Robotics Research: The Eighth International Symposium

461 Pages·1998·35.602 MB·English

by  Oliver Brock, Oussama Khatib (auth.), Professor Yoshiaki Shirai, Professor Shigeo Hirose (eds.)

Robotics Research
Springer
London
Berlin
Heidelberg
New York
Barcelona
Budapest
HongKong
Milan
Paris
Santa Clara
Singapore
Tokyo
Yo shiaki Shirai and Shigeo Hirose (Eds)
Robotics Research
The Eighth International Symposium
, Springer
Professor Yoshiaki Shirai
Department ofC ompter-Controlled Machine Systems, Faculty of Engineering, Osaka University 2-1,
Yamadaoka, Suita, Japan 565
Professor Shigeo Hirose
Mechano-Aerospace, Faculty of Engineering, Tokyo Institute of Technology,
2-12-1 Ohokayama, Meguro-ku, Tokyo, Japan 152
ISBN-13: 978-1-4471-1582-3 e-ISBN-13: 978-1-4471-1580-9
DOl: 10.1007/978-1-4471-1580-9
British Library Cataloguing in Publication Data
Robotics research: the eighth international symposium
I.Robotics -Congresses
I.Shirai, Yoshiaki IUflfose, Shigeo ill.International
Symposium on Robotics Research (8th: 1998 : Shonan, Japan)
629.8'92
Library of Congress Cataloging-in-Publication Data
Robotics research: the eighth international symposium/ Yoshiaki
Shirai and Shigeo Hirose, eds.
p. em.
Includes bibliographical references.
1. Robotics--Research--Congresses. I. Shirai, Yoshiaki.
n.
Hirose, Shigeo,1947-
TJ211.3.R64 1998
629.8'92'072--dc21 98-16079
Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright,
Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the
prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences
issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers.
© Springer-Verlag London Limited 1998
Softcover reprint of the hardcover 1st edition 1998
The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such
names are exempt from the relevant laws and regulations and therefore free for general use.
The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and
cannot accept any legal responsibility or liability for any errors or omissions that may be made.
TYJleSetting: Camera ready by editors
69/3830-543210 Printed on acid-free paper
Contents
Preface ..................... :.......................................................................................................................................... ix
List ofA uthors ................................................................................................................................................... xi
1. ADVANCED MANIPULATION .....................................•.......••............•....•....••.•................... 1
Session Summary
Koditschek, D. .................................................................................................................................................... 1
Elastic Strips: Real-Time Path Modification for Mobile Manipulation
Brock, O. and Khatib, O. ................................................................................................................................... 5
Modeling and Control for Mobile Manipulation in Everyday Environments
Feiten, W., Magnussen, B., Hager, G. and Toyama, K. .................................................................................. 14
Scale-Dependent Grasps
Kaneko, M. ......................................................................................................................................................... 23
2. DYNAMICS AND CONTROL ...............................................•.••............•.............•.••••••••••••••.. 31
Session Summary
Yoshikawa, T. .................................................................................................................................................... 31
A General Formulation of Under-Actuated Manipulator Systems
Yoshida, K. and Nenchev, D. ............................................................................................................................ 33
Towards Precision Robotic Maneuvering, Survey, and Manipulation in Unstructured Undersea
Environments
Whitcomb, L., Yoerger, D., Singh, H. and Mindell, D. .................................................................................... 45
Where does the Task Frame Go?
Bruyninckx, H. and De Schutter, J. .................................................................................................................. 55
3. EMERGENT MOTIONS .•...•..••...•..••...•.••••.•..........•.••....•.••••••.•••.••••.•••.•••••••••.••••••••••..•••••••••.. 67
Session Summary
Uchiyama, M. ..................................................................................................................................................... 67
Motion Synthesis, Learning and Abstraction through Parameterized Smooth Map from Sensors to
Behaviors
Nakamura, Y., Yamazaki, T. and Mizushima, N. .......................................................................................... 69
Safe Cooperative Robot Patterns via Dynamics on Graphs
Ghrist, R. and Koditschek, D. ........................................................................................................................... 81
VI
4. MOTION PLANNING •••.•••••••••••••••.•••••..••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 93
Session Summary
Giralt, G. •. ........................................................................................................................................................... 93
Motion Planning with Visibility Constraints: Building Autonomous Observers
Gonzdles-Banos, H., Guibas, L., Latombe,J., LaValle, S., Lin, D., Motwani, R. and Tomasi, C. ............... 95
Motion Planning in Humans and Robots
Kumar, V., Zefran, M. and Ostrowski, J. ......................................................................................................... 102
Local and Global Planning in Sensor Based Navigation of Mobile Robots
Rimon, E., Kamon, I. and Canny, J. ................................................................................................................. 112
Interleaving Motion Planning and Execution for Mobile Robots
Chatila, R. and Khatib, M. ................................................................................................................................ 124
5. MANUFAaURING •••••••••••••••••.•••.••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 137
Session Summary
Roth,B . ............................................................................................................................................................... 137
Opportunities for Increased Intelligence and Autonomy in Robotic Systems for Manufacturing
Rizzi, A. and Hollis, R. ....................................................................................................................................... 141
Rapid Deployment Automation: Technical Challenges
Carlisle, B. .......................................................................................................................................................... 152
Stability of Assemblies as a Criterion for Cost Evaluation in Robot Assembly
Mosemann, H., R(jhrdanz, F. and Wah~ F. ..................................................................................................... 157
Towards a New Robot Generation
Hirzinger, G., Brunner, B., Knoch, S., Koeppe, R. and Sched~ M. ................................................................. 169
6. NEW COMPONENTS ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 183
Session Summary
Hirose, S. ............................................................................................................................................................. 183
The Design of a Serial Communication Link for Built-in Servo Driver and Sensors in a Robot
Omichi, T., Shiotani, S. and Miyauchi, R. ........................................................................................................ 185
Omnidirectional Vision
Nayar, S. ............................................................................................................................................................. 195
Small Vision Systems: Hardware and Implementation
Konolige, K. ........................................................................................................................................................ 203
7. MOBILE ROBOTS ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 213
Session Summary
Bolles, R., and Shirai, Y. .................................................................................................................................... 213
Exploration of Unknown Environments with a Mobile Robot using Multisensorfusion
Dillmann, R. and Weckesser, P. ........................................................................................................................ 215
Integration of Topological Map and Behaviors for Efficient Mobile Robot Navigation
Yang, H., Ryu, B. and Chung, J. ........................................................................................................................ 225
VII
A Robotic Travel Aid for the Blind: Attention and Custom for Safe Behavior
Mori, H. and Kotani, S. ..................................................................................................................................... 237
Automated Highways and the Free Agent Demonstration
Thorpe, C., lochem, T. and Pomerleau, D. ...................................................................................................... 246
The Design of High Integrity Navigation Systems
Durrant-Whyte, H., Nebot, E., Schedling, S., Sukkarieh, S. and Clark, S. .................................................... 255
8. MAPTICS •.. •.....•.......•••..••........••••••....••.•••.•.••••••••••.•••.•••••••.•••.••••••••••••..••..•••.•••••••••••••••..•••• 265
Session Summary
Dario, P. .............................................................................................................................................................. 265
Tactile Displays for Increased Spatial and Temporal Bandwidth in Haptic Feedback
Howe, R., Kontarinis, D., Peine, W. and Wellman, P. .................................................................................... 269
Design of an Anthropomorphic Haptic Interface for the Human Arm
Bergamasco, M. and Prisco, G. ......................................................................................................................... 278
Testing A Visual Phase Advance Hypothesis for Telerobots
Daniel, R. and McAree, P. ................................................................................................................................. 290
,. MEDICAL .......••••••......•••.......•••..........••••.......•••......••..•••••.........•••...•••...••.•••••••••••••••.••••.•.••• 297
Session Summary
Hirzinger, G. ....................................................................................................................................................... 297
Robot Assisted Surgery and Training for Future Minimally Invasive Therapy
Ikuta, K. . ............................................................................................................................................................. 299
Surgery Simulation with Visual and Haptic Feedback
Ayache, N., Cotin, S. and Delingette, H. .......................................................................................................... 311
Synergistic Mechanical Devices: A New Generation of Medical Robots
Troccaz, J., Peshkin, M. and Davies, B. ............................................................................................................ 317
10. LEARNING FROM HUMAN •......••••......•••......•••....•.••••..••••••...••••.......•.•••••••••.......••••..•....•.•. 325
Session Summary
larvis, R. .............................................................................................................................................................. 325
Vision-based Behavior Learning and Development for Emergence of Robot Intelligence
Asada, M., Hosoda, K. and Suzuki, S. .............................................................................................................. 327
Using Human Development as a Model for Adaptive Robotics
Brooks, R. ............................................................................................................................................................ 339
Developmental Processes in Remote-Brained Humanoids
Inaba. M. ............................................................................................................................................................ 344
Animating Human Athletes
Hodgins, /. and Wooten, W. .............................................................................................................................. 356
11. FUTURE ROBOTS ....... ~..............................................••••••••••••••••••••••••••••••••••••••••••••••••••••• 369
Session Summary
Miura, H. ............................................................................................................................................................ 369
Mechanics and Control of Biomimetic Locomotion
Burdick, I., Goodwine, B. and Mason, R. ......................................................................................................... 373
VIII
Robots: A Premature Solution for the Land Mine Problem
Trevelyan, J. ....................................................................................................................................................... 382
Robots Integrated with Environments: A Perceptual Information Infrastructure for Robot Navigation
Ishiguro, H. ......................................................................................................................................................... 391
Bio-robotic Systems Based on Insect Fixed Behavior by Artificial Stimulation
Holzer, R. and Shimoyama, I. ........................................................................................................................... 401
12. PROJECTS IN JAPAN •...••.•...............••••...••......••••..•••••.••...........•.••.••...••.•••••••.•........••••••••• 409
Session Summary
Inoue, H. ............................................................................................................................................................. 409
Physical Understanding of Manual Dexterity
Arimoto, S. ......................................................................................................................................................... 413
Tightly Coupled Sensor and Behavior for Real World Recognition
Shirai, Y. ............................................................................................................................................................. 415
Intelligence and Autonomy for Human-machine Cooperative System
Sato, T. ................................................................................................................................................................ 427
Biologically Inspired Approach to Autonomous Systems
Yuta, S. ............................................................................................................................................................... 433
FNR: Toward a Platform Based Humanoid Project
Tanie, K. ............................................................................................................................................................. 439
Current and Future Perspective of Honda Humanoid Robot
Hirai, K. .............................................................................................................................................................. 446
List o/Participants ............................................................................................................................................ 451
Preface
The Eighth International Symposium of Robotics Research was held in Shonan near Kamakura,
Japan from October 4 to 7, 1997, organized by the International Foundation of Robotics
Research (IFRR). The goal of the Symposium was to bring together active, leading robotics
researchers from academia and industry to assess the state of art of Advanced Robotics and to
discuss future research directions.
The Symposium was held in an informal setting with fifty nine participants. Attendance was
limited in order to maximize interaction. The selection of participants was made by the Program
Committee using a process of nomination and voting. The Program Committee consisted of the
seventeen officers of the IFRR:
Ruzena Bajcy (University of Pennsylvania, USA)
Andrew Blake (Oxford University, UK)
Robert Bolles (SRI International, USA)
Paolo Dario (Scuola Superiore Sant' Anna, Pis a, Italy)
Joris De Schutter (Katholieke Universiteit, Leuven, Belgium)
Georges Giralt (LAAS-CNRS, France), Secretary
Gerd Hirzinger (DLR, Germany)
Shigeo Hirose (Tokyo Institute of Technology, Japan)
Hirochika Inoue (University of Tokyo, Japan), President
Ray Jarvis (Monash University, Australia)
Takeo Kanade (CMU, USA), Treasurer
Dan Koditschek (University of Michigan, USA)
Hirofumi Miura (University of Tokyo, Japan)
Richard Paul (University of Pennsylvania, USA)
Bernie Roth (Stanford University, USA)
Yo shiaki Shirai (Osaka University, Japan)
Tsuneo Yoshikawa (Kyoto University, Japan)
While a limited number of participants were nominated in each area by the Program Committee
members of the area, a call for papers was issued in order to include researchers who had made
significant contributions to robotics. All submitted extended abstracts were reviewed by the
Program Committee before final paper selection was made. Attendance at the Symposium was
limited to the authors of selected papers and the nominees.
During the four days of sessions, forty-four papers were presented in a single track to cover
the broad research area of robotics. One of the featured topics of the symposium was robots
working in close contact with humans. Manipulators or mobile robots, for example, work in the
same environment as humans interacting with humans. Further efforts are being made in
medical applications, humanoid robots and human-robot interface technologies. In addition
robotics was shown to be useful for human welfare, social infrastructure and entertainment.
Reflecting this trend, a three year project under the name of "tightly-coupled perception-
X
motion behavior" was started two years ago as one of the priority researches by the Japanese
Ministry of Education. In one of the evening sessions of this Symposium, on going research
results of the project together with another new project on humanoid robots were introduced
and discussed. We hope that readers of this book will share the excitement of the attendees.
We would like to express, on behalf of the IFRR, our thanks to the following institutions for
funding: New Technology Foundation, the French embassy, Mitsubishi Heavy Industry and
Fujitsu Laboratories. Our special thanks go to Mr Kazuhiko Nishi for his fmancial support. We
also wish to thank the Organizing Committee members: H. Miura, H. Inoue, M. Uchiyama and
Y. Nakamura, and the staff of the members who helped in organizing and operating the
Symposium.
Yo shiaki Shirai and Shigeo Hirose
Co-Chair
The Eighth International Symposium ofR obotics Research