Experimental Robotics VIII

ISBN-13: 9783642055591 / Angielski / Miękka / 2010 / 669 str.

Bruno Siciliano;Paolo Dario

Opis

Atthedawnofthenewmillennium, roboticsisundergoingamajortransformation inscopeanddimension.Fromalargelydominantindustrialfocus, roboticsisrapidly expanding into the challenges of unstructured environments. Interacting with, - sisting, serving, and exploring with humans, the emerging robots will increasingly touchpeopleandtheirlives. ThegoalofthenewseriesofSpringerTractsinAdvancedRobotics(STAR)isto bring, in a timely fashion, the latest advances and developments in robotics on the basisoftheirsigni?canceandquality.Itisourhopethatthewiderdisseminationof researchdevelopmentswillstimulatemoreexchangesandcollaborationsamongthe researchcommunityandcontributetofurtheradvancementofthisrapidlygrowing ?eld. Sinceitsinceptionsomefourteenyearsago, ISER, theInternationalSymposium on Experimental Robotics was published in the Springer Lecture Notes in Control and Information Sciences (LNCIS). With the launching of STAR, a more suitable homeisfoundforthisandotherthematicsymposiadevotedtoexcellenceinrobotics research. TheEightheditionofExperimentalRoboticseditedbyBrunoSicilianoandPaolo Dario offers in its ?fteen-chapter volume a collection of a broad range of topics in robotics.Thecontentsofthesecontributionsrepresentacross-sectionofthecurrent stateofroboticsresearchfromoneparticularaspect: experimentalwork, andhowit re?ectsonthetheoreticalbasisofsubsequentdevelopments.Experimentalvalidation ofalgorithms, designconcepts, ortechniquesisthecommonthreadrunningthrough thislargecollectionofwidelydiversecontributions. From its charming venue to its excellent program, ISER culminates with this unique reference on the current developments and new directions in the ?eld of experimentalrobotics-atributetothecommitmentanddedicationofitshosts California, USA OussamaKhatib November2002 STAREditor Preface The International Symposium on Experimental Robotics (ISER) is a series of - annual meetings, which are organized in a rotating fashion around North Am- ica, EuropeandAsia/Oceania.PreviousvenueswereMontreal(Canada), Toulouse (France), Kyoto (Japan), Stanford (USA), Barcelona (Spain), Sydney (Australia), Honolulu (USA). The goal of these symposia is to provide a forum for research in robotics that focuses on theories and principles that are validated by experiments. Themeetingsareconceivedtobringtogether, inasmallgroupsetting, researchers fromaroundtheworldwhoareintheforefrontofexperimentalroboticsresearch. Thepost-symposiumExperimentalRoboticsproceedingshavetraditionallybeen published by Springer-Verlag. In addition to the proceedings, these symposia have produced compilation of video segments illustrating the reported research, which areavailableasvideoproceedings. The Eight International Symposium on Experimental Robotics (ISER 02) was held in the charming sea village of Sant'Angelo on the island of Ischia in the gulf ofNaples, Italyon8-11July2002.ThesymposiumwaschairedbyBrunoSiciliano andPaoloDario.

Spis treści

Keynotes.- Research Robots for Applications in AI, Teleoperation and Entertainment.- Torque-controlled Light Weight Arms and Articulated Hands — Do We Reach Technological Limits Now?.- Snakes and Strings: New Robotic Components for Rescue Operations.- Humanoids.- HERMES — an Intelligent Humanoid Robot Designed and Tested for Dependability.- Experimental Study of Biped Locomotion of Humanoid Robot HRP-1S.- Online Humanoid Walking Control and 3D Vision-based Locomotion.- Practical Aspects of Biped Locomotion.- Human-centered Robotics.- Mechanical Characterization of the Immersion Corp. Haptic, Bimanual, Surgical Simulator Interface.- A New Actuation Approach for Human Friendly Robot Design.- Robust Controller Design for Cancelling Biodynamic Feedthrough.- Path Planning and Localization.- Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers.- Localization for Mobile Robot Teams: A Distributed MLE Approach.- 3D Rover Localization in Airborne Ladar Data.- Online Sensor-based Behaviour Decision and Navigation of a Mobile Robot in Unknown Indoor Environment.- Robox, a Remarkable Mobile Robot for the Real World.- Slam.- Cooperative Data Fusion Amongst Multiple Uninhabited Air Vehicles.- Robust Simultaneous Localization and Mapping for Very Large Outdoor Environments.- Recent Results in Extensions to Simultaneous Localization and Mapping.- Learning Occupancy Grids of Non-Stationary Objects with Mobile Robots.- Visual Servoing.- Tracking People from a Mobile Platform.- Visual Servoing/Tracking Using Central Catadioptric Images.- A Visually Servoed MEMS Manipulator.- Visual-servoed Parking with Limited View Angle.- Multiple Robots.- Sensor Computations in Modular Self Reconfigurable Robots.- Cooperative Transport of Planar Objects by Multiple Mobile Robots Using Object Closure.- Modeling Swarm Robotic Systems.- Experiments in Distributed Control for Modular Robots.- Identification and Control.- An Experimental Robot Load Identification Method for Industrial Application.- Friction Model Validation in Sliding and Presliding Regimes with High Resolution Encoders.- Experiments on Rest-to-rest Motion of a Flexible Arm.- Experimental Bilateral Control Telemanipulation Using a Virtual Exoskeleton.- Design.- The Capturing Robot with Super High Acceleration.- Acquiring Motion Elements for Bidirectional Computation of Motion Recognition and Generation.- Manipulation of Micro-objects Using Adhesion Forces and Dynamical Effects.- Toward Self-replicating Robots.- Medical Robotics.- Robotized Skin Harvesting.- Faithful Haptic Feedback in Medical Simulators.- Optimal Planning of Robotically Assisted Heart Surgery: Transfer Precision in the Operating Room.- Towards Semi-autonomy in Laparoscopic Surgery: First Live Experiments.- Modelling and Experimental Validation of the Locomotion of Endoscopic Robots in the Colon.- Flying Robots.- Aggressive Maneuvering Flight Tests of a Miniature Robotic Helicopter.- An Experimental Study of the Autonomous Helicopter Landing Problem.- Sensing and Control for a Small-Size Helicopter.- The Autonomous Blimp Project of LAAS/CNRS — Current Status.- Manipulation.- SMC Rover: Planetary Rover with Transformable Wheels.- Sensing Local Geometry for Dexterous Manipulation.- Contact State Estimation using Multiple Model Estimation and Hidden Markov Models.- Manipulability Enhancement by an Impedance Parameter Tuning for a Remote Ultrasound Diagnostic System.- Haptics.- Toward Observation of Human Assembly Skill Using Virtual Task Space.- Testing Time Domain Passivity Control of Haptic Enabled Systems.- Interactive Exploration of Remote Objects Using a Haptic-VR Interface.- Change of Height: An Approach to the Haptic Display of Shape and Texture Without Surface Normal.- Walking Machines.- Experimental BIPedal Walking.- Practical Experience with Vision-guided Biped Walking.- Foot Design for a Large Walking Delta Robot.- Preliminary Bounding Experiments in a Dynamic Hexapod.- Field Robotics.- A Go Where You Look Tele-autonomous Rough Terrain Mobile Robot.- Vision In and Out of Vehicles: Integrated Driver and Road Scene Monitoring.- Slip-based Traction Control of a Planetary Rover.- Experimental Study of High-speed Rough-terrain Mobile Robot Models for Reactive Behaviors.

Blurb

This book collects papers on the state of th eart in experimental robotics. Experimental Robotics is at the core of validating robotics research for both its systems science and theoretical foundations. Because robotics experiments are carried out on physical, complex machines whose controllers are subject to uncertainty, devising meaningful experiments and collecting statistically significant results pose important and unique challenges in robotics. Robotics experiments serve as a unifying theme for robotics system science and algorithmic foundations. These observations have led to the creation of the International Symposia on Experimental Robotics. The papers of the book were presented at the 2002 International Symposium on Experimental Robotics.