Lecture Notes in Artificial Intelligence 7101
Subseries of Lecture Notes in Computer Science
LNAI Series Editors
Randy GoebelUniversity of Alberta, Edmonton, Canada
Yuzuru TanakaHokkaido University, Sapporo, Japan
Wolfgang WahlsterDFKI and Saarland University, Saarbrücken, Germany
LNAI Founding Series Editor
Joerg SiekmannDFKI and Saarland University, Saarbrücken, Germany
Sabina Jeschke Honghai LiuDaniel Schilberg (Eds.)
Intelligent Roboticsand Applications4th International Conference, ICIRA 2011Aachen, Germany, December 6-8, 2011Proceedings, Part I
13
Series Editors
Randy Goebel, University of Alberta, Edmonton, CanadaJörg Siekmann, University of Saarland, Saarbrücken, GermanyWolfgang Wahlster, DFKI and University of Saarland, Saarbrücken, Germany
Volume Editors
Sabina JeschkeRWTH Aachen University, IMA/ZLW & IFUDennewartstraße 27, 52068 Aachen, GermanyE-mail: [email protected]
Honghai LiuUniversity of Portsmouth, School of Creative TechnologiesIntelligent Systems and Biomedical Robotics GroupEldon Building, Winston Churchill Avenue, Portsmouth, PO1 2DJ, UKE-mail: [email protected]
Daniel SchilbergRWTH Aachen University, IMA/ZLW & IFUDennewartstraße 27, 52068 Aachen, GermanyE-mail: [email protected]
ISSN 0302-9743 e-ISSN 1611-3349ISBN 978-3-642-25485-7 e-ISBN 978-3-642-25486-4DOI 10.1007/978-3-642-25486-4Springer Heidelberg Dordrecht London New York
Library of Congress Control Number: 2011941364
CR Subject Classification (1998): I.4, I.5, I.2, I.2.10, H.4, C.2
LNCS Sublibrary: SL 7 – Artificial Intelligence
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Preface
Robots are increasingly being used for service duties, exploring inaccessible areasand for emergency and security tasks, besides their conventional application inindustrial environments. The trend toward intelligent and autonomous systemsis uninterrupted and poses new challenges for the interaction between humansand robots. Controlling robots is far beyond conventional programming specifictasks and cooperation between humans and robots becomes crucially important.As a result, the behavior of modern robots needs to be optimized toward thesenew challenges.
Against this background, the 4th International Conference on IntelligentRobotics and Applications picked“Improving Robot Behavior”as its central sub-ject. Building on the success of the previous ICIRA conference series in Wuhan,China, Singapore and Shanghai, China, the renowned conference left Asia forthe first time and took place between December 6–8, 2011 in Aachen, Germany.On the one hand, ICIRA 2011 aimed to strengthen the link between differentdisciplines developing and/or using robotics and its applications. On the otherhand, it improved the connection between different perspectives on the field ofrobotics - from fundamental research to the industrial usage of robotics.
The response from the scientific community was great and after an extensivereview 122 papers were selected for oral presentation at the conference. These high-quality papers from international authors cover a broad variety of topics, resem-bling the state of the art in robotic research. The papers accepted for the conferenceare presented in this volume of Springer’s Lecture Notes in Artificial Intelligence.The volume is organized according to the conference sessions. The sessions covera wide field of robotic research including topics such as “Robotics in Education”,“Human–Robot-Interaction”and“Bio-inspired Robotics”as well as“Robotics As-sembly Applications”,“Parallel Kinematics”or“Multi-Robot Systems”.
We would like to thank all authors and contributors who supported ICIRA2011 and the organization team under the direction of Max Haberstroh andRalph Kunze. Our special gratitude goes to the International Advisory Commit-tee and Program Chairs for their help and guidance, as well as the many externalreviewers who helped to maintain the high quality the conference demonstratedin the past three years. Our particular thanks goes to the keynote speakers Rudi-ger Dillmann (KIT, Germany), Dennis Hong (Virginia Tech, USA) and BradleyNelson (ETH Zurich, Switzerland) for their inspiring talks.
December 2011 Sabina JeschkeHonghai Liu
Daniel Schilberg
Conference Organization
Conference Chair
Sabina Jeschke RWTH Aachen University, Germany
Conference Co-chair
Xiangyang Zhu Shanghai Jiao Tong University, China
Program Chairs
Ulrich Epple RWTH Aachen University, AachenStefan Kowalewski RWTH Aachen University, Aachen
Program Co-chairs
Honghai Liu University of Portsmouth, UKJangmyung Lee Pusan National University, Republic of KoreaChun-Yi Su Concordia University, Canada
International Advisory Committee
Tamio Arai University of Tokyo, JapanHegao Cai Harbin Institute of Technology, ChinaToshio Fukuda Nagoya University, JapanKlaus Henning RWTH Aachen University, GermanyHuosheng Hu Essex University, UKOussama Khatib Stanford University, USAJurgen Leopold Huazhong University of Science and
Technology, ChinaMing Li National Natural Science Foundation of China,
ChinaPeter Luh Connecticut University, USAJun Ni University of Michigan, USANikhil R. Pal Indian Statistical Institute, IndiaGrigory Panovko Russian Academy of Science, RussiaMohammad Siddique Fayetteville State University, USAXinyu Shao Huazhong University of Science and
Technology, ChinaShigeki Sugano Waseda University, JapanMichael Wang Chinese University of Hong Kong, China
VIII Conference Organization
Kevin Warwick University of Reading, UKBogdan M. Wilamowski Auburn University, USAMing Xie Nanyang Technological University, SingaporeYoulun Xiong Huazhong University of Science and
Technology, ChinaLotfi Zadeh California University of Berkeley, USA
Conference Area Chairs
Andrew Adamatzky University of the West of England, UKShamsudin H.M. Amin Universiti Teknologi Malaysia, MalaysiaNikos A. Aspragathos University of Patras, GreecePhilippe Bidaud Universite Pierre and Marie Curie, FranceDarwin G. Caldwell Italian Institute of Technology, ItalyJan-Olof Eklundh Center for Autonomous Systems, SwedenAshraf M. Elnagar University of Sharjah, United Arab EmiratesHubert Gattringer Johannes Kepler University Linz, AustriaVladimir Golovko Brest State Technical University,
Republic of BelarusJwusheng Hu National Chiao Tung Universty, TaiwanKarel Jezernik University of Maribor, SloveniaPetko Kiriazov Bulgarian Academy of Sciences, BulgariaHeikki Koivo Helsinki University of Technology, FinlandKrzysztof Koz�lowski Poznan University of Technology, PolandMaarja Kruusmaa Tallinn University of Technology, EstoniaDirk Lefeber Vrije Universiteit Brussel, BelgiumYangmin Li University of Macau, MacauBruce MacDonald University of Auckland, New ZealandEric T. Matson Purdue University, USAIvan Petrovic University of Zagreb, CroatiaMiguel A. Salichs Universidad Carlos III de Madrid, SpainJim Torresen University of Oslo, NorwayLaszlo Vajta Budapest University of Technology and
Economics, HungaryHolger Voos University of Luxembourg, LuxembourgCees Witteveen Delft University of Technology,
The NetherlandsChangjiu Zhou Singapore Polytechnic, Republic of Singapore
Conference Special Session Chair
Naoyuki Kubota Tokyo Metropolitan University, Japan
Conference Organization IX
International Program Committee
Fakhreddine Ababsa, FranceEhsan Aboosaeedan, IranSadek Crisostomo Absi Alfaro, BrazilCihan Acar, JapanCarlos Antonio Acosta Calderon,
SingaporeNitin Afzulpurkar, ThailandMojtaba Ahmadi, CanadaAndika Aji Wijaya, MalaysiaOtar Akanyeti, ItalyBerkant Akin, TurkeyMohammad Al Janaideh, JordanMohamed Al Marzouqi, UAEAhmed Al-ArajiAmna AlDahak, UAEKhalid A.S. Al-Khateeb, MalaysiaKaspar Althoefer, UKErdinc Altug, TurkeyFarshid Amirabdollahian, UKCecilio Angulo, SpainSherine Antoun, AustraliaSilvia Appendino, ItalyPhilippe S. Archambault, CanadaKartik Ariyur, USAPanagiotis Artemiadis, USAJoonbum Bae, USAFeng Bai, ChinaSubhasis Banerji, SingaporeSven Behnke, GermanyNicola Bellotto, UKCindy Bethel, USARichard J. Black, USAMisel Brezak, CroatiaElizabeth Broadbent, New ZealandMagdalena Bugajska, USADarius Burschka, GermanyQiao Cai, USABerk Calli, The NetherlandsJiangtao Cao, ChinaZhiqiang Cao, ChinaDavid Capson, CanadaBarbara Caputo, SwitzerlandGuillaume Caron, FranceAuat Cheein, Argentina
Xiaopeng Chen, ChinaIan Chen, New ZealandZhaopeng Chen, GermanyWenjie Chen, SingaporeYouhua Chen, USADimitrios Chrysostomou, GreeceXavier Clady, FranceBurkhard Corves, GermanyDaniel Cox, USAJacob Crandall, UAERobert Cupec, CroatiaBoris Curk, SloveniaMarija Dakulovic, CroatiaKonstantinos Dalamagkidis, GermanyFadly Jashi Darsivan, MalaysiaKamen Delchev, BulgariaHua Deng, ChinaMing Ding, JapanHao Ding, GermanyCan Ulas Dogruer, TurkeyHaiwei Dong, JapanZhenchun Du, ChinaHadi ElDaou, EstoniaMartin Esser, GermanyAndres Faına, SpainYongchun Fang, ChinaFaezeh Farivar, IranEhsan Fazl-Ersi, CanadaYing Feng, CanadaLucia Fernandez Cossio, SpainManuel Fernandez-Carmona, SpainKevin Fite, USAAntonio Frisoli, ItalyZhuang Fu, ChinaVelappa Gounder Ganapathy, MalaysiaZhen Gao, CanadaAntonios Gasteratos, GreeceYiannis Georgilas, UKHu Gong, ChinaDongbing Gu, UKLiwen Guan, ChinaLei Guo, ChinaAlvaro Gutierrez, SpainNorihiro Hagita, Japan
X Conference Organization
Hassan Haleh, IranKenji Hashimoto, JapanMitsuhiro Hayashibe, FrancePatrick Henaff, FranceSophie Hennequin, FranceDominik Henrich, GermanyK.V. Hindriks, The NetherlandsVesa Holtta, FinlandMasaaki Honda, JapanTianjiang Hu, ChinaYong’an Huang, ChinaCong-Hui Huang, TaiwanMathias Husing, GermanyDetelina Ignatova, BulgariaAtsutoshi Ikeda, JapanAkira Imada, BelarusMircea Ivanescu, RomaniaEdouard Ivanjko, CroatiaYumi Iwashita, JapanPatric Jensfelt, SwedenSeonghee Jeong, JapanLi Jiang, ChinaBahram Jozi, AustraliaTakahiro Kagawa, JapanYasuhiro Kakinuma, JapanKaneko Kaneko, JapanPizzanu Kanongchaiyos, ThailandShigeyasu Kawaji, JapanEunyoung Kim, USAChyon Hae Kim, JapanBalint Kiss, HungaryAndreja Kitanov, CroatiaBin Kong, ChinaPetar Kormushev, ItalyAkio Kosaka, USAVolker Krueger, DenmarkNaoyuki Kubota, JapanChung-Hsien Kuo, TaiwanBela Lantos, HungaryKiju Lee, USAKristijan Lenac, CroatiaGang Li, ChinaKang Li, UKZhijun Li, ChinaQinchuan Li, ChinaBin Li, China
Feng-Li Lian, TaiwanGeng Liang, ChinaChyi-Yeu Lin, TaiwanWei Liu, ChinaJindong Liu, UKJia Liu, ChinaXin-Jun Liu, ChinaBingbing Liu, SingaporeBenny Lo, UKYunjiang Lou, MacaoLeena Lulu, UAEDominic MaestasElmar Mair, GermanyTakafumi Matsumaru, JapanJouni Kalevi Mattila, FinlandJohannes Mayr, AustriaAbdul Md Mazid, AustraliaEmanuele Menegatti, ItalyQinhao MengHuasong Min, ChinaLei Min, ChinaSeyed Mohamed Buhari Mohamed
Ismail, Brunei DarussalamHyungpil Moon, Republic of KoreaRainer Muller, GermanyHyun MyungHiroyuki Nakamoto, JapanLazaros Nalpantidis, GreeceJohn Nassour, FranceAndreas C. Nearchou, GreeceSamia Nefti-Meziani, UKDuc Dung Nguyen, Republic of KoreaHirotaka Osawa, JapanMohammadreza Asghari Oskoei, UKChee Khiang Pang, SingaporeChristopher Parlitz, GermanyFederica Pascucci, ItalyFernando Lobo Pereira, PortugalAnton Satria Prabuwono, MalaysiaFlavio Prieto, ColombiaHong Qiao, ChinaMd. Jayedur Rashid, AASS, SwedenSushil Raut, IndiaNilanjan Ray, CanadaRobert Richardson, UKRoland Riepl, Austria
Conference Organization XI
Jorge Rivera-Rovelo, MexicoFabrizio Rocchi, ItalyStephen Rock, USAAndreja Rojko, SloveniaJuha Roning, FinlandAnis Sahbani, FranceSebastien Saint-Aime, FranceElsayed Sallam, EgyptMarti Sanchez-Fibla, SpainIngrid Schjolberg, NorwayKosuke Sekiyama, JapanNaserodin Sepehry, IranXinjun Sheng, ChinaDesire Sidibe, FrancePonnambalam Sivalinga G., MalaysiaJorge Solis, JapanKai-Tai Song, TaiwanPeter Staufer, AustriaGiovanni Stellin, ItalyChun-Yi Su, CanadaAnan Suebsomran, ThailandJussi Suomela, FinlandYoshiyuki Takahashi, JapanYuegang Tan, ChinaLi Tan, USABo Tao, ChinaKalevi Tervo, FinlandChing-Hua Ting, TaiwanFederico Tombari, ItalyAksel Andreas Transeth, NorwayNikos Tsourveloudis, GreeceAkira Utsumi, JapanKalyana Veluvolu, Republic of KoreaIvanka Veneva, BulgariaAihui Wang, JapanXiangke Wang, ChinaHao Wang, ChinaShuxin Wang, China
Furui Wang, USAGuowu Wei, UKStephen Wood, USAHongtao WuXiaojun Wu, SingaporeXianbo Xiang, ChinaElias Xidias, GreeceRong Xiong, ChinaCaihua Xiong, ChinaPeter Xu, New ZealandXipeng Xu, ChinaKai Xu, ChinaJijie Xu, USAXin Xu, ChinaGuohua Xu, ChinaBing Xu, ChinaXinqing Yan, ChinaWenyu Yang, ChinaZhouping Yin, ChinaMasahiro Yokomichi, JapanKuu-Young Young, TaiwanHanafiah Yussof, MalaysiaMassimiliano Zecca, JapanJianguo Zhang, UKWenzeng Zhang, ChinaXianmin Zhang, ChinaXuguang Zhang, ChinaYingqian Zhang, The NetherlandsDingguo Zhang, ChinaYanzheng Zhao, ChinaXiaoguang Zhao, ChinaYi Zhou, SingaporeHuiyu Zhou, UKChi Zhu, JapanLimin Zhu, ChinaChun Zhu, USAChungang Zhuang, ChinaWei Zou, China
Organizing Committee
Max HaberstrohRalph KunzeChristian TummelAlicia DrogeClaudia Capellmann
Katrin OhmenRichar BosnicRobert GlashagenLarissa MullerKathrin Schoenefeld
Table of Contents – Part I
Progress in Indoor UAV
On the Way to a Real-Time On-Board Orthogonal SLAM for an IndoorUAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Mirco Alpen, Klaus Frick, and Joachim Horn
Quadrocopter Localization Using RTK-GPS and Vision-BasedTrajectory Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Ulf Pilz, Willem Gropengießer, Florian Walder, Jonas Witt, andHerbert Werner
Five-Axis Milling Simulation Based on B-rep Model . . . . . . . . . . . . . . . . . . 22Yongzhi Cheng, Caihua Xiong, Tao Ye, and Hongkai Cheng
Robotics Intelligence
Exploration Strategies for Building Compact Maps in UnboundedEnvironments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Matthias Nieuwenhuisen, Dirk Schulz, and Sven Behnke
The Basic Component of Computational Intelligence for KUKA KR C3Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Tadeusz Szkodny
An Experimental Comparison of Model-Free Control Methods in aNonlinear Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Mateusz Przybyla, Rafal Madonski, Marta Kordasz, andPrzemyslaw Herman
Industrial Robots
Research on Modular Design of Perpendicular Jointed IndustrialRobots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Lin Song and Suixian Yang
Online Path Planning for Industrial Robots in Varying EnvironmentsUsing the Curve Shortening Flow Method . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Marcel Huptych, Konrad Groh, and Sascha Rock
Parallel-Populations Genetic Algorithm for the Optimization of CubicPolynomial Joint Trajectories for Industrial Robots . . . . . . . . . . . . . . . . . . . 83
Fares J. Abu-Dakka, Iyad F. Assad, Francisco Valero, andVicente Mata
XIV Table of Contents – Part I
Robotics Assembly Applications
Integrative Path Planning and Motion Control for Handling LargeComponents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Rainer Muller, Martin Esser, and Markus Janssen
Automatic Configuration of Robot Systems – Upward and DownwardIntegration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Gunther Reinhart, Stefan Huttner, and Stefan Krug
Process and Human Safety in Human-Robot-Interaction – A HybridAssistance System for Welding Applications . . . . . . . . . . . . . . . . . . . . . . . . . 112
Carsten Thomas, Felix Busch, Bernd Kuhlenkoetter, andJochen Deuse
Operation Simulation of a Robot for Space Applications . . . . . . . . . . . . . . 122Hui Li, Giuseppe Carbone, Marco Ceccarelli, and Qiang Huang
Re-grasping: Improving Capability for Multi-Arm-Robot-System byDynamic Reconfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Burkhard Corves, Tom Mannheim, and Martin Riedel
A Parallel Kinematic Concept Targeting at More Accurate Assembly ofAircraft Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Christian Lochte, Franz Dietrich, and Annika Raatz
Dimensional Synthesis of Parallel Manipulators Based on Direction-Dependent Jacobian Indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Marwene Nefzi, Clement Gosselin, Martin Riedel,Mathias Husing, and Burkhard Corves
Rehabilitation Robotics
EMG Classification for Application in Hierarchical FES System forLower Limb Movement Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Dingguo Zhang, Ying Wang, Xinpu Chen, and Fei Xu
Situated Learning of Visual Robot Behaviors . . . . . . . . . . . . . . . . . . . . . . . . 172Krishna Kumar Narayanan, Luis-Felipe Posada,Frank Hoffmann, and Torsten Bertram
Humanoid Motion Planning in the Goal Reaching Movement ofAnthropomorphic Upper Limb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Wenbin Chen, Caihua Xiong, Ronglei Sun, and Xiaolin Huang
Human Sitting Posture Exposed to Horizontal Perturbation andImplications to Robotic Wheelchairs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Karim A. Tahboub and Essameddin Badreddin
Table of Contents – Part I XV
Automatic Circumference Measurement for Aiding in the Estimation ofMaximum Voluntary Contraction (MVC) in EMG Systems . . . . . . . . . . . . 202
James A.R. Cannan and Huosheng Hu
Classification of the Action Surface EMG Signals Based on the DirichletProcess Mixtures Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Min Lei and Guang Meng
Displacement Estimation for Foot Rotation Axis Using aStewart-Platform-Type Assist Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Ming Ding, Tomohiro Iida, Hiroshi Takemura, and Hiroshi Mizoguchi
Mechanisms and their Applications
Inverse Kinematics Solution of a Class of Hybrid Manipulators . . . . . . . . . 230Shahram Payandeh and Zhouming Tang
Stiffness Analysis of Clavel’s DELTA Robot . . . . . . . . . . . . . . . . . . . . . . . . . 240Martin Wahle and Burkhard Corves
Optimum Kinematic Design of a 3-DOF Parallel Kinematic Manipulatorwith Actuation Redundancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Fugui Xie, Xin-Jun Liu, Xiang Chen, and Jinsong Wang
Integrated Structure and Control Design for a Flexible PlanarManipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Yunjiang Lou, Yongsheng Zhang, Ruining Huang, and Zexiang Li
Effects of Clearance on Dynamics of Parallel Indexing CamMechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Zongyu Chang, Lixin Xu, Yuhu Yang, Zhongqiang Zheng, andTongqing Pan
Design and Compliance Experiment Study of the Forging Simulator . . . . 281Pu Zhang, Zhenqiang Yao, Zhengchun Du, Hao Wang, andHaidong Yu
Design of Compliant Bistable Mechanism for Rear Trunk Lid of Cars . . . 291Shouyin Zhang and Guimin Chen
Multi Robot Systems
DynaMOC: A Dynamic Overlapping Coalition-Based MultiagentSystem for Coordination of Mobile Ad Hoc Devices . . . . . . . . . . . . . . . . . . 300
Vitor A. Santos, Giovanni C. Barroso, Mario F. Aguilar,Antonio de B. Serra, and Jose M. Soares
XVI Table of Contents – Part I
Design of a High Performance Quad-Rotor Robot Based on a LayeredReal-Time System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Jonas Witt, Bjorn Annighofer, Ole Falkenberg, and Uwe Weltin
Simple Low Cost Autopilot System for UAVs . . . . . . . . . . . . . . . . . . . . . . . . 324S. Veera Ragavan, Velappa Ganapathy, and Chee Aiying
A Marsupial Relationship in Robotics: A Survey . . . . . . . . . . . . . . . . . . . . . 335Hamido Hourani, Philipp Wolters, Eckart Hauck, and Sabina Jeschke
Multi-objective Robot Coalition Formation for Non-additiveEnvironments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Manoj Agarwal, Lovekesh Vig, and Naveen Kumar
Development of a Networked Multi-agent System Based on Real-TimeEthernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Xiong Xu, Zhenhua Xiong, Jianhua Wu, and Xiangyang Zhu
A Conceptual Agent-Based Planning Algorithm for the Production ofCarbon Fiber Reinforced Plastic Aircrafts by Using Mobile ProductionUnits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Hamido Hourani, Philipp Wolters, Eckart Hauck,Annika Raatz, and Sabina Jeschke
Robot Mechanism and Design
Trajectory Tracking and Vibration Control of Two Planar RigidManipulators Moving a Flexible Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
Balasubramanian Esakki, Rama B. Bhat, and Chun-Yi Su
Concept and Design of the Modular Actuator System for the HumanoidRobot MYON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Torsten Siedel, Manfred Hild, and Mario Weidner
Design of a Passive, Bidirectional Overrunning Clutch for Rotary Jointsof Autonomous Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
Manfred Hild, Torsten Siedel, and Tim Geppert
DeWaLoP-Monolithic Multi-module In-Pipe Robot System . . . . . . . . . . . . 406Luis A. Mateos and Markus Vincze
Design and Control of a Novel Visco-elastic Braking Mechanism UsingHMA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
Keith Gunura, Juanjo Bocanegra, and Fumiya Iida
Table of Contents – Part I XVII
Parallel Kinematics, Parallel Kinematics Machinesand Parallel Robotics
Topological Design of Weakly-Coupled 3-Translation Parallel RobotsBased on Hybrid-Chain Limbs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
Huiping Shen, Tingli Yang, Lvzhong Ma, and Shaobin Tao
Working Space and Motion Analysis on a Novel Planar ParallelManipulator with Three Driving Sliders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
Huiping Shen, Wei Wang, Changyu Xue, Jiaming Deng, andZhenghua Ma
Optimal Kinematic Design of a 2-DoF Translational ParallelManipulator with High Speed and High Precision . . . . . . . . . . . . . . . . . . . . 445
Gang Zhang, PinKuan Liu, and Han Ding
Modeling and Control of Cable Driven Parallel Manipulators withElastic Cables: Singular Perturbation Theory . . . . . . . . . . . . . . . . . . . . . . . . 455
Alaleh Vafaei, Mohammad A. Khosravi, and Hamid D. Taghirad
CAD-2-SIM – Kinematic Modeling of Mechanisms Based on theSheth-Uicker Convention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
Bertold Bongardt
Handling and Manipulation
Non-rigid Object Trajectory Generation for Autonomous RobotHandling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478
Honghai Liu and Hua Lin
Robotized Sewing of Fabrics Based on a Force Neural NetworkController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
Panagiotis N. Koustoumpardis and Nikos A. Aspragathos
Dynamic Insertion of Bendable Flat Cables with Variation Based onShape Returning Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
Yuuki Kataoka and Shinichi Hirai
A Vision System for the Unfolding of Highly Non-rigid Objects on aTable by One Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
Dimitra Triantafyllou and Nikos A. Aspragathos
Tangibility in Human-Machine Interaction
Optimizing Motion of Robotic Manipulators in Interaction with HumanOperators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Hao Ding, Kurniawan Wijaya, Gunther Reißig, and Olaf Stursberg
XVIII Table of Contents – Part I
Haptic Display of Rigid Body Contact Using Generalized PenetrationDepth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532
Jun Wu, Dangxiao Wang, and Yuru Zhang
Assistive Robots in Eldercare and Daily Living: Automation ofIndividual Services for Senior Citizens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
Alexander Mertens, Ulrich Reiser, Benedikt Brenken,Mathias Ludtke, Martin Hagele, Alexander Verl,Christopher Brandl, and Christopher Schlick
Key Factors for Freshmen Education Using MATLAB and LEGOMindstorms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
Alexander Behrens, Linus Atorf, Dorian Schneider, and Til Aach
Navigation and Localization of Mobile Robot
Adaptive Dynamic Path Following Control of an Unicycle-Like MobileRobot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
Victor H. Andaluz, Flavio Roberti, Juan Marcos Toibero,Ricardo Carelli, and Bernardo Wagner
A Study on Localization of the Mobile Robot Using Inertial Sensorsand Wheel Revolutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
Bong-Su Cho, Woosung Moon, Woo-Jin Seo, and Kwang-Ryul Baek
Robust and Accurate Genetic Scan Matching Algorithm for RoboticNavigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
Kristijan Lenac, Enzo Mumolo, and Massimiliano Nolich
Beacon Scheduling Algorithm for Localization of a Mobile Robot . . . . . . . 594Jaehyun Park, Sunghee Choi, and Jangmyung Lee
Position Estimation Using Time Difference of Flight of the Multi-codedUltrasonic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604
Woo-Jin Seo, Bong-Su Cho, Woo-Sung Moon, and Kwang-Ryul Baek
Detecting Free Space and Obstacles in Omnidirectional Images . . . . . . . . 610Luis Felipe Posada, Krishna Kumar Narayanan,Frank Hoffmann, and Torsten Bertram
A Composite Random Walk for Facing Environmental Uncertainty andReduced Perceptual Capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
C.A. Pina-Garcia, Dongbing Gu, and Huosheng Hu
Motion Design for Service Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 630Elias Xidias, Nikos A. Aspragathos, and Philip Azariadis
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639
Table of Contents – Part II
A Body for the Brain: Embodied Intelligencein Bio-inspired Robotics
Biomechatronics for Embodied Intelligence of an Insectoid Robot . . . . . . 1Axel Schneider, Jan Paskarbeit, Mattias Schaffersmann, andJosef Schmitz
Novel Approaches for Bio-inspired Mechano-Sensors . . . . . . . . . . . . . . . . . . 12Alin Drimus and Arne Bilberg
Helping a Bio-inspired Tactile Sensor System to Focus on theEssential . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Sven Hellbach, Marc Otto, and Volker Durr
Robust Dataglove Mapping for Recording Human Hand Postures . . . . . . 34Jan Steffen, Jonathan Maycock, and Helge Ritter
Software/Hardware Issues in Modelling Insect Brain Architecture . . . . . . 46Paolo Arena, Luca Patane, Pietro Savio Termini,Alessandra Vitanza, and Roland Strauss
Higher Brain Centers for Intelligent Motor Control in Insects . . . . . . . . . . 56Roland Strauss, Tammo Krause, Christian Berg, and Bianca Zapf
An Insect-Inspired, Decentralized Memory for Robot Navigation . . . . . . . 65Holk Cruse and Rudiger Wehner
Models of Visually Guided Routes in Ants: Embodiment SimplifiesRoute Acquisition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Bart Baddeley, Paul Graham, Andrew Philippides, andPhilip Husbands
Intelligent Visual Systems
Robust Object Tracking for Resource-Limited Hardware Systems . . . . . . . 85Xiaoqin Zhang, Li Zhao, Shengyong Chen, and Lixin Gao
Adaptive Rank Transform for Stereo Matching . . . . . . . . . . . . . . . . . . . . . . . 95Ge Zhao, Yingkui Du, and Yandong Tang
Real Time Vision Based Multi-person Tracking for Mobile Roboticsand Intelligent Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Dennis Mitzel, Georgios Floros, Patrick Sudowe,Benito van der Zander, and Bastian Leibe
XX Table of Contents – Part II
A Method for Wandering Trajectory Detection in Video Monitor . . . . . . . 116Ruohong Huan, Zhehu Wang, Xiaomei Tang, and Yun Pan
The Design of a Vision-Based Motion Performance System . . . . . . . . . . . . 125Cheng Ren, Shuai Ye, and Xin Wang
Window Function for EEG Power Density Estimation and ItsApplication in SSVEP Based BCIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Gan Huang, Jianjun Meng, Dingguo Zhang, and Xiangyang Zhu
Efficient Multi-resolution Plane Segmentation of 3D Point Clouds . . . . . . 145Bastian Oehler, Joerg Stueckler, Jochen Welle, Dirk Schulz, andSven Behnke
3D Body Pose Estimation Using an Adaptive Person Model forArticulated ICP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
David Droeschel and Sven Behnke
Self-optimising Production Systems
Artificial Cognition in Autonomous Assembly Planning Systems . . . . . . . 168Christian Buescher, Marcel Mayer, Daniel Schilberg, andSabina Jeschke
Self-optimization as an Enabler for Flexible and ReconfigurableAssembly Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Rainer Muller, Christian Brecher, Burkhard Corves, Martin Esser,Martin Riedel, Sebastian Haag, and Matthias Vette
Flexible Assembly Robotics for Self-optimizing Production . . . . . . . . . . . . 189Sebastian Haag, Nicolas Pyschny, and Christian Brecher
Meta-modeling for Manufacturing Processes . . . . . . . . . . . . . . . . . . . . . . . . . 199Thomas Auerbach, Marion Beckers, Guido Buchholz,Urs Eppelt, Yves-Simon Gloy, Peter Fritz, Toufik Al Khawli,Stephan Kratz, Juliane Lose, Thomas Molitor, Axel Reßmann,Ulrich Thombansen, Drazen Veselovac, Konrad Willms,Thomas Gries, Walter Michaeli, Christian Hopmann, Uwe Reisgen,Robert Schmitt, and Fritz Klocke
Computational Intelligence
Control Architecture for Human Friendly Robots Based on Interactingwith Human . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Hiroyuki Masuta, Eriko Hiwada, and Naoyuki Kubota
Multi-modal Communication Interface for Elderly People inInformationally Structured Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Rikako Komatsu, Dalai Tang, Takenori Obo, and Naoyuki Kubota
Table of Contents – Part II XXI
Motion Control Strategies for Humanoids Based on Ergonomics . . . . . . . . 229Christian Schlette and Jurgen Rossmann
Fuzzy Representations and Control for Domestic Service Robotsin Golog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Stefan Schiffer, Alexander Ferrein, and Gerhard Lakemeyer
Robot Control Systems
Minimum Jerk-Based Control for a Three Dimensional BipedalRobot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Amira Aloulou and Olfa Boubaker
Development of a Smart Motion Control Card with an IEEE-1394Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Guo-Ying Gu, LiMin Zhu, and Ying Feng
Control System by Observer for a Hyper-redundant Robot . . . . . . . . . . . . 275Mircea Ivanescu, Nirvana Popescu, and Mihaela Florescu
Towards a Multi-peclet Number Pollution Monitoring Algorithm . . . . . . . 287John Oyekan, Dongbing Gu, and Huosheng Hu
Self-balancing Controllable Robots in Education: A Practical Coursefor Bachelor Students . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Paul Hansch, John Schommer, and Stefan Kowalewski
Intelligent Control Design in Robotics and Rehabilitation . . . . . . . . . . . . . 307Petko Kiriazov, Gergana Nikolova, and Ivanka Veneva
Human-Robot Interaction
Behavior Based Approach for Robot Navigation and Chemical AnomalyTracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Sambit Bhattacharya, Bogdan Czejdo, Shubo Han, andMohammad Siddique
Detection of Lounging People with a Mobile Robot Companion . . . . . . . . 328Michael Volkhardt, Steffen Muller, Christof Schroter, andHorst-Michael Groß
Autonomous Control for Human-Robot Interaction on Complex RoughTerrain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Mahmoud Mustafa and Alex Ramirez-Serrano
A Modular Approach to Gesture Recognition for Interaction with aDomestic Service Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
Stefan Schiffer, Tobias Baumgartner, and Gerhard Lakemeyer
XXII Table of Contents – Part II
Safety System and Navigation for Orthopaedic Robot (OTOROB) . . . . . 358Muralindran Mariappan, Thayabaren Ganesan,Vigneswaran Ramu, and Muhammad Iftikhar
Approaching a Person in a Socially Acceptable Manner Using a FastMarching Planner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
Jens Kessler, Christof Schroeter, and Horst-Michael Gross
Manipulators and Applications
Stiffness Identification for Serial Robot Manipulator Based onUncertainty Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
Xiaoping Zhang, Wenyu Yang, Xuegang Cheng, and YuShan Chen
Serial Comanipulation in Beating Heart Surgery Using a LWPR-ModelBased Predictive Force Control Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Juan Manuel Florez, Delphine Bellot, Jerome Szewczyk, andGuillaume Morel
Application of Wavelet Networks to Adaptive Control of RoboticManipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
Hamid Reza Karimi
Development of a Deep Ocean Master-Slave Electric ManipulatorControl System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
Xiong Shen, GuoHua Xu, Kun Yu, Guoyuan Tang, and Xiaolong Xu
Modelling of Flexible Link Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420Clementina Mladenova
An Outline for an Intelligent System Performing Peg-in-Hole Actionswith Flexible Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
Andreas Jordt, Andreas R. Fugl, Leon Bodenhagen,Morten Willatzen, Reinhard Koch, Henrik G. Petersen,Knud A. Andersen, Martin M. Olsen, and Norbert Kruger
Stability, Dynamics and Interpolation
Framework for Use of Generalized Force and Torque Data inTransitional Levels of Autonomy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
Kyle Schroeder and Mitch Pryor
A New Solution for Stability Prediction in Flexible Part Milling . . . . . . . . 452XiaoJian Zhang, Caihua Xiong, and Ye Ding
A Practical Continuous-Curvature Bezier Transition Algorithm forHigh-Speed Machining of Linear Tool Path . . . . . . . . . . . . . . . . . . . . . . . . . . 465
Qingzhen Bi, Yuhan Wang, Limin Zhu, and Han Ding
Table of Contents – Part II XXIII
Design of a FPGA-Based NURBS Interpolator . . . . . . . . . . . . . . . . . . . . . . . 477Huan Zhao, Limin Zhu, Zhenhua Xiong, and Han Ding
Iso-scallop Trajectory Generation for the 5-Axis Machining of anImpeller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
Xubing Chen, Jinbo Wang, and Youlun Xiong
Evolutionary Robotics
Swarm Robot Flocking: An Empirical Study . . . . . . . . . . . . . . . . . . . . . . . . . 495M. Fikret Ercan and Xiang Li
Self-reconfiguration Path Planning Design for M-Lattice Robot Basedon Genetic Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
Enguang Guan, Zhuang Fu, Weixin Yan, Dongsheng Jiang, andYanzheng Zhao
Mobile Robot Controller Design by Evolutionary MultiobjectiveOptimization in Multiagent Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
Yusuke Nojima and Hisao Ishibuchi
Learning Intelligent Controllers for Path-Following Skills on Snake-LikeRobots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
Francisco Javier Marın, Jorge Casillas, Manuel Mucientes,Aksel Andreas Transeth, Sigurd Aksnes Fjerdingen, andIngrid Schjølberg
Bio-inspired Robotics
Modular Behavior Controller for Underwater Robot Teams:A Biologically Inspired Concept for Advanced Tasks . . . . . . . . . . . . . . . . . . 536
Dong-Uck Kong and Jinung An
BioMotionBot - A New 3D Robotic Manipulandum with End-PointForce Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548
Volker Bartenbach, Klaus Wilging, Wolfgang Burger, andThorsten Stein
Adaptive Control Scheme with Parameter Adaptation - From HumanMotor Control to Humanoid Robot Locomotion Control . . . . . . . . . . . . . . 558
Haiwei Dong and Zhiwei Luo
Online Walking Gait Generation with Predefined Variable Height ofthe Center of Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569
Johannes Mayr, Hubert Gattringer, and Hartmut Bremer
XXIV Table of Contents – Part II
Image-Processing Applications
Visual Control of a Remote Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579David Sanchez-Benitez, Jesus M. de la Cruz, Gonzalo Pajares, andDawei Gu
Longitudinal and Lateral Control in Automated Highway Systems:Their Past, Present and Future . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
Mohammad Alfraheed, Alicia Droge, Max Klingender,Daniel Schilberg, and Sabina Jeschke
Surface Defects Classification Using Artificial Neural Networks inVision Based Polishing Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
Anton Satria Prabuwono, Adnan Rachmat Anom Besari,Ruzaidi Zamri, Md Dan Md Palil, and Taufik
Efficient Skin Detection under Severe Illumination Changesand Shadows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
Bishesh Khanal and Desire Sidibe
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619