Robotics Research [electronic resource] : The 13th International Symposium ISRR

2011·18.8 MB·English

by  Kaneko, Makoto, 1954-

Springer Tracts in Advanced Robotics
Volume 66
Editors:BrunoSiciliano·OussamaKhatib·FransGroen
Makoto Kaneko and Yoshihiko Nakamura (Eds.)
Robotics Research
The 13th International Symposium ISRR
ABC
ProfessorBrunoSiciliano, Dipartimento diInformatica eSistemistica, Università diNapoli Federico II,
ViaClaudio21,80125Napoli,Italy,E-mail:[email protected]
ProfessorOussamaKhatib,ArtificialIntelligenceLaboratory,DepartmentofComputerScience,
StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:[email protected]
Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403,
1098SJAmsterdam,TheNetherlands,E-mail:[email protected]
Editors
Prof.MakotoKaneko
DepartmentofMechanicalEngineering
OsakaUniversity
2-1Yamadaoka
Suita,Osaka565-0871
Japan
E-mail:[email protected]
Prof.YoshihikoNakamura
DepartmentofMechano-Informatics
FacultyofEngineering
Graduate School of Information Science and
Technology
UniversityofTokyo
7-3-1Hongo,Bunkyo-ku
Tokyo113-8656
Japan
E-mail:[email protected]
ISBN978-3-642-14742-5 e-ISBN978-3-642-14743-2
DOI 10.1007/978-3-642-14743-2
SpringerTractsinAdvancedRobotics ISSN1610-7438
LibraryofCongressControlNumber:2010938969
(cid:2)c 2010Springer-VerlagBerlinHeidelberg
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EditorialAdvisoryBoard
OliverBrock,TUBerlin,Germany
HermanBruyninckx,KULeuven,Belgium
RajaChatila,LAAS,France
HenrikChristensen,GeorgiaTech,USA
PeterCorke,QueenslandUniv.Technology,Australia
PaoloDario,ScuolaS.AnnaPisa,Italy
RüdigerDillmann,Univ.Karlsruhe,Germany
KenGoldberg,UCBerkeley,USA
JohnHollerbach,Univ.Utah,USA
MakotoKaneko,OsakaUniv.,Japan
LydiaKavraki,RiceUniv.,USA
VijayKumar,Univ.Pennsylvania,USA
SukhanLee,SungkyunkwanUniv.,Korea
FrankPark,SeoulNationalUniv.,Korea
TimSalcudean,Univ.BritishColumbia,Canada
RolandSiegwart,ETHZurich,Switzerland
GauravSukhatme,Univ.SouthernCalifornia,USA
SebastianThrun,StanfordUniv.,USA
YangshengXu,ChineseUniv.HongKong,PRC
Shin’ichiYuta,TsukubaUniv.,Japan
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Foreword
Robotics is undergoing a major transformation in scope and dimension. From a
largely dominant industrial focus, robotics is rapidly expanding into human environ-
ments and vigorously engaged in its new challenges. Interacting with, assisting, serv-
ing, 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 sig-
nificance and quality. Through a wide and timely dissemination of critical research
developments in robotics, our objective with this series is to promote more exchanges
and collaborations among the researchers 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 field's most
fundamental and lasting contributions. Since the launching of STAR, ISRR and sev-
eral other thematic symposia in robotics find an important platform for closer links
and extended reach within the robotics community.
This thirteenth edition of “Robotics Research,” edited by Makoto Kaneko and
Yoshihiko Nakamura, brings 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 ba-
sis, and the developments in its traditional and novel areas of applications.
In addition to the collection of papers presented in the diverse technical areas, this
volume reports on the specially organized, Diamond Session, which highlights some
of the new research directions being pursued across the world in robotics research.
The diversity, novelty, and span of the work unfolding reveal the field's increased
maturity and its expanded scope. This thirteenth edition of ISRR culminates with this
important reference on the current developments and new directions in the field of
robotics - a true tribute to its contributors and organizers!
Stanford, January 2010 Oussama Khatib
Preface
The 13th International Symposium of Robotics Research sponsored by the Interna-
tional Foundation of Robotics Research (IFRR) was held during November 26-29,
2007 in Hiroshima, Japan. In the 13th ISRR, the screening procedure for determining
speakers was separated into two; invitation and call-for-paper. As for invitation, we
adopted a two-step procedure where we first nominated 36 candidates over the world
and 24 invitees were eventually determined through the voting by all the IFRR offi-
cers. As for call-for-paper, we have 17 from 46 submitted papers in the PC meeting in
Tokyo on Jully 21, 2007. Totally, we have accepted 41 papers, while 3 of them were
eventually withdrawn due to the time conflict of speakers. As a new flavor of the
13th ISRR, we organized the "DIAMOND" session of 4 papers that were selected as
clear and sharp shining stones for the future robotics. All sessions are structured
somewhat different from regular conference sessions. First, chairs have an opportu-
nity to introduce the session and raise questions of relevant research area. Second, we
can spend more time for discussion through it is never enough.
Finally, we wish to thank all authors bringing their new idea in this symposium,
and also many colleagues who have committed and taken responsibilities to make the
symposium successful.
Makoto Kaneko, Osaka University
Yoshihiko Nakamura, University of Tokyo
Contents
Robot Grasping for Prosthetic Applications .................... 1
Aggeliki Tsoli, Odest Chadwicke Jenkins
Visual Chatter in the Real World............................... 13
Shree K. Nayar, Gurunandan Krishnan, Michael D. Grossberg,
Ramesh Raskar
HAL: Hybrid Assistive Limb Based on Cybernics............... 25
Yoshiyuki Sankai
The Words of the Human Locomotion .......................... 35
J.-P. Laumond, G. Arechavaleta, T.-V.-A. Truong, H. Hicheur,
Q.-C. Pham, A. Berthoz
Robot Kinematics and Dynamics for Modeling the Human
Body ........................................................... 49
Katsu Yamane, Yoshihiko Nakamura
Whole Body Haptics for Augmented Humanoid Task
Capabilities..................................................... 61
Yasuo Kuniyoshi, Yoshiyuki Ohmura, Akihiko Nagakubo
Incremental Learning of Statistical Motion Patterns with
Growing Hidden Markov Models ............................... 75
Dizan Vasquez, Christian Laugier, Thierry Fraichard
Towards Lifelong Learning and Organization of Whole Body
Motion Patterns ................................................ 87
Dana Kuli´c, Wataru Takano, Yoshihiko Nakamura
Learning Hierarchical Representations of Object Categories
for Robot Vision................................................ 99
Aleˇs Leonardis, Sanja Fidler
XII Contents
Object Usual Places Extraction in Smart Space: Robotic
Room .......................................................... 111
Taketoshi Mori, Naofumi Hosoda, Tomomasa Sato
A Spatio-Temporal Probabilistic Model for Multi-Sensor
Multi-Class Object Recognition................................. 123
Bertrand Douillard, Dieter Fox, Fabio Ramos
Manual Intelligence as a Rosetta Stone for Robot
Cognition....................................................... 135
Helge Ritter, Robert Haschke, Frank R¨othling, Jochen J. Steil
Interval Analysis and Robotics ................................. 147
J.-P. Merlet
How Should Microrobots Swim?................................ 157
Jake J. Abbott, Kathrin E. Peyer, Lixin X. Dong, Bradley J. Nelson
Optimization Design of a Stewart Platform Type Leg
Mechanism for Biped Walking Vehicle .......................... 169
Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim, Atsuo Takanishi
Programming Matter with Modular Robots:
Two Directions ................................................. 179
Daniela Rus
Visual Object Tracking Using Positive and Negative
Examples....................................................... 189
Toshikazu Wada
Large-Scale Visual Odometry for Rough Terrain................ 201
Kurt Konolige, Motilal Agrawal, Joan Sola`
A Monte Carlo Update for Parametric POMDPs ............... 213
Alex Brooks, Stefan Williams
POSTECH Navigation Frame: Toward a Practical Solution
for Indoor SLAM and Navigation............................... 225
Wan Kyun Chung, Sunghwan Ahn, Jung-Suk Lee, Kyoungmin Lee,
Jinwoo Choi, Minyong Choi
Describing, Navigating and Recognising Urban
Spaces – Building an End-to-End SLAM System................ 237
Paul Newman, Manjari Chandran-Ramesh, Dave Cole, Mark Cummins,
Alastair Harrison, Ingmar Posner, Derik Schroeter
Outdoor Localization Using Wide-Angle Visual Feature
Matching and Image Retrieval.................................. 255
Peter Hansen, Peter Corke, Wageeh Boles
Contents XIII
Motion Planning for 3-D Target Tracking among
Obstacles ....................................................... 267
Tirthankar Bandyopadhyay, Marcelo H. Ang Jr., David Hsu
Toward Optimal Sampling in the Space of Paths................ 281
Colin J. Green, Alonzo Kelly
The Belief Roadmap: Efficient Planning in Linear POMDPs
by Factoring the Covariance .................................... 293
Sam Prentice, Nicholas Roy
Multi-modal Motion Planning for a Humanoid Robot
Manipulation Task.............................................. 307
Kris Hauser, Victor Ng-Thow-Hing, Hector Gonzalez-Ban˜os
Development of Personal Robot ................................ 319
Takashi Uchiyama, Toshihiko Morita, Naoyuki Sawasaki
A Vision-Based System for Grasping Novel Objects in
Cluttered Environments ........................................ 337
Ashutosh Saxena, Lawson Wong, Morgan Quigley, Andrew Y. Ng
Recognition of In-Hand Manipulation by Observing Contact
State Transition for Robot Hand Control ....................... 349
Masahiro Kondo, Jun Ueda, Tsukasa Ogasawara
Haptics for Robot-Assisted Minimally Invasive Surgery......... 361
A.M. Okamura, L.N. Verner, C.E. Reiley, M. Mahvash
A Framework for Force and Visual Control of Robot
Manipulators ................................................... 373
Vincenzo Lippiello, Bruno Siciliano, Luigi Villani
Mindreading as a Foundational Skill for Socially Intelligent
Robots ......................................................... 383
Cynthia Breazeal, Jesse Gray, Matt Berin
Safe Physical Human-Robot Interaction: Measurements,
Analysis and New Insights...................................... 395
Sami Haddadin, Alin Albu-Scha¨ffer, Gerd Hirzinger
Architecture, Abstractions, and Algorithms for Controlling
Large Teams of Robots: Experimental Testbed and Results..... 409
Nathan Michael, Jonathan Fink, Savvas Loizou, Vijay Kumar
Issues in Cooperative Air/Ground Robotic Systems ............ 421
Simon Lacroix, Guy Le Besnerais
Author Index................................................... 449