Robotics Research: The Seventh International Symposium

649 Pages·1996·46.767 MB·English

by  J. De Schutter (auth.), Georges Giralt, Gerhard Hirzinger Prof. Dr.-Ing. (eds.)

Robotics Research
The Seventh International Symposium
Springer
London
Berlin
Heidelberg
New York
Barcelona
Budapest
Hong Kong
Milan
Paris
Santa Clara
Singapore
Tokyo
Georges Giralt and Gerhard Hirzinger (Eds)
Robotics Research
The Seventh International Symposium
With 580 Figures
Springer
Georges Giralt, Docteur es Sciences
Centre National de la Recherche Scientifique
Laboratoire d'A nalyse et d'A rchitecture des Systemes
7 Avenue du Coronel Roche, 31077 Toulouse Cedex, France
Gerhard Hirzinger, Prof. Dr.-Ing.
DLR Oberpfaffenhofen
Institute for Robotics and System Dynamics, 82234 Wessling, Germany
ISBN-I3:978-I-447I-I2S7-0
British Library Cataloguing in Publication Data
Robotics research : the seventh international symposium
1.Robotics - Research
I.Giralt, Georges II.Hirzinger, Gerd
629.8'92'072
ISBN-13:978-1-4471-1257-0
Library of Congress Cataloging-in-Publication Data
Robotics research : the seventh international symposium I Georges
Giralt and Gerhard Hirzinger (eds.).
p. cm.
Includes bibliographic references.
ISBN-13: 978-1-4471-1257-0 e-ISBN-13: 978-1-4471-1021-7
DOl: 10.1007/978-1-4471-1021-7
1. Robotics --Research --Congresses. I. Giralt, Georges.
II. Hirzinger, Gerd. III. International Symposium on Robotics
Research (7th : 1995 Herrsching am Ammersee, Germany)
TJ211.R56817 1996 96-12837
629.8'92 --dc20 CIP
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
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@ Springer-Verlag London Limited 1996
Softcover reprint of the hardcover 1st edition 1996
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.
Typesetting: Camera ready by editors
69/3830-543210 Printed on acid-free paper
Contents
Preface......................................................................................................................................... xi
List of Authors............................................................................................................................ xiii
1. MANiPULATION................................................................................................. 1
Session Summary
]. De Schutter......................................................................................................................... 1
Hands for Dexterous Manipulation and Powerful Grasping: A Difficult Road
Towards Simplicity
A. Bicchi................................................................................................................................. 2
An Exploration of Non prehensile Two-Palm Manipulation: Planning and Execution
M. Erdmann .......................................................................................................................... 16
Control of Physical Contact and Dynamic Interaction
E.D. Passe and N. Hogan...................................................................................................... 28
Reorienting Objects with a Robot Hand Using Grasp Gaits
S. Leveroni and K. Salisbury................................................................................................ 39
2. (ONTROL ............•...................................' .......................................................... 53
Session Summary
S. Arimoto.............................................................................................................................. 53
Another Language for Describing Robot Motions: A Nonlinear Position-dependent
Circuit Theory
S. Arirnoto.............................................................................................................................. 55
Nonlinear Behavior and Control of Under actuated Robotic Mechanisms
Y. Nakamura, T. Suzuki and M. Koinunla......................................................................... 67
Parallel Force/Position Control of Robot Manipulators
B. Siciliano............................................................................................................................. 78
Modeling, Controllability and Vibration Suppression of 3D Flexible Robots
M. Uchiyama and A. Konno ................................................................................................ 90
Moving Base Robotics and Reaction Management Control
K. Yoshida, D.N. Nenchev and M. Uchiyama .................................................................... 100
3. ROBOT ASSISTANCE FOR SURGERY AND PERSONAL CARE ................................... 111
Session Summary
R. Bajcsy ................................................................................................................................ 111
Robotic Aids for Laparoscopic Surgery Problems
A. Casals,]. Amat and E. Laporte ....................................................................................... 112
Design of Customized Rehabilitation Aids
V. Kurnar, R. Bajcsy and W. Harwin .................................................................................. 122
vi
4. TIGHT COUPLING OF PERCEPTION WITH AalON ................................................ 135
Session Summary
H. Inoue ................................................................................................................................. 135
Perception-Action Network for Sensor Fusion and Planning
S. Lee...................................................................................................................................... 137
Toward A Systems Theory for the Composition of Dynamically Dexterous Robot
Behaviors
R.R. Burridge, A.A. Rizzi and D.E. Koditschek .................................................................. 149
Research Program on Mechanisms for Emergent Machine Intelligence
H. Inoue................................................................................................................................. 162
5. TELEROBOTICS AND VIRTUAL REALITY ............................................................... 171
Session Summary
P. Dario.................................................................................................................................. 171
Force Replication to the Human Operator: The Development of Arm and Hand
Exoskeletons as Haptic Interfaces
M. Bergamasco...................................................................................................................... 173
Intelligent Tele-Robotics
H. Hashimoto........................................................................................................................ 183
Performance Measures for Haptic Interfaces
V. Hayward and O.R. Astley................................................................................................ 195
Operator Control of Robotic Systems
R.P. Paul, C.P. Sayers and J.A. Adanls ................................................................................ 207
Haptic Virtual Reality: Display of Operating Feel of Dynamic Virtual Objects
T. Yoshikawa and H. Ueda .................................................................................................. 214
6. MOTION PLANNING AND TASK-LEVEL PROGRAMMING ....................................... 223
Session Summary
I.-C. Latombe ........................................................................................................................ 223
Formal Verification in Robotics: Why and How?
B. Espiau, K. Kapellos and M. Jourdan............................................................................... 225
Robot Motion Planning in Dynamic Environments
P. Fiorini and Z. Shiller ......................................................................................................... 237
A Random Sampling Scheme for Path Planning
J. Barraquand, L. Kavraki, J.-c. Latombe, T.-Y. Li, R. Motwani and P. Raghavan ....... 249
Planar Manipulation on a Conveyor with a One Joint Robot
S. AkeIla, W.H. Huang, K.M. Lynch and M. T. Mason....................................................... 265
7. LEARNING AND SKILL ACQUISITION ..............................................................•.... 277
Session Summary
G. Hirzinger........................................................................................................................... 277
Behavior Acquisition via Vision-Based Robot Learning
M. Asada, T. Nakatnura and K. Hosoda ............................................................................ 279
Perception and Manipulation in Robotics: Neural Network Approaches
G. Hirzinger, R. Koeppe, A. Baader, F. Lange, R. Staudte and G.-Q. Wei ....................... 287
vii
Integration of Symbolic and Sub symbolic Learning to Support Robot Programming
by Human Demonstration
R. Dillmann, H. Friedrich, M. Kaiser and A. Ude .............................................................. 296
Designing Skills with Visual Feedback for APO
K. lkeuchi, J. Miura, T. Suehiro and S. Conanto................................................................ 308
8. MULTI-ROBOT INTERACTING SySTEMS •••••••••.••••.•••.••••.••••.••.••.••••••..•..••••••••••••••••• 321
Session Summary
G. Giralt................................................................................................................................. 321
A Multi-Robot Cooperation Scheme Based on Incremental Plan-Merging
R. Alalni................................................................................................................................. 323
Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems
O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal and A. Baader ........ 333
Behavior Matching by Observation for Multi-Robot Cooperation
Y. Kuniyoshi.......................................................................................................................... 343
9. 3D VISION ......................................................................................................... 353
3D Vision -Shape and Colour
R. Jarvis.................................................................................................................................. 354
A Multi-body Factorization Method for Motion Analysis
J. Costeira and T. Kanade .................................................................................................... 368
Focus Range Sensors
S.K. Nayar, M. Noguchi, M. Watanabe and Y. Nakagawa............................................... 378
Is Structure-From-Motion Worth Pursuing?
C. Tomasi and J. Zhang........................................................................................................ 391
10. AaIVE/REAL-TIME ViSiON ............................................................................... 401
Session Summary
Y. Shirai................................................................................................................................. 401
Visual Guidance of an AGV
F. Li, M. Brady and H. Hu.................................................................................................... 403
Active Vision and Seeing Robots
J.-O. Eklundh, T. Uhlin. P. Nordlund and A. Maki............................................................ 416
Automatic Task Planning for Robot Vision
B. Triggs and C. Laugier....................................................................................................... 428
Object Tracking by Using Optical Flows and Edges
Y. Shirai. Y. Mae and S. Yarnarnoto ................................................................................... 440
11. HOW DO WE BUILD RELIABLE AND EFECTIVE MOBILE ROBOTS? ........................ 449
Session Summary
R. Bolles ................................................................................................................................. 449
Adaptive Navigation for Autonomous Mobile Robots
R. ChatiTa and S. Lacroix..................................................................................................... 450
viii
Parallel Use of Differential and Integral Representations for Realising Efficient
Mobile Robots
E.D. Dickmanns .................................................................................................................... 459
Robust Autonomous Low-Cost Mobility
W. Feiten and G. Lawitzky .................................................................................................. 470
Obstacle Detection for Unmanned Ground Vehicles: A Progress Report
L. Matthies, A. Kelly, T. Litwin and G. Tharp.................................................................... 475
12. VISUAL SERVOING ....................•.......•.•.............•......•...........•.........•..•....•..•..•..• 487
Session Summary
M. Brady................................................................................................................................ 487
Dynamic Issues in Robot Visual-Servo Systems
P.I. Corke ............................................................................................................................... 488
Extended Vision with the Robot Sensor Suit: A Primary Sensor Image Approach to
Interfacing Body to Brain
M. Inaba ................................................................................................................................ 499
13. SYMBOLIC GEOMETRY AND EFFECTIVE ALGEBRA FOR ROBOTICS AND VISION ..• S09
Session Summary
O. Faugeras ........................................................................................................................... 509
Symbolic Geometry and Effective Algebra for Solving Problems in Computer Vision:
Where do we Stand, Where may we Go
O. Faugeras ........................................................................................................................... 510
Sine-Cosine Polynomial Systems
]. Nielsen and B. Roth........................................................................................................... 528
14. MECHANISMS AND DESiGN .............................................................................. 535
Session Summary
M.H. Raibert ......................................................................................................................... 535
Geometric Perspectives on the Mechanics and Control of Robotic Locomotion
]. Ostrowski and]. Burdick................................................................................................... 536
Design of Hyper-Redundant Arm
S. Hirose................................................................................................................................. 548
The Calibration Index and the Role ofInput Noise in Robot Calibration
].M. Hollerbach and C. W. Wampler ................................................................................... 558
15. MICRO ROBOTICS •.••.••.••.•••••••••••••••••.••••.••••••••••••....•••••••.••..•••••••••••••.••••••••••••••••• 569
Session Summary
H. Miura ................................................................................................................................ 569
A Planar Milli-Robot System on an Air Bearing
R.S. Fearing ........................................................................................................................... 570
Sub-Micron Large Motion Multi-Robot Planar Motion System or
ROBOTWORLD - The Next Generation
]. Ish-Shalarn ......................................................................................................................... 582
Intelligent Manipulation Robot in Micro and Nano meter World
T. Sata and H. Miyazaki ...................................................................................................... 596
ix
Hybrid Robots Consisting of Mechanical Parts and Living Organisms for
Microrobot Application
1. Shimoyama, H. Miura, Y. Kuwana and Y. Sayama ...................................................... 605
16. INDUSTRIAL SYSTEMS ISSUES ................•......................................................... 611
Session Summary
K.H. Robrock......................................................................................................................... 611
Localization of Autonomous Guided Vehicles
H. Durrant-Whyte, D. Rye and E. Nebot............................................................................ 613
Hardware Design Methods and Proposals for Open System Architecture of
Intelligent Robots
T. Oomichi, T. [be and T. Sasaki ......................................................................................... 626
Robots, Transportation, and Society
C. Thorpe and D. Pornerleau ............................................................................................... 634
Participants ................................................................................................................................. 641
Preface
The Seventh International Symposium of Robotics Research was held in Herrsching near
Munich, Germany, from October 21 to 24, 1995, the first to be organized following the
renewal undergone by the International Foundation of Robotics Research (IFRR) during the
preceding Symposium (Hidden Valley, October 1993).
A board of eighteen officers was appointed:
Suguru Arimoto (Tokyo University)
Ruzena Bajcsy (University of Pennsylvania)
Robert Bolles (SRI International)
Mike Brady (Oxford University)
Paolo Dario (Pisa University, Italy)
Joris De Schutter (Katholieke Universiteit Leuven, Belgium)
Olivier Faugeras (INRIA, France)
Georges Giralt (LAAS-CNRS, Fral}ce), Secretary
Gerd Hirzinger (DFVLR, Germany)
Hirochika Inoue (Tokyo University), President-elect
Ray Jarvis (Monash University, Australia)
Takeo Kanade (Carnegie Mellon University)
Hirofumi Miura (Tokyo University)
Richard Paul (University of Pennsylvania), President
Marc Raibert (Massachusetts Institute of Technology)
Bernie Roth (Stanford University)
Yoshiaki Shirai (Osaka University)
Tsuneo Yoshikawa (Kyoto University)
It was our commitment to bring together active, leading robotics researchers from academia,
government, and industry, with the ambitious objective to assess the state of Advanced
Robotics and to discuss future research directions.
Papers representing authoritative reviews of established research areas as well as papers
reporting on new areas were sought for presentation. A number ofleading researchers were
asked to submit extended abstracts outlining papers representing their areas of research.
In addition to inviting participants, a call for papers was issued in order to include
researchers who had made significant new contributions to robotics. All abstracts and
submitted papers were reviewed by the eigh teen IFRR officers acting as the Symposium
Program Committee before final paper selection was made. Attendance at the Symposium,
63, was limited to presenters and invited participants.
It is worth noting that of the sixty three participants, only thirty were present at Hidden
Valley in 1993.
The organization of the Proceedings follows that of the Symposium, with a chapter
devoted to each session. Senior members of the robotics research community were asked to
chair each session and to write a session summary which introduces the chapter.
During the four-days of sessions, fifty five papers were presented in a single track with
emphasis being put in open discussion with a pro-active role of the chair.
We believe to express the general opinion of the attendees in writing that we had a most
interesting four-days work with an outstanding set of original results as well as clean,
enlightening new formulations of standing problems. Hence, the Symposium endeavoured
to contribute with meaningful steps forward to build the emerging body of concepts,
methods, scientific and technical knowledge and tools that shape Robotics.