Intelligent Robotics and Applications: 4th International Conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, Proceedings, Part I (Lecture Notes in Computer Science (7101))

The two volume set LNAI 7101 and LNAI 7102 constitutes the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011. The 122 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on progress in indoor UAV, robotics intelligence, industrial robots, rehabilitation robotics, mechanisms and their applications, multi robot systems, robot mechanism and design, parallel kinematics, parallel kinematics machines and parallel robotics, handling and manipulation, tangibility in human-machine interaction, navigation and localization of mobile robot, a body for the brain: embodied intelligence in bio-inspired robotics, intelligent visual systems, self-optimising production systems, computational intelligence, robot control systems, human-robot interaction, manipulators and applications, stability, dynamics and interpolation, evolutionary robotics, bio-inspired robotics, and image-processing applications. Front Matter....Pages - On the Way to a Real-Time On-Board Orthogonal SLAM for an Indoor UAV....Pages 1-11 Quadrocopter Localization Using RTK-GPS and Vision-Based Trajectory Tracking....Pages 12-21 Five-Axis Milling Simulation Based on B-rep Model....Pages 22-32 Exploration Strategies for Building Compact Maps in Unbounded Environments....Pages 33-43 The Basic Component of Computational Intelligence for KUKA KR C3 Robot....Pages 44-52 An Experimental Comparison of Model-Free Control Methods in a Nonlinear Manipulator....Pages 53-62 Research on Modular Design of Perpendicular Jointed Industrial Robots....Pages 63-72 Online Path Planning for Industrial Robots in Varying Environments Using the Curve Shortening Flow Method....Pages 73-82 Parallel-Populations Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots....Pages 83-92 Integrative Path Planning and Motion Control for Handling Large Components....Pages 93-101 Automatic Configuration of Robot Systems - Upward and Downward Integration....Pages 102-111 Process and Human Safety in Human-Robot-Interaction - A Hybrid Assistance System for Welding Applications....Pages 112-121 Operation Simulation of a Robot for Space Applications....Pages 122-131 Re-grasping: Improving Capability for Multi-Arm-Robot-System by Dynamic Reconfiguration....Pages 132-141 A Parallel Kinematic Concept Targeting at More Accurate Assembly of Aircraft Sections....Pages 142-151 Dimensional Synthesis of Parallel Manipulators Based on Direction-Dependent Jacobian Indices....Pages 152-161 EMG Classification for Application in Hierarchical FES System for Lower Limb Movement Control....Pages 162-171 Situated Learning of Visual Robot Behaviors....Pages 172-182 Humanoid Motion Planning in the Goal Reaching Movement of Anthropomorphic Upper Limb....Pages 183-191 Human Sitting Posture Exposed to Horizontal Perturbation and Implications to Robotic Wheelchairs....Pages 192-201 Automatic Circumference Measurement for Aiding in the Estimation of Maximum Voluntary Contraction (MVC) in EMG Systems....Pages 202-211 Classification of the Action Surface EMG Signals Based on the Dirichlet Process Mixtures Method....Pages 212-220 Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device....Pages 221-229 Inverse Kinematics Solution of a Class of Hybrid Manipulators....Pages 230-239 Stiffness Analysis of Clavel’s DELTA Robot....Pages 240-249 Optimum Kinematic Design of a 3-DOF Parallel Kinematic Manipulator with Actuation Redundancy....Pages 250-259 Integrated Structure and Control Design for a Flexible Planar Manipulator....Pages 260-269 Effects of Clearance on Dynamics of Parallel Indexing Cam Mechanism....Pages 270-280 Design and Compliance Experiment Study of the Forging Simulator....Pages 281-290 Design of Compliant Bistable Mechanism for Rear Trunk Lid of Cars....Pages 291-299 DynaMOC: A Dynamic Overlapping Coalition-Based Multiagent System for Coordination of Mobile Ad Hoc Devices....Pages 300-311 Design of a High Performance Quad-Rotor Robot Based on a Layered Real-Time System Architecture....Pages 312-323 Simple Low Cost Autopilot System for UAVs....Pages 324-334 A Marsupial Relationship in Robotics: A Survey....Pages 335-345 Multi-objective Robot Coalition Formation for Non-additive Environments....Pages 346-355 Development of a Networked Multi-agent System Based on Real-Time Ethernet....Pages 356-365 A Conceptual Agent-Based Planning Algorithm for the Production of Carbon Fiber Reinforced Plastic Aircrafts by Using Mobile Production Units....Pages 366-375 Trajectory Tracking and Vibration Control of Two Planar Rigid Manipulators Moving a Flexible Object....Pages 376-387 Concept and Design of the Modular Actuator System for the Humanoid Robot MYON....Pages 388-396 Design of a Passive, Bidirectional Overrunning Clutch for Rotary Joints of Autonomous Robots....Pages 397-405 DeWaLoP-Monolithic Multi-module In-Pipe Robot System....Pages 406-415 Design and Control of a Novel Visco-elastic Braking Mechanism Using HMA....Pages 416-425 Topological Design of Weakly-Coupled 3-Translation Parallel Robots Based on Hybrid-Chain Limbs....Pages 426-435 Working Space and Motion Analysis on a Novel Planar Parallel Manipulator with Three Driving Sliders....Pages 436-444 Optimal Kinematic Design of a 2-DoF Translational Parallel Manipulator with High Speed and High Precision....Pages 445-454 Modeling and Control of Cable Driven Parallel Manipulators with Elastic Cables: Singular Perturbation Theory....Pages 455-464 CAD-2-SIM – Kinematic Modeling of Mechanisms Based on the Sheth-Uicker Convention....Pages 465-477 Non-rigid Object Trajectory Generation for Autonomous Robot Handling....Pages 478-485 Robotized Sewing of Fabrics Based on a Force Neural Network Controller....Pages 486-495 Dynamic Insertion of Bendable Flat Cables with Variation Based on Shape Returning Points....Pages 496-508 A Vision System for the Unfolding of Highly Non-rigid Objects on a Table by One Manipulator....Pages 509-519 Optimizing Motion of Robotic Manipulators in Interaction with Human Operators....Pages 520-531 Haptic Display of Rigid Body Contact Using Generalized Penetration Depth....Pages 532-541 Assistive Robots in Eldercare and Daily Living: Automation of Individual Services for Senior Citizens....Pages 542-552 Key Factors for Freshmen Education Using MATLAB and LEGO Mindstorms....Pages 553-562 Adaptive Dynamic Path Following Control of an Unicycle-Like Mobile Robot....Pages 563-574 A Study on Localization of the Mobile Robot Using Inertial Sensors and Wheel Revolutions....Pages 575-583 Robust and Accurate Genetic Scan Matching Algorithm for Robotic Navigation....Pages 584-593 Beacon Scheduling Algorithm for Localization of a Mobile Robot....Pages 594-603 Position Estimation Using Time Difference of Flight of the Multi-coded Ultrasonic....Pages 604-609 Detecting Free Space and Obstacles in Omnidirectional Images....Pages 610-619 A Composite Random Walk for Facing Environmental Uncertainty and Reduced Perceptual Capabilities....Pages 620-629 Motion Design for Service Robots....Pages 630-638 Back Matter....Pages - This two volume set LNAI 8917 and 8918 constitutes the refereed proceedings of the 7th International Conference on Intelligent Robotics and Applications, ICIRA 2014, held in Guangzhou, China, in December 2014.