body 676(6) Marcus G. Pandy Frank C. Anderson Towards Agile Animated Characters 682(6) Michiel van de Panne Joe Laszlo Pedro Huang Petros Faloutsos Dynamics Filter---Concept and Implementation of On-Line Motion Generator for Human Figures 688(8) Katsu Yamane Yoshihiko Nakamura Industrial Robots Product and Technology Trends for Industrial Robots 696(5) Hadi A. Akeel Steve W. Holland Robot Mechanisms 701(8) Brian Carlisle Underwater Robotics: Out of the Research Laboratory and Into the Field 709(8) Louis L. Whitcomb The PC and its Influence on Robot Controllers 717(5) Gary J. Rutledge Constrained Motion Planning and Control Motion Planning of Objects in Contact by the Silhouette Algorithm 722(8) Hirohisa Hirukawa Yves Papegay Hybrid Dynamic Control and Adaptation of Constrained Manipulation Systems 730(6) Brenan J. McCarragher A Unified Approach to Modeling and Realization of Constraint Robot Motion using Singularly Perturbed Sliding Manifolds 736(8) H. Harry Asada Bei Gu Brandon W. Gordon Generating Polyhedral Convex Cones from Contact Graphs for the Identification of Assembly Process States 744(6) H. Mosemann T. Bierwirth F. Wahl S. A. Stoeter A Divide-and-Merge Approach to Automatic Generation of Contact States and Planning of Contact Motion 750(7) Jing Xiao Xuerong Ji Haptics Some Current Issues in Haptics Research 757(6) John M. Hollerbach Isotropy and Actuator Optimization in Haptic Interface Design 763(7) S. E. Salcudean L. Stocco Stable Haptic Interaction Using the Excalibur Force Display 770(6) Richard J. Adams Daniel Klowden Blake Hannaford Human Tactile Spatial Sensitivity for Tactile Feedback 776(7) G. Moy U. Singh E. Tan R. S. Fearing Designing with Haptic Feedback 783(6) Karon E. MacLean Haptic Interface Control---Design Issues and Experiments with a Planar Device 789(6) Mohammad R. Sirouspour S. P. DiMaio S. E. Salcudean P. Abolmaesumi C. Jones Entertainment Robotics in Edutainment 795(6) Minoru Asada Raffaello DAndrea Andreas Birk Hiroaki Kitano Manuela Veloso Digital Creatures for Future Entertainment Robotics 801(6) Masahiro Fujita RoboCup Jr.: RoboCup for Edutainment 807(6) Hiroaki Kitano Shoji Suzuki Junichi Akita RoboCup Jr. with LEGO Mindstorms 813(7) Henrik Hautop Lund Luigi Pagliarini The Outline of the International Robot Games Festival 820(3182) E. Nakano M. Asada S. Tadokoro K. Osuka K. Nagai Y. Masutani H. Kitano Robot Improv: Using Drama To Create Believable Agents 4002 Allison Bruce Jonathan Knight Samuel Listopad Brian Magerko Illah R. Nourbakhsh Robot Dynamics Robot Dynamics: Equations and Algorithms 826(9) Roy Featherstone David Orin Practical Models for Practical Flexible Arms 835(8) Wayne Book Klaus Obergfell Computational Robot Dynamics Using Spatial Operators 843(7) Abhi Jain Guillermo Rodriguez Operational Space Dynamics: Efficient Algorithms for Modeling and Control of Branching Mechanisms 850(7) Kyong-Sok Chang Oussama Khatib Forward Dynamics Algorithms for Multibody Chains and Contact 857(7) Dinesh K. Pai Uri M. Ascher Paul G. Kry Visual Modeling and Reconstruction Surface Simplex Meshes for 3D Medical Image Segmentation 864(7) J. Montagnat H. Delingette N. Scapel N. Ayache Constructing Geometric Object Models from Images 871(8) Jean Ponce Yakup Genc Steve Sullivan Terrain Reconstruction for Ground and Underwater Robots 879(6) R. Mandelbaum G. Salgian H. Sawhney M. Hansen Self-Calibration Using the Linear Projective Reconstruction 885(6) Jong-Eun Ha Jin-Young Yang Kuk-Jin Yoon In-So Kweon 3-D Map Reconstruction from Range Data 891(7) Daniel Huber Owen Carmichael Martial Hebert Human Frontier Environments Advances in Orbital Robotics 898(10) G. Hirzinger B. Brunner R. Lampariello K. Landzettel J. Schott B.-M. Steinmetz Ground Mobility Systems for Planetary Exploration 908(6) Paolo Fiorini Experiences and Lessons Learned from the ETS-VII Robot Satellite 914(6) Mitsushige Oda Behavior-Based Control for Autonomous Underwater Exploration 920(6) Julio Rosenblatt Stefan Williams Hugh Durrant-Whyte Enhanced Mars Rover Navigation Techniques 926(6) Richard Volpe Tara Estlin Sharon Laubach Clark Olson J. (Bob) Balaram Underwater Robotics 932(6) J. Yuh MEMS MEMS and Robotics: Promises and Problems 938(9) Peter Will 3D Viewpoint Selection and Bilateral Control for Bio-Micromanipulation 947(6) Fumihito Arai Tomohiko Sugiyama Poom Luangiarmekorn Akiko Kawaji Toshio Fukuda Kouichi Itoigawa Atsushi Maeda Track-Following Controller Design of MEMS Based Dual-Stage Servos in Magnetic Hard Disk Drives 953(6) Yunfeng Li Roberto Horowitz Issues in Precision Motion Control and Microhandling 959(6) Hannes Bleuler Reymond Clavel Jean-Marc Breguet Hans Langen Eric Pernette Micropart Feature Design for Visually Servoed Microassembly 965(6) Bharath Mukundakrishnan Bradley J. Nelson Volume 2 (Pages 971-2032) Path Planning Randomized Planning for Short Inspection Paths 971(6) Tim Danner Lydia E. Kavraki A New Potential Field Method for Robot Path Planning 977(6) Yunfeng Wang Gregory S. Chirikjian Virtual Obstacle Concept for Local-Minimum Recovery in Potential-Field Based Navigation 983(6) Liu Chengqing Marcelo H. Ang, Jr. Hariharan Krishnan Lim Ser Yong Obstacle Traversal for Space Exploration 989(6) Zvi Shiller RRT-Connect: An Efficient Approach to Single-Query Path Planning 995(7) James J. Kuffner, Jr. Steven M. LaValle ERPP: An Experience-Based Randomized Path Planner 1002(7) Stefano Caselli Monica Reggiani Mapping and Localization 1 A Computationally Efficient Solution to the Simultaneous Localisation and Map Building (SLAM) Problem 1009(6) Gamini Dissanayake Hugh Durrant-Whyte Tim Bailey An Indoor Absolute Positioning System with No Line of Sight Restrictions and Building-Wide Coverage 1015(8) Eric Prigge Jonathan How Appearance-Based Place Recognition for Topological Localization 1023(7) Iwan Ulrich Illah Nourbakhsh Robust Place Recognition using Local Appearance Based Methods 1030(6) Gregory Dudek Deeptiman Jugessur Using Multiple Gaussian Hypotheses to Represent Probability Distributions for Mobile Robot Localization 1036(6) David J. Austin Patric Jensfelt Invariant Filtering for Simultaneous Localization and Mapping 1042(6) Matthew C. Deans Martial Hebert Grasping and Manipulation Intelligent Soft Contact Surface Technology with MEMS in Robotic and Human Augmented Systems 1048(6) Geng Wang Imin Kao Unknown Object Grasping Using Statistical Pressure Models 1054(6) Doug Perrin Christopher E. Smith Osama Masound Nikolaos P. Papanikolopoulos A Sufficient Condition for Manipulation of Envelope Family 1060(8) Makoto Kaneko Kensuke Harada Toshio Tsuji A New Approach to Motion Planning for Disc-Shaped Robots Manipulating a Polygonal Object in the Plane 1068(8) Attawith Sudsang Jean Ponce Event-Driven Parts Moving in 2D Endogeneous Environments 1076(6) C. Serkan Karagoz H. Isil Bozma Daniel E. Koditschek Dynamic Simulation for Grasping and Whole Arm Manipulation 1082(6) Peng Song Masahito Yashima Vijay Kumar Micro Robots Biomechanics and Simulation of Cricket for Microrobot Design 1088(7) Sathaporn Laksanacharoen Alan J. Pollack Gabriel M. Nelson Roger D. Quinn Roy E. Ritzman A Micro Operation Hand and its Application to Microdrawing 1095(6) Tatsuya Nakamura Yoshiyuki Kogure Koichiro Shimamura Fully Programmable MEMS Ciliary Actuator Arrays for Micromanipulation Tasks 1101(8) J. W. Suh R. B. Darling K.-F. Bohringer B. R. Donald H. Baltes G. T. Kovacs Design of a Cricket Microrobot 1109(6) Matthew C. Birch Roger D. Quinn Geon Hahm Stephen M. Phillips Barry Drennan Andrew Fife Hiten Verma Randall D. Beer The Effect of Material Properties and Gripping Force on Micrograsping 1115(6) Yu Zhou Bradley J. Nelson Planning of a Microassembly Task in a Flexible Microrobot Cell 1121(6) Sergej Fatikow Airat Faizullin Jorg Seyfried Manufacturing System Design Using Assembly Scoring as an Entry into Production Line Design 1127(5) Rick Guptill Mei-Chu Cheng Yasuyuki Yamagiwa A Framework for the Development of Agile Manufacturing Enterprises 1132(6) R. Kolluru S. Smith P. Meredith R. Loganantharaj T. Chambers G. Seetharaman T. DSouza Design Criteria for Developing an Automated Live-Bird Transfer System 1138(6) Kok-Meng Lee Flexible Transport System by Cooperation of Conveyer-Loaded AGVs 1144(7) Jun Ota Tamio Arai Kousuke Inoue Ryousuke Chiba Tomokazu Hirano Design of Synchronized Supply Chains: A Six Sigma Tolerancing Approach 1151(6) Y. Narahari N. Viswanadham R. Bhattacharya Automated CAD-Guided Automobile Part Dimensional Inspection 1157(6) Weihua Sheng Ning Xi Mumin Song Yifan Chen James S. Rankin, III Space Robots and Rovers State Identification for Planetary Rovers: Learning and Recognition 1163(6) Olivier Aycard Richard Washington Autonomous Satellite Capture by a Space Robot 1169(6) Noriyasu Inaba Mitsushige Oda On-Board Real-Time State and Fault Identification for Rovers 1175(7) Richard Washington On-Board Task Scheduling Algorithm for Spacecraft 1182(6) Il-Jun Jeong George Papavassilopoulos David S. Bayard Dynamic Tool Vectors for Robo-Centric Control 1188(6) Craig R. Carignan David L. Akin J. Corde Lane Recent Progress in Local and Global Traversability for Planetary Rovers 1194(7) Sanjiv Singh Reid Simmons Trey Smith Anthony Stentz Vandi Verma Alex Yahja Kurt Schwehr Autonomous Robots World Modeling and Behavior Generation for Autonomous Ground Vehicle 1201(6) Stephen Balakirsky Alberto Lacaze Design, Experiements and Motion Planning of a Spherical Rolling Robot 1207(6) Shourov Bhattacharya Sunil K. Agrawal A Motion Generation Approach for an Onmidirectional Vehicle 1213(6) Igor E. Paromtchik Hajime Asama A Localization Method Based on Two Omnidirectional Perception Systems Cooperation 1219(6) Arnaud Clerentin Laurent Delahoche Claude Pegard Eric Brassart Gracsy Sensor Resetting Localization for Poorly Modelled Mobile Robots 1225(8) Scott Lenser Manuela Veloso Nonholonomic Motion Planning for Mobile Manipulators 1233(6) Herbert G. Tanner Kostas J. Kyriakopoulos Space and Underwater Robots Application of Automatic Action Planning for Several Work Cells to the German ETS-VII Space Robotics Experiments 1239(6) E. Freund K. Hoffmann J. Rossmann (Almost) Exact Path Tracking Control for an Autonomous Helicopter in Hover Manoeuvres 1245(6) R. Mahony R. Lozano Fault Tolerant Control of an Autonomous Underwater Vehicle Under Thruster Redundancy: Simulations and Experiments 1251(6) Tarun Kanti Podder Gianluca Antonelli Nilanjan Sarkar Active Multi-Model Control for Dynamic Maneuver Optimization of Unmanned Air Vehicles 1257(6) Datta Godbole Tariq Samad Vipin Gopal A Unified Force Control Approach to Autonomous Underwater Manipulation 1263(6) Yong Cui Nilanjan Sarkar Mission Path Following for an Autonomous Unmanned Airship 1269(7) Jose Raul Azinheira Ely Carneiro de Paiva Josue Jr. G. Ramos Samuel Siqueira Bueno Control 1 On the Nonlinear Control of Hydraulic Servo-Systems 1276(7) Mohammad R. Sirouspour S. E. Salcudean Simulation of Conservative Congruence Transformation: Conservative Properties in the Joint and Cartesian Spaces 1283(6) Shih-Feng Chen Imin Kao Backlash Compensation in Discrete Time Nonlinear Systems Using Dynamic Inversion by Neural Networks 1289(7) J. Campos F. L. Lewis R. Selmic A 3-Step Set-Point Control Algorithm for Robot Arms 1296(6) Nghe Huan Quach Ming Liu Channel Algorithm of Transversal Passing through Singularities for Non-Redundant Robot Manipulators 1302(6) Ignancy Duleba Design and Experimental Evaluation of a Stable Transition Controller for Geometrically Constrained Robots 1308(6) Prabhakar R. Pagilla Biao Yu Actuators 1 Constrained Force Control of Shape Memory Alloy Actuators 1314(7) Danny Grant Vincent Hayward Force Controllable Hydro-Elastic Actuator 1321(7) David W. Robinson Gill A. Pratt Development and Analysis of Actuator with ER Damper 1328(6) Naoyuki Takesue Guoguang Zhang Masamichi Sakaguchi Junji Furusho Yoshihide Kiyosawa Velocity Dependence of the Characteristics of Harmonic Drive Built-in Torque Sensing 1334(6) Minoru Hashimoto Takashi Ishizuka Ivan Godler Masashi Horiuchi An Actuator Model of ICPF for Robotic Applications on the Basis of Physicochemical Hypotheses 1340(7) Satoshi Tadokoro Shinji Yamagami Toshi Takamori Modeling and Motion Control of an Actuator Unit using ER Clutches 1347(7) Masamichi Sakaguchi Guoguang Zhang Junji Furusho Rehabilitation Robotics A Smart Walker for the Frail Visually Impaired 1354(6) Shane MacNamara Gerard Lacey Step Climbing Using Power Assist Wheel Chair Robot with Inverse Pendulum Control 1360(6) Yoshihike Takahashi Shinobu Ogawa Shigenori Machida Autonomous/Semi-Autonomous Navigation System of a Wheelchair by Active Ultrasonic Beacons 1366(6) H. Seki S. Kobayashi Y. Kamiya M. Hikizu H. Nomura Control Strategies for a Split-Wheel Car-Steering Simulator for Upper Limb Stroke Therapy 1372(6) M. J. Johnson H. F. M. Van der Loos C. G. Burgar P. Shor L. J. Leifer DSP-Based Controller for a Multi-Degree Prosthetic Hand 1378(6) Han-Pang Huang Chun-Ying Chiang Mouth Opening and Closing Training with 6-DOF Parallel Robot 1384(6) Hideaki Takanobu Takeo Maruyama Atsuo Takanishi Kayoko Ohtsuki Masatoshi Ohnishi Assembly and Motion Planning Towards Random Sampling with Contact Constraints 1390(6) Xuerong Ji Jing Xiao Determining Feasible Contact States of Pairs of Spatial Polyhedra 1396(6) Barry B. Goeree Ernest D. Fasse Michael M. Marefat Programming by Demonstration - Constructing Task Level Plans in a Hybrid Dynamic Framework 1402(6) J. R. Chen B. J. McCarragher A Framework for Using the Workspace Medial Axis in PRM Planners 1408(6) Christopher Holleman Lydia E. Kavraki Real-Time Motion Planning for Personal Robots Using Primitive Motions 1414(6) Li Xu Yuan F. Zheng Attractive Regions in the Environment 1420(8) Hong Qiao Landmarks and Environmental Modeling Mobile Robot Navigation using Self-Similar Landmarks 1428(7) Amy J. Briggs Daniel Scharstein Darius Braziunas Cristian Dima Peter Wall Integration of Range and Image Sensing for Photorealistic 3D Modeling 1435(6) Ioannis Stamos Peter K. Allen Design and Implementation of Onbody Real-Time Depthmap Generation System 1441(6) Satoshi Kagami Kei Okada Masayuki Inaba Hirochika Inoue Landmark Selection for Terrian Matching 1447(6) Clark F. Olson 3-D Interpretation of Sewer Circular Structures 1453(6) Marina Kolesnik Gregory Baratoff Object Recognition by Sub-Scene Graph Matching 1459(6) Wen-Jing Li Tong Lee Flexible Robots Adaptation of Generalized Time-Delay Command Shaper for Flexible Manipulator Control 1465(7) Sungsoo Rhim Wayne J. Book Stability of A Flexible Link with an Arbitrarily Orientented Tip Rotor and a Conservative Tip Load 1472(6) L. Li G. R. Heppler K. Huseyin Bandwidth Modulation of Rigid Subsystem for the Class of Flexible Robots 1478(6) Joono Cheong Wankyun Chung Youngil Youm Vibration Controllability of Flexible Robot-Payload Systems 1484(6) T. Zhou J. W. Zu A. A. Goldenberg PDS Cooperative Control of Two One-Link Flexible Arms 1490(6) Fumitoshi Matsuno Akifumi Hayashi Robust Control Design for Flexible-Link/Flexible-Joint Robots 1496(6) D. G. Wilson G. P. Starr G. G. Parker R. D. Robinett Novel Transmission Methods Development of Independently-Controlled Position and Orientation Manipulator for Minute Work 1502(7) Hiroki Tokashiki Kenji Kaneko Kazuo Tanie Wing Transmission for a Micromechanical Flying Insect 1509(8) R. S. Fearing K. H. Chiang M. H. Dickinson D. L. Pick M. Sitti J. Yan Structural Design and Analysis of a New Semi-Direct Drive Robot Arm: Theory and Experiment 1517(8) Jaydeep Roy Randal Goldberg Louis L. Whitcomb Anthropomorphic Joint Mechanism with Two Degrees of Freedom 1525(6) H. R. Choi S. M. Ryew Caster Drive Mechanisms for Holonomic and Omnidirectional Mobile Platforms with no Over Constraint 1531(8) Masayoshi Wada Akira Takagi Shunji Mori On the Energy Efficiency of CVT-Based Mobile Robots 1539(6) Jungyun Kim Hanjun Yeom F. C. Park Y. I. Park Munsang Kim Robotics in Manufacturing Application of a Model-Free Algorithm for the Packing of Irregular Shaped Objects in Semiconductor Manufacture 1545(6) Vivek A. Sujan Steven Dubowsky Design and Evaluation of a Laser-Cutting Robot for Laminated, Solid Freeform Fabrication 1551(6) Sangeun Choi Waytt S. Newman Optimal Profile Generation in Distorted Surface Finishing 1557(6) Z. Gong X. Q. Chen H. Huang User Oriented Integration of Sensor Operations in a Offline Programming System for Welding Robots 1563(5) Wenrui Dai Markus Kampker A Robot-Assisted Finishing System with an Active Torque Controller 1568(6) Y. T. Wang Y. J. Jan On the Use of Robotics for Melt-Blowing to Form Shaped/Molded Fabric Structures 1574(6) Raoul Farer Edward Grant Tushar Ghosh Abdelfattah Seyam Gordon Lee Surgical Robots Motion/Force/Image Control of a Diagnostic Ultrasound Robot 1580(6) W.-H. Zhu S. E. Salcudean S. Bachmann P. Abolmaesumi A Semi-Automatic Handheld Mechatronic Endoscope with Collision-Avoidance Capabilities 1586(6) S. DAttanasio O. Tonet G. Megali M. C. Corrozza P. Dario Realistic Force Feedback for Virtual Reality Based Diagnostic Surgery Simulators 1592(7) V. Vuskovic M. Kauer G. Szekely M. Reidy Biomechanical Modeling of the Small Intestine as Required for the Design and Operation of a Robotic Endscope 1599(8) H. D. Hoeg A. B. Slatkin J. W. Burdick Dr. Warren S. Grundfest Tele-Micro-Surgery System with Intelligent User Interface 1607(8) Mamoru Mitsuishi Shin Tomisaki Takumi Yoshidome Hiroyuki Hashizume Kazuo Fujiwara Robotized Reconstructive Surgery: Ongoing Study and First Results 1615(6) Francois Pierrot Etienne Dombre Luc Teot Eric Degoulange Sensing Strategies and Control 1 Optical Coordination Sensor for Precision Cooperating Robots 1621(6) Wing-Choi Ma Alfred A. Rizzi Ralph L. Hollis Generation of Observation Behavior in Distributed Robotic System 1627(6) Tomoyuki Kaga Toshio Fukuda Self-Learning Vision-Guided Robots for Searching and Grasping Objects 1633(6) Minh-Chinh Nguyen Volker Graefe System Architecture for Synchronizing, Signal Level Fusing, Simulating and Implementing Sensors 1639(6) Christian Robl Georg Farber An Adaptive Sensory Perception Controller for Robotic Systems 1645(6) Tomasz Celinski Brenan McCarragher Visually Guided Coordination for Distributed Precision Assembly 1651(6) Michael L. Chen Shinji Kume Alfred A. Rizzi Ralph L. Hollis Target Tracking Pursuit-Evasion Using Beam Detection 1657(6) Borislav H. Simov Giora Slutzki Steven M. LaValle Tracking Techniques for Visual Servoing Tasks 1663(7) D. Kragic H. I. Christensen Uncalibrated Target Tracking with Obstacle Avoidance 1670(6) Jenelle Armstrong Piepmeier Gary V. McMurray Andrew Pfeiffer Harvey Lipkin Visual Tracking with Subpixel Resolution using an Analog VLSI Computational Sensor 1676(6) Ziyi Lu Bertran E. Shi 3D Motion Tracking of a Mobile Robot in a Natural Environment 1682(6) P. Saeedi P. Lawrence D. Lowe Visual Hand Posture Tracking in a Gripper Guiding Application 1688(7) Fabienne Lathuiliere Jean-Yves Herve Redundant Manipulators Motion Planning for Dynamic Eel-Like Robots 1695(6) Kenneth A. Mclsaac James P. Ostrowski Controlling a Multijoint Robot for Autonomous Sewer Inspection 1701(6) K.-U. Schotl V. Kepplin K. Berns R. Dillmann Towards Impulsive Manipulation: A General Algebraic Collision Model for Spatial Robots 1707(2402) Ann Ramos Gravagne Ian D. Walker Chaos Dynamics in the Trajectory Control of Redundant Manipulators 4109 Fernando B. M. Duarte J. A. Tenreiro Machado Normalized Impact Geometry and Performance Index for Redundant Manipulators 1714(6) Jinhyun Kim Wankyun Chung Youngil Youm A New Redundancy-Based Iterative Scheme for Avoiding Joint Limits Application to Visual Servoing 1720(6) Francois Chaumette Eric Marchand Reconfigurable Robots A Physical Implementation of the Self-Reconfiguring Crystalline Robot 1726(8) Daniela Rus Marsette Vona Emergent Structures in Modular Self-Reconfigurable Robots 1734(8) Hristo Bojinov Arancha Casal Tad Hogg Mechatronic Design of a Modular Self-Reconfiguring Robotic System 1742(6) Cem Unsal Pradeep K. Khosla Self-Localization of a Holon in the Reconfiguration Task Space of a Robotic Colony 1748(7) Mehmet Durna Aydan M. Erkman Ismet Erkmen Formation Control of Autonomous Agents in 3D Workspace 1755(6) W. Kang N. Xi Andy Sparks Towards Continuously Reconfigurable Self-Designing Robotics 1761(6) H. Lipson J. B. Pollack Underwater Robotics In-Situ Attitude Calibration for High Resolution Bathymetric Surveys with Underwater Robotic Vehicles 1767(8) Hanumant Singh Oscar Pizarro Louis Whitcomb Dana Yoerger Disturbance Observer-Based Robust Control for Underwater Robotic Systems with Passive Joints 1775(6) G. B. Chung K. S Eom B.-J. Yi I. H. Suh S.-R. Oh Y. J. Cho An Inertial Navigation System for Small Autonomous Underwater Vehicles 1781(6) Xiaoping Yun Eric R. Bachmann Suat Arslan Fine-Scale Seafloor Survey in Rugged Deep-Ocean Terrain with an Autonomous Robot 1787(6) Dana. R. Yoerger Albert M. Bradley Barrie B. Walden Marie-Helene Cormier William B. F. Ryan Autonomous Underwater Simultaneous Localisation and Map Building 1793(6) Stefan B. Williams Paul Newman Gamini Dissanayake Hugh Durrant-Whyte Guidance of Unmanned Underwater Vehicles: Experimental Results 1799(6) M. Caccia G. Bruzzone G. Veruggio Nonholonomic Motion Planning Design of a Desirable Trajectory and Convergent Control for 3-D.O.F. Mnipulator with a Nonholonomic Constraint 1805(6) T. Yoshikawa K. Kobayashi T. Watanabe Near-Optimal Motion Planning for Nonholonomic Systems Using Time-Axix Transformation and Gradient Method 1811(6) Makoto Iwamura Motoji Yamamoto Akira Mohri Stabilization of the General Two-Trailers System 1817(7) Marilena Vendittelli Giuseppe Oriolo Two Hybrid Control Schemes for Nonholonomic Robots 1824(6) Brett J. Young Jonathan R. Lawton Randal W. Beard Multi-Level Stabilizing Control of an Nonholonomic Vehicle and Its Discrete-Time Multirate Implementaion 1830(6) Luigi Palopoli Fabio Conticell Benedetto Allotta Small Radius Attainability Spheres for Driftless Non-Holonomic Systems 1836(6) Ignacy Duleba Applications of Sensing Vision-Guided Autonomous Stair Climbing 1842(6) Yalin Xiong Larry Matthies Robust Localization for 3D Object Recognition Using Local EGI and 3D Template Matching with M-Estimators 1848(8) Kentaro Kawamura Kiminori Hasegawa Yasuyuki Someya Yoichi Sato Katsuhii Ikeuchi Development of Image Stabilization System for Remote Operation of Walking Robots 1856(6) Ryo Kurazume Shigeo Hirose A Comparison of Four Fast Vision Based Object Recognition Methods for Programing by Demonstration Applications 1862(6) Markus Ehrenmann Despina Ambela Peter Steinhaus Rudiger Dillmann Robot-Mounted Through-Wall Radar for Detecting, Locating, and Identifying Building Occupants 1868(8) David G. Falconer Robert W. Ficklin Kurt G. Konolige Observing the Load Dynamic of an Overhead Crane with Minimal Sensor Equipment 1876(6) Claudio Altafini Ruggero Frezza Johann Galic Neural Network Systems Stabilizing and Robustifying the Error Backpropagation Method in Neurocontrol Applications 1882(6) M. Onder Efe Okyay Kaynak Tuning of Neural Oscillators for the Design of Rhythmic Motions 1888(6) Artur M. Arsenio Fast and Efficient Incremental Learning for High-Dimensional Movement Systems 1894(6) Sethu Vijayakumar Stefan Schaal Vision-Based Motion Planning for a Robot Arm Using Topology Representing Networks 1900(6) Youwei Fu Rajeev Sharma Michael Zeller Neural Network Controller for Constrained Robot Manipulators 1906(6) Shenghai Hu Marcelo H. Ang, Jr. H. Krishnan Radial Basis Artificial Neural Networds for Screw Insertions Classification 1912(6) Bruno Lara Lakmal D. Seneviratne Kaspar Althoefer Parallel Manipulators A Mixed Elastic and Rigid-Body Dynamic Model of an Actuation Redundant Parallel Robot with High-Reduction Gears 1918(6) S. Kock W. Schumacher Control of a Fast Parallel Robot with a Redundant Chain and Gearboxes: Experimental Results 1924(6) S. Kock W. Schumacher Application of a Nonlinear Adaptive Controller to a 6 DOF Parallel Manipulator 1930(6) M. Honegger R. Brega G. Schweitzer Identification and Decoupling Control of Flexure Jointed Hexapods 1936(6) Yixin Chen John E. McInroy Geometric Design Tools for Stiffness and Vibration Analysis of Robotic Mechanisms 1942(6) Jinwook Kim F. C. Park Munsang Kim Optimal Force Distribution Applied to a Robotic Crane with Flexible Cables 1948(7) Wei-Jung Shiang David Cannon Jason Gorman Applications of Grasping Flexible Object Manipulation by Dual Manipulator System 1955(6) Toshio Fukuda Takayuki Matsuno Fumhito Arai Casting Manipulation (Braking Control for Catching Motion) 1961(8) Hitoshi Arisumi Kazuhito Yokoi Kiyoshi Komoriya Design and Implementation of a Robot Assisted Crurcible Charging System 1969(7) Vivek A. Sujan Steven Dubowsky Yoshi Ohkami Grasp Force Control in Two-Finger Grippers with Pneumatic Actuation 1976(6) Erika Ottaviano Maria Toti Marco Ceccarelli Sensory Gripping System for Variable Products 1982(6) Werner Friedrich Patrick Lim Howard Nicholls Design and Analysis of a Reconfigurable Robotic Gripper for Limp Material Handling 1988(6) Ramesh Kolluru Kimon P. Valavanis Stanford A. Smith Nikos Tsourveloudis Teleoperation 1 Human Augmentation in Teleoperation of Arm Manipulators in an Environement with Obstacles 1994(6) I. Ivanisevic V. Lumelsky A Telerobot Control System for Accident Response 2000(7) Robert J. Anderson David L. Shirey William D. Morse Effective Vehicle Teleoperation on the World Wide Web 2007(6) Sebastien Grange Terrence Fong Charles Baur Using Structural Knowledge for Interactive 3-D Modeling of Piping Environments 2013(6) P. Even R. Fournier R. Gelin Collaborative Teleoperation via the Internet 2019(6) Ken Glodberg Billy Chen Rory Solomon Steve Bui Bobak Farzin Jacob Heitler Derek Poon Gordon Smith Internet-Based Operations for the Mars Polar Lander Mission 2025(8) Paul G. Backers Kam S. Tso Jeffrey S. Norris Gregory K. Tharp Jeffrey T. Slostad Robert G. Bonitz Khaled S. Ali Volume 3 (Pages 2033-3070) Mobile Robots 1 Geometric Kinematics Modeling of Omni-Directional Autonomous Mobile Robot and Its Applications 2033(6) Dong Sung Kim Hyun Chul Lee Wook Hyun Kwon Topological Characterization of Safe Coordinated Vehicle Motions 2039(7) R. James Milgram Stephen G. Kaufman Landmark-Based Safe Path Planning for Car-Like Robots 2046(6) A. Lambert Th. Fraichard A Utility Approach to Multi-Agent Coordination 2052(6) Timothy B. Gold James K. Archibald Richard L. Frost A New Local Path Planner for Nonholonomic Mobile Robot Navigation in Cluttered Environments 2058(6) Gabriel Ramirez Said Zeghloul Precision-Calibration of Fiber-Optics Gyroscopes for Mobile Robot Navigation 2064(6) Lauro Ojeda Hakyoung Chung Johann Borenstein Visual Servoing 1 Visual Servoing from Lines 2070(6) Nicolas Andreff Bernard Espiau Radu Horaud Adaptive Binocular Visual Servoing for Independently Moving Target Tracking 2076(6) Minoru Asada Takamaro Tanaka Koh Hosoda Visual Tracking using Dynamic Transition in Groups of Affine Transformed Templates 2082(6) Ken Ito Shingeyuki Sakane Robust Vision Based 3D Trajectory Tracking Using Sliding Mode Control 2088(6) P. Zanne G. Morel F. Plestan Joint Coupled compensation Effects in Visually Servoed Tracking 2094(6) Paul Y. Oh Peter K. Allen Controlling Robots with Two Cameras: How to Do it Properly 2100(6) Bart Lamiroy Bernard Espiau Nicolas Andreff Radu Horaud Fuzzy Logic Systems Application of Multiple Fuzzy-Neuro Force Controllers in an Unknown Environment Using Genetic Algorithms 2106(6) Kazuo Kiguchi Keigo Watanabe Kiyotaka Izume Toshio Fukuda Fuzzy PD+Control for Robot Manipulators 2112(6) Victor Santibanez Rafael Kelly Miguel A. Llama Mobile Target Tracking Using Hierarchical Grey-Fuzzy Motion Decision-Making Method 2118(6) Tse Min Chen Ren C. Luo Fuzzy-Sliding Mode Control with the Self Tuning Fuzzy Inference Based on Genetic Algorithm 2124(6) Seok Jo Go Min Cheol Lee Adaptive Fuzzy-Neural Observer for a Class of Nonlinear Systems 2130(6) Yih-Guang Leu Tsu-Tian Lee Robust Fuzzy and Recurrent Neural Network Motion Control among Dynamic Obstacles for Robot Manipulators 2136(10) Jean Bosco Mbede Xinhan Huang Min Wang Static and Dynamic Contact Active Measurement of Contact Sounds 2146(7) Joshua L. Richmond Dinesh K. Pai A Tapping Micropositioning Cell 2153(6) Wesley H. Huang Neighborhood Equilibrium Grasp for Multiple Objects 2159(6) Kensuke Harada Makoto Kaneko About Friction in Walking Machines 2165(8) F. Pfeiffer Th. Romann Instantaneous Evaluation of Friction Based on ARTC Tactile Sensor 2173(6) Hiroyuki Shinoda Shinya Sasaki Katsuhiko Nakamura Study of Soft-Finger Contact Mechanics Using Finite Elements Analysis and Experiments 2179(6) Nicholas Xydas Milind Bhagavat Imin Kao Discrete Event Dynamic Systems 1 Manufacturing Modeling using Process Nets with Resources 2185(6) MuDer Jeng Xiaolan Xie YiSheng Huang Modeling and Performance Evaluation of a Controlled IC Fab using Distributed Colored Timed Petri Net 2191(6) Chung-Hsien Kuo Han-Pang Huang Disassembly Modeling, Planning, and Application: A Review 2197(1918) Ying Tang Meng Chu Zhbu Eyal Zussman Reggie Caudill Adaptive Supervisory Control under Sensor Unavialability 4115 Houshang Darabi Mohsen A. Jafari Developing a Web-Enabled Equipment Driver for Semiconductor Equipment Communications 2203(8) Fan-Tien Cheng Meng-Tsang Lin Rong-Shean Lee Incremental Optimization of Cyclic Timed Event Graphs 2211(6) Alessandro Giua Aldo Piccaluga Carla Seatzu Humanoids Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability 2217(6) Kenji Inoue Haruyuki Yoshida Tatsuo Arai Yasushi Mae Planning of Joint Trajectories for Humanoid Robots Using B-Spline Wavelets 2223(6) Ales Ude Christopher G. Atkeson Marcia Riley Human Symbiotic Robot Design Based on Division and Unification of Functional Requirements 2229(6) Toshio Morita Hiroyasu Iwata Shigeki Sugano Complex Continuous Meaningful Humanoid Interaction: A Multi Sensory-Cue Based Approach 2235(8) Gordon Cheng Yasuo Kuniyoshi An Anthropomorphic Head-Eye Robot Expressing Emotions Based on Equations of Emotion 2243(7) Atsuo Takanishi Kensuke Sato Kunio Segawa Hideaki Takanobu Hiroyasu Miwa Design of Active/Passive Hybrid Compliance in the Frequency Domain - Shaping Dynamic Compliance of Humanoid Shoulder Mechanism 2250(8) Masafumi Okada Yoshihiko Nakamura Shin-Ichiro Hoshino Sensing and Motion Planning Modeling Motion Uncertainty of Moving Obstacles for Robot Motion Planning 2258(6) Jun Miura Yoshiaki Shirai Manipulative Difficulty Index of a Mobile Robot with Multiple Trailers in Pushing and Towing with Imperfect Measurement 2264(6) Wen Li Takashi Tsubouchi Shin ichi Yuta Exact Cellular Decompositions in Terms of Critical Points of Morse Functions 2270(8) Howie Choset Ercan Acar Alfred A. Rizzi Jonathan Luntz Real-Time Generation of Collision-Free Paths for a Mobile Sphere 2278(6) Enrique J. Bernabeu Josep Tornero On Relating the Disconnectendness of a Contact Formation to the Geometric Properties of its Constituent Objects 2284(6) David Johnston Jing Xiao Deformable Volumes in Path Planning Applications 2290(6) Elliot Anshelevich Scott Owens Florent Lamiraux Lydia E. Kavraki Navigation and Mapping Rover Maneuvering for Autonomous Vision-Based Dexterous Manipulation 2296(6) Issa A. D. Nesnas Mark W. Maimone Hari Das Fault Detection and Identification in a Mobile Robot using Multiple Model Estimation and Neural Network 2302(8) Puneet Goel Goksel Dedeoglu Stergios I. Roumeliotis Gaurav S. Sukhatme On-Line Construction of Iconic Maps 2310(6) Eric Bourque Gregory Dudek Obstacle Avoidance of Legged Robot without 3D Reconstruction of the Surroundings 2316(6) Y. H. Chow Ronald Chung Multiple-Goals Paths Planning for Coordinate Measuring Machines 2322(6) Steven N. Spitz Aristides A. G. Requicha Combination of Model-Based and Reactive Methods in Autonomous Navigation 2328(6) D. Maravall J. de Lope F. Serradilla Control and Applications 1 Proposition and Basic Experiments of Shape Feedback Master-Slave Arm-On the Application for the Demining Robots 2334(6) Keisuke Kato Shigeo Hirose Single Rigid Body Representation, Control and Stability for Robotic Applications 2340(6) Hooshang Hemami Behzad Dariush Dynamic Modeling and Identification of Earthmoving Engines without Kinematic Constraints: Application to the Compactor 2346(6) E. Guillo M. Gautier An Industrial Application of Control of Dynamic Behavior of Robots---A Walk-Through Programmed Welding Robot 2352(6) Marcelo H. Ang Jr. Lin Wei Lim Ser Yong A Framework for Decentralized Control of Autonomous Vehicles 2358(6) Daniel J. Stilwell Bradley E. Bishop A Robotic Road Sweeper 2364(6) E. Prassler D. Schwammkrug B. Rohmoser G. Schmidl Parallel Mechanisms A Novel Manipulator Architecture for the SCARA Motions 2370(6) Jorge Angeles Alexei Morozov Oscar Navarro Analytic Jacobian of In-Parallel Manipulators 2376(6) Doik Kim Wankyun Chung Y. Youm Determination of the Carriage Stroke of 6-PSS Parallel Manipulators having the Specific Orientation Capability in a Prescribed Workspace 2382(1740) T. Huang B. Jiang On the Optimum Design of Planar 3-DOF Parallel Manipulators with Respect to the Workspace 4122 Xin-Jun Liu Jin-Song Wang Feng Gao On the Stability Conditions for a Class of Parallel Manipulators 2386(6) M. M. Svinin K. Ueda M. Uchiyama Workspace Analysis of the ParaDex Robot - A Novel, Closed-Chain, Kinematically-Redundant Manipulator 2392(6) Yuesong Wang Wyatt S. Newman Robert S. Stoughton Manufacturing Scheduling Advanced Scheduling Methodologies for Flexible Manufacturing Systems using Petri Nets and Heuristic Search 2398(6) Antonio Reyes Moro Hongnian Yu Gerry Kelleher Local Search Heuristics for the Assembly Line Balancing Problem with Incompatibilities Between Tasks 2404(6) Joaquin Baustista Raul Suarez Manuel Mateo Ramon Companys Dynamic Scheduling Approach to Group Control of Elevator Systems with Learning Ability 2410(6) Yuan-Wei Ho Li-Chen Fu Multi-Agent Architecture for Distributed Monitoring in Flexible Manufacturing Systems (FMS) 2416(6) D. Ouelhadj C. Hanachi B. Bouzouia Maintenance of Robotic Systems Using Hypermedia and Case-Based Reasoning 2422(6) R. M. Crowder R. McKendrick R. Rowe E. Auriol M. Tellefsen Haptic Interface 1 Haptic Interaction with Global Deformations 2428(6) Yan Zhuang John Canny Environment Delay in Haptic Systems 2434(6) Brian E. Miller J. Edward Colgate Randy A. Freeman Haptic Rendering of Planar Rigid-Body Motion using a Redundant Parallel Mechanism 2440(6) D. Constantinescu I. Chau S. P. DiMaio L. Filipozzi S. E. Salcudean F. Ghassemi Design Constraints for Haptic Surgery Simulation 2446(6) Oliver R. Astley Vincent Hayward A Haptic Interface for a Virtual Exam of the Human Thigh 2452(6) Diego dAulignac Remis Balaniuk Christian Laugier Mutirate Simulation for High Fidelity Haptic Interaction with Deformable Objects in Virtual Environments 2458(8) Murat Cenk Cavuso glu Frank Tendick Mobile Vehicle Mechanics Dynamics Analysis and Control of a Holonomic Vehicle with a Continuously Variable Transmission 2466(7) Karin A. Tahboub Harry H. Asada Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle 2473(6) Philippe Soueres Andrea Balluchi Antonio Bicchi Extremal Trajectories for Bounded Velocity Differential Drive Robots 2479(6) Devin J. Balkcom Matthew T. Mason The Kinematics for Redundantly Actuated Omni-Directional Mobile Robots 2485(8) Byung-Ju Yi Whee Kuk Kim Instantaneous Kinematics and Dexterity of Mobile Manipulators 2493(6) Krzysztof Tchon Robert Muszyriski Time Optimal Trajectories for Bounded Velocity Differential Drive Robots 2499(6) Devin J. Balkcom Matthew T. Mason Mapping and Localization 2 VFH*: Local Obstacle Avoidance with Look-Ahead Verification 2505(7) Iwan Ulrich Johann Borenstein Data Association for Mobile Robot Navigation: A Graph Theoretic Approach 2512(6) T. Bailey E. M. Nebot J. K. Rosenblatt H. F. Durrant-Whyte Experiments on Augmenting Condensation for Mobile Robot Localization 2518(7) Patric Jensfelt Olle Wijk David J. Austin Magnus Andersson Improving the Accuracy of Dynamic Localization Systems using RTK GPS by Identifying the GPS Latency 2525(6) D. Bouvet G. Garcia Feature Based Condensation for Mobile Robot Localization 2531(7) Patric Jensfelt David J. Austin Olle Wijk Magnus Andersson Line Segment Based Map Building and Localization Using 2D Laser Rangefinder 2538(6) Li Zhang Bijoy K. Ghosh Redundancy On the Kinematics of Remotely-Actuated Continuum Robots 2544(7) Ian A. Gravagne Ian D. Walker A Numerical Evaluation of the Workspace of a Seven-Axis, Redundant Manipulator 2551(6) Marco Ceccarelli Jorge Angeles Kinematic Control of the Mass Properties of Redundant Articulated Bodies 2557(6) P. Baerlocher R. Boulic Gauss Principle and the Dynamics of Redundant and Constrained Manipulators 2563(6) Herman Bruyninckx Oussama Khatib A Recursive Dimension-Growing Method for Computing Robotic Manipulability Polytope 2569(6) Young-Seob Hwang Jihong Lee T. C. Hsia Instability of Pseudoinverse Acceleration Control of Redundant Mechanisms 2575(8) K ONeil Y.-C. Chen Legged Locomotion 1 A New Flexible Component for Field Robotic System 2583(6) Edwardo F. Fukushima Noriyuki Kitamura Shigeo Hirose Design, Modeling and Preliminary Control of a Compliant Hexapod Robot 2589(8) Uluc Saranli Martin Buehler Daniel E. Koditschek Kinematic Observers for Articulated Rovers 2597(8) J. (Bob) Balaram Kinematographic Experiments on Leg Movements and Body Trajectories of Cockroach Walking on Different Terrain 2605(6) Shaoping Bai K. H. Low Weimiao Guo Hugging Walk 2611(6) Makoto Kaneko Tatsuya Shirai Toshio Tsuji Nonlinear Pitch and Roll Estimation for Walking Robots 2617(6) Henrik Rehbinder Xiaoming Hu Production Control Optimal Control Law for Lot-Sizing in a Single Production Facility 2623(6) A. Di Febbraro R. Minciardi S. Sacone Design of Product Specifications and Control Policies in a Single-Stage Production System 2629(6) Vassilis Kouikoglou Yannis A. Phillis Bottlenecks with Respect to Due-Time Performance in Pull Serial Production Lines 2635(6) Jingshan Li Semyon M. Meerkov Holonic Supervisory Control and Data Acquisition Kernel for 21st Century Intelligent Building System 2641(6) Li-Chen Fu Teng-Jei Shih Fluid Models and Hybrid Automata in Manufacturing 2647(7) F. Balduzzi Computational Steering in Simulation of Manufacturing Systems 2654(5) T. Kesavadas Abhishek Sudhir Teleoperation 2 Modeling, Control and Optimization of a New Tele Robot 2659(6) A. Schlotter F. Pfeiffer An Intelligent Vision-Only Operator Interface for Dexterous Robots 2665(6) Paolo Fiorini Gene Chalfant Yuichi Tsumaki Enrico Di Bernardo Pietro Perona A Method for Simultaneously Increasing Transparency and Stability Robustness in Bilateral Telemanipulation 2671(6) John E. Speich Kevin Fite Michael Goldfarb On the use of a Base Force/Torque Sensor in Teleoperation 2677(7) F. Geffard C. Andriot A. Micaelli G. Morel Bilateral Control with Energy Balance Monitoring under Time-Varying Communication Delay 2684(6) Yasuyoshi Yokokohji Takashi Imaida Tsuneo Yoshikawa On the Use of Virtual Springs to Avoid Singularities and Workspace Boundaries in Force-Feedback Teleoperation 2690(6) A. Rubio A. Avello J. Florez Robotics Cooperation 1 Multi-Robot Target Acquisition using Multiple Objective Behavior Coordination 2696(7) Paolo Pirjanian Maja Mataric Time-Optimal Rendezvous Planning for Pick-and-Place Task Sharing 2703(6) M. Mehrandezh K. Gupta Designing Motion Guides for Ergonomic Collaborative Manipulation 2709(7) Kevin M. Lynch Caizhen Liu A Multi-Robot Cooperative Task Achievement System 2716(6) S. C. Botelho R. Alami Cooperative Coverage of Rectilinear Environments 2722(6) Zack J. Butler Alfred A. Rizzi Ralph L. Hollis A Decentralized Approach to Elementary Formation Maneuvers 2728(6) Jonathan R. Lawton Brett J. Young Randal W. Beard Visual Servoing 2 Robust Vision-Based Pose Control 2734(7) Camillo J. Taylor James P. Ostrowski Eye-in-Hand/Eye-to-Hand Cooperation for Visual Servoing 2741(6) Gregory Flandin Francois Chaumette Eric Marchand A Novel Visual Servoing with Stereo Cameras using QR Decomposition and Disturbance Observer 2747(6) Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Automatic Segmentation and Matching of Planar Contours for Visual Servoing 2753(6) G. Chesi E. Malis R. Cipolla Path Planning in Image Space for Robust Visual Servoing 2759(6) Youcef Mezouar Francois Chaumette Potential Switching Control in Visual Servo 2765(6) Koichi Hashimoto Toshiro Noritsugu Trajectory Control Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles 2771(6) F. Conticelli D. Prattichizzo F. Guidi A. Bicchi Closed Loop Motion Plans for Mobile Robots 2777(6) Joel M. Esposito Vijay Kumar Impedance Fields for Trajectory Enhancement in the Intelligent Assist Device 2783(6) Greg R. Luecke Kok-Leong Tan Naci Zafer Motion Planning and Trajectory Control of an Underactuated Three-Link Robot via Dyamic Feedback Linearization 2789(7) Alessandro De Luca Giuseppe Oriolo Trajectory Fitting with Smoothing Splines using Velocity Information 2796(6) Christoher Lee Yangsheng Xu Pre-Transition Phase Control: Three Different Approaches 2802(6) Nakju Doh Gyudong Jeon Wan Kyun Chung Youngil Youm Novel Locomotion Techniques Study on Roller-Walker (Multi-Mode Steering Control and Self-Contained Locomotion) 2808(7) Gen Endo Shigeo Hirose Low-Energy Control of a One-Legged Robot with 2 Degrees of Freedom 2815(7) R. Dummer M. Berkemeier A Leaping Maneuver for a Brachiating Robot 2822(6) Jun Nakanishi Toshio Fukuda Design of a 5-cm Monopod Hopping Robot 2828(6) Terence E. Wei Gabriel M. Nelson Roger D. Quinn Hiten Verma Steven L. Garverick A Stability Analysis of Walking Robots Based on Leg-end Supporting Moments 2834(6) Debao Zhou K. H. Low Teresa Zielinska Dynamic Rolling of Modular Robots 2840(7) Woo Ho Lee Arthur C. Sanderson Supervisory Control of Deds Supervisory Control of Multi-Workcell Manufacturing Systems with Shared Resources 2847(6) A. Ramirez-Serrano B. Benhabib Some Improvements to the Bankers Algorithm Based on the Process Structure 2853(6) F. Tricas J. M. Colom J. Ezpeleta Preventing Second Level and Avoiding First Level Deadlocks in FMS 2859(6) Elzbieta Roszkowska Modeling Admissible Behavior with Net Condition/Event Systems 2865(6) L. E. Pinzon M. A. Jafari H. -M. Hanisch Observer Design for Discrete Event Systems Modeled by Interpreted Petri Nets 2871(6) A. Ramirez-Trevino I. Rivera-Rangel E. Lopez-Mellado A Petri Net Approach to Deadlock Analysis for Classes of Kanban Systems 2877(6) F. Magnino P. Valigi Robotics in Medicine PADyC: A Synergistic Robot for Cardiac Puncturing 2883(6) O. Schneider J. Troccaz O. Chavanon D. Blin A Robotic Stepper for Retraining Locomotion in Spinal-Injured Rodents 2889(6) D. J. Reinkensmeyer W. K. Timoszyk R. D. de Leon R. Joynes E. Kwak K. Minakata V. R. Edgerton Telerobotic Surgery Control and Safety 2895(6) Alberto Rovetta A Medical Robotic Assistant for Minimally Invasive Surgery 2901(6) V. F. Munoz C. Vara-Thorbeck J. G. DeGabriel J. F. Lozano E. Sanchez-Badajoz A. Garcia-Cerezo R. Toscano A. Jimenez-Garrido Robot Assisted Standing-Up 2907(6) R. Kamnik T. Bajd Experimental Evaluation of a Robotic Image-Directed Radiation Therapy System 2913(6) Kapil Sharma Wyatt S. Newman Martin Weinhous Greg Glosser Roger Macklis Mobile Robots 2 Robust Damping Control of Wheeled Mobile Robots 2919(6) Sheng Lin A. Goldenberg Path Following of a Single Wheel Robot 2925(6) Kwok Wai Au Yangsheng Xu Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams 2931(7) Kenneth Hoff III Tim Culter John Keyser Ming C. Lin Dinesh Manocha Path Tracking Control of Tracked Vehicles 2938(6) M. Ahmadi V. Polotski R. Hurteau Motion Planning in the Presence of Directional and Obstacle Avoidance Constraints Using Nonlinear 2944(8) Anisotropic Harmonic Potential Fields Ahmad A. Masoud Samer A. Masoud Control of a Nonholonomic System with a Drift Term 2952(6) Funitoshi Matsuno Kei Saito Localization Collective Localization: A Distributed Kalman Filter Approach to Localization of Groups of Mobile Robots 2958(8) Stergios I. Roumeliotis George A. Bekey Algorithms and Architectures for Acoustic Localization Based on Microphone Array in Service Robotics 2966(6) Enzo Mumolo Massimiliano Nolich Gianni Vercelli Extacting Topology-Based Maps from Gridmaps 2972(7) E. Fabrizi A. Saffiotti Supervised Linear Feature Extraction for Mobile Robot Localization 2979(6) Nikos Vlassis Yoichi Motomura Ben Krose Bayesian Estimation and Kalman Filtering: A Unified Framework for Mobile Robot Localization 2985(8) Stergios I. Roumeliotis George A. Bekey Computing the Sensory Uncertainty Field of a Vision-Based Localization Sensor 2993(7) Amit Adam Ehud Rivlin Ilan Shimshoni Control 2 Energy-Efficient Motion Control of a Hydraulic Mnipulator 3000(7) Jouni Mattila Tapio Virvalo Hybrid System Design for Sigularityless Task Level Robot Controllers 3007(6) Jindong Tan Ning Xi Bordered Matrix for Singularity Robust Inverse Kinematics: A Methodolgical Aspect 3013(7) J. Foret M. Xie J. G. Fontaine Preview and Stochastic Controllers for Motion Control of Robotics Manipulator with Control Input Constraints 3020(8) Mohamed M. M. Negm Hybrid Force/Velocity Discrete Event Controller Synthesis for Assembly Tasks with Friction 3028(6) David J. Austin Brenan J. McCarragher Observer Based Coordinated Adptive Robust Control of Robot Manipulators Driven by Single-Rod Hydraulic Actuators 3034(6) Funping Bu Bin Yao Legged Locomotion 2 Evolving Robust Gaits with AIBO 3040(6) G. S. Hornby S. Takamura J. Yokono O. Hanagata T. Yamamoto M. Fujita Quadrued Trotting with Passive Knees - Design, Control, and Experiments 3046(6) Geoff Howker Martin Buehler Motion Analysis and Experiments of Passive Walking Robot QUARTET II 3052(5) K. Osuka K. Kirihara Passive Velocity Field Control of Biped Walking Robot 3057(6) Masaki Yamakita Fumihiko Asano Katsuhisa Furuta Fuzzy Control of Quadrupedal Running 3063(8) Daune W. Marhefka David E. Orin Volume 4 (Pages 3071-4128) Rapid Prototyping Deformation Transition Graphs in Forming Operations of Rheological Objects 3071(6) Shinichi Tokumoto Yoshiaki Fujita Shinichi Hirai Rapid Prototyping of Robotic Systems 3077(6) Jey Won Kathryn DeLaurentis Contantinos Mavroidis The Development of LCD Panel Display Based Rapid Prototying System for Advanced Manufacturing 3083(6) Ren C. Luo Jyh Hwa Tzou Wei Zen Lee Fast Visulization of NC Milling Result Using Graphics Acceleration Hardware 3089(6) M. Inui R. Kakio Motion Planning for a Direct Metal Deposition Rapid Prototyping System 3095(6) D. M. Hensinger A. L. Ames J. L. Kuhlmann Agent-Based Product Design and Planning for Distributed Concurrent Engineering 3101(6) J. Sun Y. F. Zhang A. Y. C. Nee Teleoperation 3 Analysis and Evaluation of Stability and Performance Robustness for Teleoperation Control Architectures 3107(7) K. Hashtrudi-Zaad S. E. Salcudean Design of a Teleoperation Controller for an Underwater Manipulator 3114(6) Dong-Soo Kwon Jee-Hwan Ryu Pan-Mook Lee Seok-Won Hong Force Reflection for Time-Delayed Teloperation of Space Robots 3120(6) L. F. Penin K. Matsumoto S. Wakabayashi Network-Based Force-Reflecting Teleoperation 3126(6) Akihito Sano Hideo Fujimoto Toshihito Tokai Photo-Realistic Scene Prediction of Partially Unknown Enviroments for the Compensation of Time Delays in Telepresence Applications 3132(6) M. Barth T. Burkert C. Eberst N. O. Stoffler G. Farber Romote Coordinated Controls in Multiple Telerobot Cooperation 3138(6) Nak Young Chong Tetsuo Kotoku Kohtaro Ohba Kiyoshi Komoriya Nobuto Matsuhira Kazuo Tanie Robotics Cooperation 2 Motion Planning for Cooperative Transporation of a Large Object by Multiple Mobile Robtos in a 3D Environment 3144(8) Atsushi Yamashita Masaki Fukuchi Jun Ota Tamio Arai Hajime Asama Robot Group Formations: A Dynamic Programming Approach for a Shortest Path Computation 3152(6) Federico Gentili Francesco Martinelli Analysis and Classification of Multiple Robot Coordination Methods 3158(6) Eduardo Todt Gustavo Raush Raul Suarez Multi-Robot Collaboration for Robust Exploration 3164(6) Ioannis M. Rekleitis Gregory Dudek Evangeelos E. Milios A Two Level Hierarchical Fuzzy Controller for Hyperrdundant Cooperative Robots 3170(6) Mircea Ivanescu Nicu Bizdoaca Cooperative Transport in Unknown Environment - Application of Real-Time Task Assignment 3176(7) Natsuki Miyata Jun Ota Yasumichi Aiyama Hajime Asama Tamio Arai Vision-Based Control Multi-Cameras Visual Servoing 3183(6) Ezio Malis Francois Chaumette Sylvie Boudet Interception of a Projectile Using a Human Vision-Based Strategy 3189(8) Justin A. Borgstadt Nicola J. Ferrier Motion Estimation by Iterative 2-D Features Matching in Range Images 3197(6) G. A. Borges M. -J. Aldon Active Visual Alignment of a Mobile Stereo Camera Platform 3203(6) Joss Knight Ian Reid A Focusing-by-Vergence System Controlled by Retinal Motion Disparity 3209(6) Jorge Batista Paul Peixoto Helder Araujo Subpixed Stereo Method: a New Methodology of Stereo Vision 3215(6) Kazunori Umeda Takatoshi Takahashi Learning 1 A General Learning Approach to Multisensor Based Control Using Statistic Indices 3221(6) Yorck von Collani Markus Ferch Jianwei Zhang Alois Knoll A Learning and Dynamic Pattern Generating Architecture for Skillful Robotic Baseball Batting System 3227(6) Xin-Zhi Zheng Wataru Inamura Katasunari Shibata Koji Ito Online Learing of the Sensors Fuzzy Membership Functions in Autonomous Mobile Robots 3233(6) Hani Hagras Victor Callaghan Martin Colley Modular Neural Net System for Inverse Kinematics Learning 3239(8) Eimei Oyama Susumu Tachi Teaching by Example in Food Assembly 3247(6) Robot T. G. Williams J. J. Rowland M. H. Lee M. J. Neal Responding to Affordances: Learning and Projecting a Sensorimotor Mapping 3253(7) Karl F. MacDorman Control and Architecturs 4-D/RCS Reference Model Architecture for Unmanned Ground Vehicles 3260(6) James S. Albus Design, Architcture and Control of a Mobile Site-Modeling Robot 3266(6) A. Gueorguiev P. K. Allen E. Gold P. Blaer A New Approach for Context Based Exception Handling in Autonomous Mobile Service Robots 3272(6) D. Gluer G. Schmidt BERRA: A Research Architecture for Service Robots 3278(6) Mattias Lindstriom Anders Oreback Henrik I. Christensen Real-Time Control of Internet Based Teleoperation with Force Reflection 3284(6) Imad Elhajj Ning Xi Yun-hui Liu A Hybrid Architecture for Hierarchical Reinforcement Learning 3290(6) Manfred Huber Stiffness and Compliance Internal Force-Based Impedance Control of Dual-Arm Manipulation of Flexible Objects 3296(6) Amer s. alYahmadi T. C. Hsia Minimal Realization of an Arbitrary Spatial Stiffiness Matrix with a Parallel Connection of Simple and Complex Springs 3302(6) Rodney G. Roberts An Eigenscrew Analysis of Mechanism Compliance 3308(6) P. L. McAllister R. E. Ellis The Spatial Matrix from Simple Stretched Springs 3314(6) J. M. Selig Classification Structure and Compliance Modeling for Serial Manipulators 3320(8) Jeff Hudgens Danial Cox Delbert Tesar Synthesis of Spatial Compliances with Simple Serial Elastic Mechanisms 3328(6) Shuguang Huang Joseph M. Schimmels Biped Robots A Biped Robot that Jogs 3334(6) M. Gienger K. Loffler F. Pfeiffer On the Stability of Biped with Point Foot-Ground Contact 3340(6) R. Stojic C. Chevallereau Balance Control of a Biped Robot Combining Off-Line Pattern with Real-Time Modification 3346(7) Qiang Huang Kenji Kaneko Kazunito Yokoi Shuuji Kajita Tetsuo Kotoku Noriho Koyachi Hirohiko Arai Nobuaki Imamura Kiyoshi Komoriya Kazuo Tanie An On-Line Trajectory Modifier for the Base Link of Biped Robots to Enhance Locomotion Stability 3353(6) Jong Hyeon Park Hyun Chul Cho Design of Small Power Biped Robot by Load Sharing of Walking Gait 3359(6) Dong-Jun Kim Kab Il Kim Yuan F. Zheng Zhengi Sun Fuchun Sun Design and Actuation Optimization of a 4 Axes Biped Robot for Walking and Running 3365(6) C. Chevallereau P. Sardain Discrete Event Dynamic Systems 2 Enhancing the Flexibility of Algebraic Deadlock Avoidance Policies through Petri Net Structural Analysis 3371(6) Jonghun Park Spyros A. Reveliotis Resource-Oriented Petri Nets for Deadlock Avoidance in Automated Manufacturing 3377(6) Naiqi Wu Meng Chu Zhou Deadlock Avoidance for Manufacturing Systems with Partially Ordered Process Plans 3383(6) Widodo Sulistyono Mark A. Lawley Queueing Network Analysis for an IC Foundary 3389(6) Jia-Yang Juang Han-Pang Huang A Formalism for the Composition of Concurrent Robot Behaviors 3395(8) Eric Klavins Daniel E. Koditschek Petri-Net and GA Based Approach to Modeling, Scheduling, and Performance Evaluation for Wafer Fabrication 3403(6) Jyh-Horng Chen Li-Chen Fu Ming-Hung Lin Haptic Interface 2 A Compliant Tactile Display for Teletaction 3409(7) G. Moy C. Wagner R. S. Fearing Artificial Tactile Feel Display Using Soft Gel Actuators 3416(6) Masashi Konyo Satoshi Tadokoro Toshi Takamori Fingernail Touch Sensors: Spatially Distributed Measurement and Hemodynamic Modeling 3422(6) Stephen Mascaro H. Harry Asada Automatic Identification of Local Geometric Properties During Teleoperation 3428(7) Thomas Debus Pierre Dupont Robert Howe Using Haptic Vector Fields for Animation Motion Control 3435(8) Bruce Randall Donald Frederic Henle Percption of Depth Information by Means of a Wire-Actuated Haptic Interface 3443(6) P. Arcara L Di Stefano S. Mattoccia C. Melchiorri G. Vassura Manipulator Path Planning Omni-Directional Mobile Base OK-II 3449(6) Myung-Jin Jung Heung-Soo Kim Sinn Kim Jong-Hwan Kim On Tracking Control of Mobile Manipulators 3455(6) Wenjie Dong Yangsheng Xu Qi Wang Dynamic Trajectory Planning for Autonmous Underwater Vehicle-Manipulator Systems 3461(6) Tarun Kanti Podder Nilanjan Sarkar A Local-Based Method for Manipulators Path Planning in Heavy Cluttered Environments 3467(6) C. Helguera S. Zeghloul Reactive Mobile Manipulation using Dynamic Trajectory Tracking 3473(6) P. Ogren M. Egerstedt X. Hu Coordinated Trajectory Following for Mobile Manipulation 3479(6) Magnus Egerstedt Xiaoming Hu Localization and Mapping Practical Mobile Robot Self-Localization 3485(8) Jon Howell Bruce Randall Donald Environmental Map Generation and Egomotion Estimation in a Dynamic Environment for an Omnidirectional Image Sensor 3493(6) Y. Yagi K. Shouya M. Yachida Civil-Engineering Articulated Vehicle Localization: Solutions to Deal with GPS Masking Phases 3499(6) D. Bouvet G. Garcia Localization Based on Visibility Sectors using Range Sensors 3505(7) Sooyong Lee Nancy M. Amato James Fellers Mobile Robot Self-Localization Using PDAB 3512(7) J. Reuter Position Estimation in Outdoor Environments using Pixel Tracking and Stereovision 3519(6) Anthony Mallet Simon Lacroix Laurent Gallo Modeling and Control A New Data Fusion Method and its Application to State Estimation of Nonlinear Dynamic Systems 3525(6) Jae-Won Lee Sukhan Lee Non-Conventional Integration of the Fundamental Elements of Soft Computing and Traditional Methods in Adaptive Robot Control 3531(6) J. K. Tar I. J. Rudas J. F. Bito K. Kozlowski Advanced Torque Control of Robot Manipultors Driven by AC Induction Motors 3537(6) Dong Sun James K. Mills Variable Structure Systems Approach to Friction Estimation and Compensation 3543(6) Q. P. Ha A. Bonchis D. C. Rye H. F. Durrant-Whyte Stabilization of a Gyroscopically Stabilized Robot on an Inclined Plane 3549(6) Yangsheng Xu Loi Wah Sun Fuzzy Logic Based Optimization for Manipulators 3555(6) M. C. Ramos A. J. Koivo Grasp Analysis and Optimization Metrics for Analysis and Optimization of Graps and Fixtures 3561(6) Thomas G. Sugar Vijay Kumar Regrasping Behavior Generation for Rectangular Solid Object 3567(6) Yasuhisa Hasegawa Junya Matsuno Toshio Fukuda Computing 3-D Optimal Form-Closure Grasps 3573(6) Dan Ding Yun-Hui Liu Shuguo Wang The Synthesis of 3-D Form-Closure Grasps 3579(6) Dan Ding Yun-Hui Liu Shuguo Wang Precision Localization and Robust Force Closure in Fixture Layout Design for 3D Workpieces 3585(6) Michael Yu Wang Diana Pelinescu Kinematic Graspability of a 2DMultifingered Hand 3591(6) Yisheng Guan Hong Zhang Identification Calibration of a Motoman P8 Robot Based on Laser Tracking 3597(6) Wyatt S. Newman Craig E. Birkhimer Robert J. Horning Ann T. Wilkey On-Orbit Calibration of the SPDM Force-Moment Sensor 3603(6) F. Aghili An Analytical Method to Eliminate the Redundant Parameters in Robot Calibration 3609(7) M. A. Meggiolaro S. Dubowsky Fuzzy Linear Regression for Contact Identification 3616(6) M. Oussalah Comparison of Weighted Least Square and Extended Kalman Filtering Methods for Dynamic Identification of Robots 3622(6) Ph. Poignet M. Gautier Fault Detection for Robot Manipulators with Parametric Uncertainty: A Prediction Error Based Approach 3628(7) W. E. Dixon I. D. Walker D. M. Dawson J. P. Hartranft Actuators 2 Micro Positioning and Actuation Devices Using Giant Magnetostriction Materials 3635(6) Yoshio Yamamoto Takaaki Makino Hiro Matsui Improved Modelling and Assessment of Pneumatic Muscle Actuators 3641(6) N. Tsagarakis Darwin G. Caldwell Development of Platform for Micro-Positioning Actuated by Piezo-Legs 3647(7) L. Juhas A. Vujanic N. Adamovic L. Nagy B. Borovac A ZPET-Repetitive Speed Controller for Ultrasonic Motors 3654(6) H. Rodriguez J. L. Pons R. Ceres Charteristics of an Ultrasonic Motor Capable of Generating a Multi-Degrees of Freedom Motion 3660(6) Kenjiro Takemura Takashi Maeno Closed-Loop Operation of Actuator Arrays 3666(7) Jonathan E. Luntz William Messner Howie Choset Flexible Assembly Systems Uncertainty Reduction Using Dynamics 3673(8) Mark Moll Michael A. Erdmann Flexible Handling in Disassembly with Screwnail Indentation 3681(6) Bing-Ran Zuo Alexander Stenzel Guenther Seliger Flexible Robot-Assembly using a Multi-Sensory Approach 3687(8) Stefan Jorg Jorg Langwald Johannes Stelter Gerd Hirzinger Ciro Natale A System for Analying Automatic Assembly and Disassembly Operations 3695(6) Swee M. Mok Chi-haur Wu D. T. Lee A Component-Based Approach to the Holonic Control of a Robot Assembly Cell 3701(6) Jin-Lung Chirn Duncan C. McFarlane Automatic Object Recognition as Part of an Integrated Supervisory Control System 3707(6) T. Tuytelaars A. Zaatri Luc Van Gool H. Van Brussel Collision Detection and Distance Computation Computing Signed Distances between Free-Form Objects 3713(6) Federico Thomas Colin Turnbull Lluis Ros Stephen Cameron Fast Distance Queries with Rectangular Swept Sphere Volumes 3719(8) Eric Larsen Stefan Gottschalk Ming C. Lin Dinesh Manocha EODM-A Novel Representation for Collision Detection 3727(6) Maria del C. Amezquita Benitez Kamal K. Gupta Binay Bhattacharya An Algebraic Solution to the Problem of Collision Detection for Rigid Polyhedral Objects 3733(6) S. Redon A. Kheddar S. Coquillart Registration of Range Data Using a Hybrid Simulated Annealing and Iterative Closest Point Algorithm 3739(6) Jason Luck Charles Little William Hoff Neural Network Based Target Differentiation using Sonar for Robotics Applications 3745(6) Billur Barshan Birsel Ayulu Simukai W. Utete Sensing Strategies and Control 2 High Speed Visual Servoing of a 6 DOF Manipulator using MIMO Predictive Control 3751(6) Jacques A. Gangloff Michel F. de Mathelin Robust Video-Based Object Recognition Integrating Highly Redundant Cues for Indexing and Verification 3757(8) C. Eberst M. Barth K. Lutz A. Mair S. Schmidt G. Farber Towards Robust Sensor-Based Maneuvers for a Car-Like Vehicle 3765(6) F. Large S. Sekhavat C. Laugier E. Gauthier Selecting Promising Landmarks 3771(7) Marcus Knapek Ricardo Swain Oropeza David J. Kriegman Dealing with Robustness in Mobile Robot Guidance while Operating with Visual Strategies 3778(6) Giovanni Bianco Alexander Zelinsky Two-Level Visual Control of Dynamic Look-and-Move Systems 3784(6) Fabio Conticelli Benedetto Allotta
