Robotics Research: Results of the 12th International Symposium ISRR (Springer Tracts in Advanced Robotics (28))

The International Symposium of Robotics Research (ISRR) continues to be the premiere meeting of the International Foundation of Robotics Research (IFRR). The 12th International Symposium of Robotics Research took place October 12-15, 2005, in San Francisco, near Fisherman's Wharf, and was organized by the three editors of this book. This volume contains a collection of 50 contributed papers, which were presented at the 12th International Symposium of Robotics Research. These papers are organized in twelve scientific tracks: Physical Human-Robot Interaction and Haptics, Planning, Humanoids, Mechanisms and Design, Simultaneous Localization and Mapping, Field Robots, Robotic Vision, Robot Design and Control, Underwater Robotics, Learning and Adaptive Behavior, Networked Robotics, and Interfaces and Interaction. Further articles in this volume summarize one of the invited overview talks of the scientific panel that took place during the ISRR. Historically, the proceedings of the ISRR have featured ground-breaking work of the highest caliber, which influenced generations to come. The present volume promises to be no exception. The collection of scientific articles in this volume provides new insights to important problems in robotics, written by some of the leaders in the field. Front Matter....Pages I-XV Front Matter....Pages 1-1 Session Overview Physical Human-Robot Integration and Haptics....Pages 3-4 A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots....Pages 5-21 Wave Haptics: Encoderless Virtual Stiffnesses....Pages 22-33 Reality-Based Estimation of Needle and Soft-Tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation....Pages 34-48 Haptic Virtual Fixtures for Robot-Assisted Manipulation....Pages 49-64 Front Matter....Pages 65-65 Session Overview Planning....Pages 67-68 POMDP Planning for Robust Robot Control....Pages 69-82 On the Probabilistic Foundations of Probabilistic Roadmap Planning....Pages 83-97 Front Matter....Pages 99-99 Session Overview Humanoids....Pages 101-102 Humanoid HRP2-DHRC for Autonomous and Interactive Behavior....Pages 103-117 Android Science....Pages 118-127 Mimetic Communication Theory for Humanoid Robots Interacting with Humans....Pages 128-139 Front Matter....Pages 141-141 Session Overview Mechanisms and Design....Pages 143-144 Design of a Compact 6-DOF Haptic Device to Use Parallel Mechanisms....Pages 145-162 Hybrid Nanorobotic Approaches to NEMS....Pages 163-174 Jacobian, Manipulability, Condition Number and Accuracy of Parallel Robots....Pages 175-184 Front Matter....Pages 185-185 Session Overview Simultaneous Localisation and Mapping....Pages 187-189 Subjective Localization with Action Respecting Embedding....Pages 190-202 D-SLAM: Decoupled Localization and Mapping for Autonomous Robots....Pages 203-213 A Provably Consistent Method for Imposing Sparsity in Feature-Based SLAM Information Filters....Pages 214-234 Front Matter....Pages 235-235 Session Overview Field Robotics....Pages 237-238 Field D*: An Interpolation-Based Path Planner and Replanner....Pages 239-253 Tradeoffs Between Directed and Autonomous Driving on the Mars Exploration Rovers....Pages 254-267 Surface Mining: Main Research Issues for Autonomous Operations....Pages 268-280 Front Matter....Pages 281-281 Session Overview Robotic Vision....Pages 283-284 Bias Reduction and Filter Convergence for Long Range Stereo....Pages 285-294 Fusion of Stereo, Colour and Contrast....Pages 295-304 Automatic Single-Image 3d Reconstructions of Indoor Manhattan World Scenes....Pages 305-321 Front Matter....Pages 323-323 Session Overview Robot Design and Control....Pages 325-326 One Is Enough!....Pages 327-336 A Steerable, Untethered, 250 × 60 μ m MEMS Mobile Micro-Robot....Pages 337-356 Some Issues in Humanoid Robot Design....Pages 357-372 That Which Does Not Stabilize, Will Only Make Us Stronger....Pages 373-395 Front Matter....Pages 397-397 Session Overview Underwater Robotics....Pages 399-401 Improved Estimation of Target Velocity Using Multiple Model Estimation and a Dynamic Bayesian Network for a Robotic Tracker of Ocean Animals....Pages 402-415 Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle....Pages 416-429 Advances in High Resolution Imaging from Underwater Vehicles....Pages 430-448 Front Matter....Pages 449-449 Session Overview Learning and Adaptive Behavior....Pages 451-452 Using AdaBoost for Place Labeling and Topological Map Building....Pages 453-472 Emergence, Exploration and Learning of Embodied Behavior....Pages 473-486 Front Matter....Pages 449-449 Hierarchical Conditional Random Fields for GPS-Based Activity Recognition....Pages 487-506 Front Matter....Pages 507-507 Session Overview Networked Robotics....Pages 509-509 Networked Robotic Cameras for Collaborative Observation of Natural Environments....Pages 510-519 Front Matter....Pages 521-521 Session Overview Interfaces and Interaction....Pages 523-524 Haptic Communication Between Humans and Robots....Pages 525-536 A Vestibular Interface for Natural Control of Steering in the Locomotion of Robotic Artifacts: Preliminary Experiments....Pages 537-551 How Social Robots Will Help Us to Diagnose, Treat, and Understand Autism....Pages 552-563 Front Matter....Pages 565-565 Expo 2005 Robotics Project....Pages 567-580 Front Matter....Pages 581-581 Position Statement: Robotics Science....Pages 583-585 Back Matter....Pages 587-591 Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human environments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing to the research community the latest advances in the robotics field on the basis of their significance and quality. Through a wide and timely dis­ semination of critical research developments in robotics, our objective with this series is to promote more exchanges and collaborations among the re­ searchers in the community and contribute to further advancements in this rapidly growing field. As one of robotics pioneering symposia, the International Symposium on Robotics Research (ISRR) has established over the past two decades some of the fields most fundamental and lasting contributions. Since the launching of STAR, ISRR and several other thematic symposia in robotics find an important platform for closer links and extended reach within the robotics community. This twelfth edition of Robotics Research, edited by Sebastian Thrun, Rodney Brooks, and Hugh Durrant-Whyte, offers in its 14-part volume a collection of a broad range of topics in robotics. The content of these contributions provides a wide coverage of the current state of robotics research: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and novel areas of apphcations.

the International Symposium Of Robotics Research (isrr) Continues To Be The Premiere Meeting Of The International Foundation Of Robotics Research (ifrr). The 12th International Symposium Of Robotics Research Took Place October 12-15, 2005, In San Francisco, Near Fisherman's Wharf, And Was Organized By The Three Editors Of This Book.

this Volume Contains A Collection Of 50 Contributed Papers, Which Were Presented At The 12th International Symposium Of Robotics Research. These Papers Are Organized In Twelve Scientific Tracks: Physical Human-robot Interaction And Haptics, Planning, Humanoids, Mechanisms And Design, Simultaneous Localization And Mapping, Field Robots, Robotic Vision, Robot Design And Control, Underwater Robotics, Learning And Adaptive Behavior, Networked Robotics, And Interfaces And Interaction. Further Articles In This Volume Summarize One Of The Invited Overview Talks Of The Scientific Panel That Took Place During The Isrr.

historically, The Proceedings Of The Isrr Have Featured Ground-breaking Work Of The Highest Caliber, Which Influenced Generations To Come. The Present Volume Promises To Be No Exception. The Collection Of Scientific Articles In This Volume Provides New Insights To Important Problems In Robotics, Written By Some Of The Leaders In The Field.

This volume contains 50 papers presented at the 12th International Symposium of Robotics Research, which took place October 2005 in San Francisco, CA. Coverage physical human-robot interaction, humanoids, mechanisms and design, simultaneous localization and mapping, field robots, robotic vision, robot design and control, underwater robotics, learning and adaptive behavior, networked robotics, and interfaces and interaction.