Robotics science and systems VI ; [proceedings of the sixth annual Robotics: Science and Systems Conference, held in 2010 at the University of Zaragoza, Spain

Papers from a flagship robotics conference that cover topics ranging from kinematics to human-robot interaction and robot perception. Robotics: Science and Systems VI spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and the analysis of robotics systems. This volume presents the proceedings of the sixth Robotics: Science and Systems conference, held in 2010 at the University of Zaragoza, Spain. The papers presented cover a wide range of topics in robotics, spanning mechanisms, kinematics, dynamics and control, human-robot interaction and human-centered systems, distributed systems, mobile systems and mobility, manipulation, field robotics, medical robotics, biological robotics, robot perception, and estimation and learning in robotic systems. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented. Cover ......Page 1 Contents......Page 6 Preface......Page 10 Organizing Committee......Page 14 Program Committee......Page 16 Sponsors......Page 18 Biophysically Inspired Development of a Sand-Swimming Robot......Page 20 Passive Torque Regulation in an Underactuated Flapping Wing Robotic Insect ......Page 28 Color-Accurate Underwater Imaging Using Perceptual Adaptive Illumination......Page 36 Probabilistic Lane Estimation Using Basis Curves......Page 44 Reinforcement Learning to Adjust Robot Movements to New Situations......Page 52 Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation......Page 60 On Motion and Force Control of Grasping Hands with Postural Synergies......Page 68 Back-drivable and Inherently Safe Mechanism for Artificial Finger ......Page 76 Segmentation and Unsupervised Part-based Discovery of Repetitive Objects......Page 84 Scale Drift-Aware Large Scale Monocular SLAM......Page 92 Preliminary Results in Decentralized Estimation for Single-Beacon Acoustic Underwater Navigation......Page 100 A Non-invasive, Real-Time Method for Measuring Variable Stiffness ......Page 108 Consistent Data Association in Multi-robot Systems with Limited Communications......Page 116 Singularity-invariant Leg Rearrangements in Doubly-planar Stewart-Gough Platforms ......Page 124 On the Kinematic Design of Exoskeletons and Their Fixations with a Human Member ......Page 132 Assessing Optimal Assignment under Uncertainty......Page 140 LQG-MP ......Page 148 The Smooth Curvature Flexure Model......Page 156 Multi-priority Cartesian Impedance Control ......Page 164 Variable Impedance Control......Page 172 A Fast Traversal Heuristic and Optimal Algorithm for Effective Environmental Coverage ......Page 180 Stochastic Complementarity for Local Control of Discontinuous Dynamics......Page 188 Distributed Optimization with Pairwise Constraints and Its Application to Multi-robot Path Planning......Page 196 PLISS......Page 204 A Constant-Time Algorithm for Vector Field SLAM Using an Exactly Sparse Extended Information Filter......Page 212 Efficient Probabilistic Planar Robot Motion Estimation Given Pairs of Images......Page 220 Efficient Non-parametric Surface Representations Using Active Sampling for Push Broom Laser Data......Page 228 Sensor Placement for Improved Robotic Navigation......Page 236 Task-driven Tactile Exploration......Page 244 On the Role of Hand Synergies in the Optimal Choice of Grasping Forces......Page 252 Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems ......Page 262 Design and Optimization Strategies for Muscle-like Direct Drive Linear Permanent Magnet Motors......Page 270 Study of Group Food Retrieval by Ants as a Model for Multi-robot Collective Transport Strategies......Page 278 Incremental Sampling-based Algorithms for Optimal Motion Planning......Page 286 Stochastic Modeling of the Expected Time to Search for an Intermittent Signal Source Under a Limited Sensing Range ......Page 294 Closing the Learning-Planning Loop with Predictive State Representations......Page 302 Belief Space Planning Assuming Maximum Likelihood Observations ......Page 310 Motion Planning under Bounded Uncertainty Using Ensemble Control......Page 318 Remotely Powered Propulsion of Helical Nanobelts ......Page 326 A Molecular Algorithm for Path Self-Assembly in 3 Dimensions ......Page 334