Experimental Robotics II: The 2nd International Symposium, Toulouse, France, June 25–27 1991

576 Pages·1993·13.707 MB·English

by  Richard Volpe, Pradeep Khosla (auth.), Raja Chatila, Gerd Hirzinger (eds.)

Lecture Notes
in Control and Information Sciences 091
Editor: M. Thoma
Raja Chatila dna Gerd Hirzinger (Eds.)
Experimental Robotics II
The 2nd International Symposium, Toulouse, France,
June 25-27 1991
galreV-regnirpS
London Berlin Heidelberg New York
Paris Tokyo Hong Kong
Barcelona Budapest
Series Advisory Board
A. Bensoussan • M.J. Grimble. P. KokotovicH. . Kwakernaak
J.L. Massey. Y. Z. Tsypkin
Editors
Raja Chatila
Centre National de la Recherche Scientifique, Laboratoire d'Automatique
d'Analyse des Systemes, 7 Avenue du Colonel-Roche, 31077 Toulouse Cedex,
France
Gerd Hirzinger
DLR, Institute for Robotics and System Dynamics, Oberfaffenhofen,
D-8031 Wessling, Germany
ISBN 3-540-19851-2 Springer-Verlag Berlin Heidelberg New York
ISBN 0-387-19851-2 Springer-Verlag New York Berlin Heidelberg
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© Springer-Verlag London Limited 1993
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Typesetting: Camera ready by contributors
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Preface
Experimental Robotics H - The Second International Symposium took place in Toulouse,
France in June 1991. It was the second in a series after the first meeting in Montreal in
June organized 1989, by Vincent Hayward and Oussama Khatib. The next conference will
be held in 1993 in Kyoto, Japan, and chaired by T. Yoshikawa and F. Miy~zaki.
Hence the meetings years circulate two every around North America, Europe, and Asia. The
objective of this series of symposia is to present and discuss in depth research results and
on-going developements in Robotics which have theoretical foundations and experimental
validations.
Indeed, a robot is a machine in permanent interaction with the environment. The influence
of this interaction on its actual behavior is fundamentaanld is often ill known in advance
(e.g., external friction), and cannot be simulated correctly a priori (e.g., vision) because of
its non deterministic nature or various errors, uncertainties and artefacts.
Robotics is a domain in which the implementation of the theories, methods and algorithms
on a physical machine with its sensing, acting and computing capacities - and its real-time
and real world constraints - is a fundamental part of the research work. It is not only an
important step to sort out what theoretically is from possible what is actually feasible. The
concepts themselves musbte designed with theiri mplementation in mind. Robotics without
robots is maybe Control Theory, Computer Mechanics, Geometric Science, Reasoning~ but
not Robotics.
The papers presented at ISEIt and collected in this volume are hence in the very core
of robotics research. A total of 83 papers from 31 countries are included in this volume
covering the field of Robotics. The divided ibook is nto ten sections corresponding to the ten
sessions of the Symposium. The limited number of participants (about eighty) permitted
very fruitful and high quality exchanges and discussions.
The meeting saw opened by Prof. Alaln r Costes, Directo of LAAS. The keynote lecture saw
given by Prof. BerRnoiteh from Stanford University who got the participants immediately
to work on the design of a mechanical system, elegantly showing the important role of
experimentation. It saw concluded by a dosing address by Dr. Georges Giralt from ~SAAL
who stressed his creed on the importance of experimentation in Robotics.
In addition to the proceedings, a compilation of video segments illustratintgh e reported
research is available.
The international permanent program committee saw composed of It. Chatila, LAAS-
CNRS~ France, J. Craig, Silma, USA, P. Dario, Scuola Superiore S. Anna, Italy, B. Es-
piau, ISIA/Ecole des Mines~ France~ G. Hirzinger~ DFVLR, Germany, V. ttayward, McGill
University, Canada~ .O Khatib, Stanford University, USA, F. Miyazaki, Osaka Univer-
sity, Japan, K. Salisbury~ MIT~ USA, T. Yoshil~wa, Kyoto University, Japan, and chaired
this year by R. Chatila and G. tIirzinger. J-P. Merlet, INRIA, France, has since replaced
B. Espiau.
The meeting was hosted by LAAS-CNRS and supported by several intitutions and com-
panies: Canadian Space Agency / Agence Spatiaie Canadienne (C.S.A. / A.S.C., Ot-
tawa, Ontario), Centre NationM de la Recherche Scientifique (C.N.R.S., Paris), Commis-
sariat ,~ l'Energie Atomique (CEA, Fontenay-aux-Roses), Conseil G6n6ral de la Haute-
Garonne (Toulouse), Centre de Robotique Int6gr6e d'Ile de France (Paris), Laboratoire
d'Automatique et d'Analyse des Syst6mes (L.A.A.S.-C.N.R.S., Toulouse), Matra-Espace
,)yzi16V( National Foundation, Science Washington D.C., Mairie de Toulouse, R6gion Midi-
Pyr6n6es (Toulouse).
The meeting could not have taken place without the organizational talent of Mrs Marie-
Th6r~se Ippolito, and the work and kind availability of Jackie Mrs Som and Vergriette Nicole
to whom we are thankful.
Raja Chatila (LAAS-CNRS)
Gerd Hirzinger (DLR)
List of Contributors
.M Accordino .M Adams D. .S Ahn
University of Genoa Katholieke Universiteit Leuven Korea Advanced .tsnI
Dept of Comp. ~ Systems ecneicS Depart. Werktuigkunde of Sdence and Technology
Via Opera Pia llA Cdestljnenlaan 300 B P.O.B. 150
541611 Genoa 3001 eelreveH Chongryngi, Seoul
Italy muigleB Korea
Rachld Alami Benedetto Anotta sliN A. Andersen
SRNC-SAAL Superiore Scuola .S Anna .tsnI of Aut. Control .tsyS
,7 Ave. du Colonel Roche Via G. Carducd 40 Univers. Tech. fo Denmark
77013 Toulouse Cedex 56100 Pisa 0082-KD Lyngby
France ylatI Denmark
rachid@la~.fr
J. .L Arocena Haruhiko Asada enitsirhC Bellier
Dpt. of Eng. ecneicS MIT Dept. of Mech. Eng. LIFIA IMAG
Univ. of Oxford Room - 053-3 ,64 Ave. Fdlix Viallet
Oxford 1XO 3PJ Cambridge MA 93120 13083 Grenoble Cedex
United Kingdom ASU France
ku.ca.drofxo.s~obor@ikani rf.gamiaifil@reiUeb
Antonio ihcciB Philippe Bidand J.E. Bobrow
University of Pisa Universit4 Paris 6 Dpt. of Mech. & Aerospace Eng.
Centro "E. Piaggio" 4 Place Jussien University of California
52165 Pisa 23257 SILtAP Cedex 50 ]rvine, CA 71729
Italy France ASU
] mcf ast @icnucevm.bitnet
nn.aY Bouffard- illecreV Boulet Benolt David .L Brock
MMAL McGIII Univ. RCE~ Center for InL-Driven
Place nolliat,aB 3480 ytisrevinU teertS Mech. Systems
59043 MontpeIlier Cedex Montreal Quebec MIT
Fran ec Canada 7A 2A3H Cambridge MA 93120
ASU
iiiv
Bernhard Brunner Nils Bruun oigroiG Buttazzo
DLR FF-DF/A, IBM T.J. Watson Res. Center aloueS eroirepuS .S Anna
Oberpfafenhofen POB. 407 40 Carducci G. Via
Muenehenerstr. 20 Yorktown Heights 00165 Pisa
1308-D Wessling NY 89501 Italy
Germany ASU
Olivier Causse Raja Chatila Stefano Chiaverini
LIFIA IMAG LAAS/CNRS Dipart. id Inform. e Sistemlstica
46, Ave. F~lix Via~et ,7 Ave. du Colonel-Roche Universita "Frederlcn II"
13083 Grenoble Cedex 77013 Toulouse Cedex Via Claudio 12
France France 52108L ilopaN
[email protected] Italy
enhl~H Chochon Jo~l Colly James .L Crowley
Alcate] Alsthom Recherche LAAS/CNRS LtFIA IMAG
Route ed Nozay ,7 av. du ehcoR-lenoloC ,64 Ave. Fdlix Viallet
06419 Marcoussis 77013 Toulouse Cedex 13083 Grenoble Cedex
Frantic France France
[email protected] rf.~aal@ytloc rf.gami.aifil@clj
Court .B Cutting Laeeque Daneshmend R.W. Daniel
Inst. of Reconst. Plastic Surgery lliGcM Univ. RCIM Dpt. of Eng. ecneicS
UYN Medical Center 0843 University Street Univ. of Oxford
weN York 61001 Montreal Quebec Parks Road
ASU Canada H3A 7A2 Oxford OXI 3PJ
[email protected] ude.lligcm.micrem.yrral@euqeeal detinU Kingdom
Paolo Dario Pierre Dauchez Bernard ×lallageD
Scuola Superiore .S Anna MMAL - Urdv, Montpellier II LAAS-CNP~S
Via G. Carducci 04 Place B at nollia ,7 Ave, du lenoloC Roche
.56100 Pisa 59043 Montpetlier Cedex Cedex Toulouse 31077
Italy France ecnarF
[email protected] rf.saal@laged
Eric Degoulange Xavier er~abeleD lehciM Dcvy
MMAL - Univ. Montpellier 21 Dassault Aviation LAAS-CNRS
Place Batalllon ,87 qual Dassault ,7 .va du ehcoR-lenoloC
59043 Cedex Montpel]Jer 41229 Saint-Cloud 31077 TOULOUSE Cedex
~rance France France
rf.saal@yved
J. eD Schutter Olav Egeland .P Elosegui
Katholieke Universiteit Leuven ttutitsnI for .ket kybernetikk Dpt. of Eng. Science
Depart. Werktuigkunde tekniske Norges hogskole • Univ. of Oxford
Celestijnenlaan 300 B O.S.Bragstads plass 8 Parks Road
1003 Heverlee Belgium 4307-N Trondheim Oxford 1XO 3PJ
[email protected],ac.be Norway United Kingdom
ix
Daniel Fontalne Janez Funda Jungi Furusho
Universit6 Paris 6 Comp. and Inf. Science Dpt. Dept. of Mech. & Control Eng.
4 Place Jussieu University of Pennsylvania Univ. of Electro-Communications
75232 Paris Cedex 05 Philadelphia, PA 19104 Chofu Tokyo 281
France USA Japan
janez~grasp.cis.upenn.edu
Paul Gaborit Francesca Ga~dolfo Dave Green
LAAS-CNRS DIST University of Genoa Inst. for Inform. Teeh.
7, Ave, du Colonel Roche Via Opera - Pin llA National Research Council
31077 Toulouse Cedex 116145 Genoa Ottawa~Ontarlo K1A 0R6
France Italy Canada
[email protected] fran @dist .dist.unige.it
D. Grimm G. Grunwald Eugenio GuglMmelb
IBM TJ Watson Res. Center DLR FF-DF/A aloucS eroirepuS .S Anna
POB. 704 Oberpfafenhofen Via G. Caxducci 40
Yorktown Heights Muenchenerstr. 20 56100 Pisa
NY 10598 D-8031 Wessling Italy
USA Germany
Betsy Haddad Tsutomu Hasegawa Vincent Hayward
N.Y.U Medical Center ETL McGill Univ. RCIM
Inst. of Reconst. Plastic Surgery 1-1-4 Umezono 3480 University Street
weN York 10016 Tsukuba - Ibaxaki 305 Montreal Quebec
USA Japan Canada H3A 2A7
hayward(~Iarry.mcrcim.mcgili.edu
Gerhard Hirzinger Koh Hosoda Koji Ide
DLR FF-DF/A Div. of Applied Systems Science Dept. of M. E.
Oberpfafenhofen Fac. of Eng. Kyoto Univ. Uji Faculty of Eng.Science
Muenchenerstr. 20 Kyoto 611 Osaka University
D-8031 Wessling Japan Toyonaka, Osaka 560
Germany Japan
Shigeki Iida Nobuya Ikeda Alan D. Kalvin
Inst. of Inform. Science Dpt. of Control Eng, IBM T. J. Watson Res. Center
and Electronics Osaka Univ. POB. 704
Univers. of Tsukuba Toyonaka, Osaka 560 Yorktown Heights
Tsukuba Ibaraki, 305 Japan NY 10598
Japan USA
Oussama Khatib Deljou Khoramabadi Pradeep Khosta
1A Laboratory Inst. of Reconst. Plastic Surgery Elect. and Comp. Eng. Dpt
Stanford University NYU Medical Center CMU
Stanford, CA 94305 weN York 10016 Pittsburgh PA 15213-3890
USA USA USA
[email protected] .edu
Yong-yil Kim K. Kitagaki Daniel E. Koditschek
IBM T J Watson Res. Center ETL Center for Systems Science
POB. 407 1-1-4 Umezono Yale Univ. Dpt of Elect. Eng.
Yorktown Heights Tsukuba - Ibaraki 305 New Haven CT 06520
NY 10598 Japan USA
USA @corwin.eng.ynle.edu kod
Eric Krotkov Osam Kuwaki David Larose
CMU Dept. of Control Eng. IBM T. J. Watson Res. Center
Robotics Institute Osaka Univ. PO Box 704
Pittsburgh PA 15213-3890 Toyonaka, Osaka 560 Yorktown Heights NY 10598
USA Japan USA
epk ~qus 1.cs.cmu.edu
Christian Laugier Jadran Lenar~i~ Thomas Lindsay
LIFIA IMAG The Robotics Lab. Comp. and .fnI Dpt. Science
46, Ave. F~lix Viallet Inst. J. Sterna ytisrevinU Pennsylvania of
48031 Grenoble Cedex Jamova 39 ,aihpledalihP PA 19104
France 61111 Ljubljana USA
[email protected] Slovenia van ude.nnepu.sie.pirg@
Ramiro Liscano Sheng Liu Allan Manz
Inst. for Inform. Tech. Center for Inf. Driven .tsnI rof Tech. Inform.
National Research Council Mech. Systems Natlona] hcraese~l Council
Ottawa-Ontario KIA 0R6 MIT Ottawa-Ontario K1A 0R6
Canada Cambridge, MA 02139 Canada
[email protected] USA
Masaaki Maruyama Yasuhiro Masutani Hirokazu Mayeda
Dpt. of Control Eng. Dept. of M. E. Dept. of Control Eng
Osaka Univ. Faculty of Eng. Science Osaka Univ.
Toyonaka, Osaka 065. Osaka University Toyonaka, Osaka 560
Japan Toyonaka, Osaka 560 Japan
Japan
Emmanuel Mazer J. M. McCarthy B. W. McDonet]
LIFIA IMAG Dpt. of Mech. & Aerospace Eng. Dpt. of Mech. & Aerospace Eng.
46, Ave. x114F Via~et University of California University of CaUfornia
38031 Grenoble Cedex Irvine, CA 92717 Irvine, CA 92717
France USA USA
[email protected]
Tad Mc Geer Claudio Melchiorri erreiP-naeJ Merlet
Aurora Flight Sciences S1ED - Universy of Bologna airnI s]lopitnA-aihpoS
3107 Colvin Street Via Risorgimento 2 2004, Route des seloicuL
Alexandria Virginia 22314 40136 Bologna 06561 Valbonne cedex
USA Italy France
[email protected] [email protected] merlet @alcor.inrla.fr
xi
Fumio Miyazaki Philippe Moutarlier Hiroki Murakami
Dept. of M.E. LAAS-CNRS Ishikawajima-ttarima
Osaka University 7, Ave. du Colonel Roche Heavy Ind. Co., Ltd
Toyonaka, Osaka 560 31077 Toulouse Cedex 1-15, Toyosu3 -chome Kotoku
Japan France Tokyo 135
miyazaki rc@ ane.um,eaecs..jops aka- [email protected] Japan
Chafye Nemri Marylin Nor Tsukasa Ogasawara
McGill Univ. RCIM .tsnI Reconst. of citsalP Surgery ETL
3486 University Street NYU Center Medical 1-1-4 Umezono,
Montreal Quebec New York 10016 Tsukuba - Ibaraki 305
Canada H3A 2A7 USA Japan
ogasawara~etl.go.jp
Robert Olyha Paul Richard Victor Perebaskine
IBM T. J. Watson Res. Center Comp. and .fnI Dept. Science LAAS-CNRS
POB. 704 ytisrevinU Pennsylvania of 7, Ave. du Colonel Roche
Yorktown Heights NY 10598 ,aihpledalihP PA 19104 31077 Toulouse Cedex
USA USA France
ude.nnepu.sic.lartnec@uol victor~laas.fr
Sean Quinlan Ole Ravn Patrick Reignier
A ILab. Inst. of Aut. Control Syst. LIFIA IMAG
Stanford University Tech. Univers. of Denmark 46, Ave. Fdlix Viallet
Stanford, CA 94305 DK-2800 Lyngby 38031 Grenoble Cedex
USA Denmark France
sean @neon.st anford.edu
Alfred Rizzi J. Kenneth Salisbury oiluiG Sandini
Center for Systems Science MIT ytisrevinU of Genoa
Dept of Elect. Eng. 545 Technology Square Dpt of Comp. ¢2 Systems ecneicS
Yale Univ. Cambridge, MA 02139 Via Opera Pia IIA
New Haven CT 06520 USA 116145 Genoa
USA ude.tim.la~skj ylatI
Akihito Sano llans-Kaspar rerrehcS Gerhard Schrott
Dept. of Mechanical Eng. ETH/Institute fo Robotics Inst. ffir Informatik
Oifu Univ. 72.rtsdrahnoeL Tech, Un. of Munich
1-1 Yanagido CH-8092 Zurich Postfaeh 20 24 20
501-11 Gifu City dnalreztiwS D-8000 Munichen 2
Japan te.efi.sys@rerrehcs hc.zh Germany
Bruno Sicitiano Allan lliehT Sorensen T. Suehiro
Dipart.di Inform. e Sistemistica .tsnI Aut. Control of .tsyS ETL
Universlta "Frederico II" of Univers. Tech. Denmark 1-1-4 Umezono
Via Claudio 21 DK-2800 Lyngby Tsukuba- Ibaraki 305
Napoli 1-80125 Denmark Japan
Italy kd.htd.ls@sta_ls