Lecture Notes in Control and Information Sciences 200

Editor: M. Thoma

Tsuneo Yoshikawa and Fumio Miyazaki (Eds.)

Experimental Robotics III

The 3rd International Symposium, Kyoto, Japan, October 28-30, 1993

Springer-Verlag London Berlin Heidelberg Paris Tokyo Hong Kong Barcelona Budapest

New York

Series Advisory Board

A. Bensoussan- M.J. Grimble. P. Kokotovic. H. Kwakernaak J.L. Masse),. Y.Z. Tsypkin

Editors

Tsuneo Yoshikawa, PhD Department of Mechanical Engineering, Faculty of Engineering, Kyoto University, Yoshidahonmachi, Kyoto 606, Japan

Fumio Miyazaki, PhD Department of Mechanical Engineering, Faculty of Engineering Science, Osaka University, Machikaneyama-cho 1-1, Toyonaka, Osaka 560, Japan

ISBN 3-540-19905-5 Springer-Verlag Berlin Heidelberg New York ISBN 0-387-19905-5 Springer-Verlag New York Berlin Heidelberg

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P r e f a c e

Experimental Robotics III - The Third International Symposium took place at Kyodai-Kaikan (a conference hall affiliated with Kyoto University) in Kyoto, Japan, in October 1993. It was the third in a series of specialized small-sized in- ternational symposia dedicated to presenting and discussing in-depth research results and on-going developments in robotics which have both theoretical foun- dations and experimental validations. The number of the presentations was kept rather small to guarantee a thorough discussion and friendly interaction among the participants during the three-day, single-session meeting.

The first symposium was held in Montreal, Canada, in June 1989, organized by V. Hayward and O. Khatib, and the second was held in Toulouse, France, in June 1991, organized by R. Chatila and G. Hirzinger. The Proceedings of these two symposia were also published from the Springer-Verlag as Experimental Robotics I and II (Lecture Notes on Control and Information Sciences, Vo1.139 and Vol.190). The next symposium will be held in Stanford, USA, in 1995 and will be organized by Oussama Khatib and Ken Salisbury. As can be seen from these data, this meeting is being held every two years in a circular fashion around North America, Europe, and Asia.

All of the 43 papers from 10 countries presented at the Symposium are included in this volume. Thanks to the wonderful attendees who are actively working at the forefront of their research fields and made their valuable con- tributions to the Symposium, we are very pleased to say" with confidence that this Proceedings volume represents an essence of the state of the art of the ex- perimental robotics research and gives a good insight into its future directions. The book consists of nine sections: Planning and Arm Control, Force COntrol, Visual Servoing, Sensing and Learning, Dynamic Skills, Robot Design, Teleop- eration, Mobile Robots, and Space Robotics and Flexible Manipulators. Each section is forwarded by a brief introduction of the papers in the section for the convenience of the reader. The keynote lecture "Insect-Model Based Micro- robotics" was given by Prof. Hirofumi Miura from the University of Tokyo, whose experimental research effort for the new AI (Artificial Insects) strongly impressed the audience. In addition to the regular sessions, two video ses- sions were held and the following researchers presented their video films: K. Yokoi (MEL, Japan), J. Trevelyan ( University of Western Australia, Australia), T. Yoshimi (Toshiba Corp., Japan), M.R. Stein (University of Pennsylvania, USA), and A.A. Goldenberg (University of Toronto, Canada).

Almost all presentations at the Symposium were accompanied by video fihns, which is a natural consequence of the theme of the meeting: theoretical work validated by experiments. A compilation of part of these video films, along with those of the video sessions, will be made available soon as Video Proceedings.

vi

The international program committee consists of the following individuals: T. Yoshikawa Kyoto University, Japan (Co-chair) F. Miyazaki Osaka University, Japan (Co-chair) R. Chatila LAAS/CNRS, France J. Craig SILMA, USA P. Dario Scuola Superiore S. Anna, Italy V. Hayward McGill University, Canada G. Hirzinger DLR, Germany O. Khatib Stanford University, USA J.-P. Merlet INRIA, France K. Salisbury MIT, USA

We would like to thank the following institutions for their financial support: Foundation for Promotion of Advanced Automation, Yamanashi, Japan The Murata Science Foundation, Kyoto, Japan Fluid Power Technology Promotion Foundation, Osaka, Japan

We are also grateful to Yasuyoshi Yokokohji and the following students at Kyoto University who helped organizing the meeting: Xin-Zhi Zheng, Masamitsu Kurisu, Yong Yu, Syumpei Kawai, Masayuki Kawai, Kensuke tiarada, Toshiki Moriguchi, Tamao Okamoto, Masashi Koike, Ryuji Haruna, Norio Hosotani, Mitsumasa Mizuno, Atsushi Matsumoto, Jyun Ueda, Hitoshi Ueda, Takashi Kubota, Keigo Kobayashi, Kenji Tanimoto, and Katsuki Matsudera. Espe- cially, Xin-Zhi Zheng helped a lot in editing this volume also.

Tsuneo Yoshikawa (Kyoto University) Fumio Miyazaki (Osaka University)

List of Participants Abdul Aziz, A. A. M. Mech. Eng. Lab. 1-2, Namiki,Tsukuba, Ibaraki 305 Japan

Alami, R. LAAS-CNRS 7,Avenue du Colonel Roche 31077 Toulouse Cedex France

Allotta, Benedetto Scuola Superiore S. Anna Via Carducci,40-Pisa 56127 Italy

Andersen, N. A. Institute of Automatic Control Systems Technical University of Denmark Servolaboratoriet, Building 326 DK-2800 Lyngby Denmark

Anderson, R. J. Intelligent Systems and Robotics Center Sandia National Laboratories Div.1661,Po.Box 5800 Albuquerque, NM 87185 USA

Andreas Baader Institute of Robotics and System Dynam- ics DLR/German Aerospace Research Post Box 1116d-82230 Wessling Germany

Buehler, M. Department of Mechanical Engineering Centre for Intelligent Machines McGill University McConnell 423, 3480 University Street Montreal, Quebec H3A 2A7 Canad~

Chatila, R. LAAS/CNRS 7, Avenue du Colonel-Roche 31077 Toulouse Cedex France

Chaves, P. R. de S. Mech. Eng. Lab. 1-2 Namiki, Tsukuba, Ibaraki 305 Japan

Cherif, M. LIFIA/tNRIA Rh6ne-Atpes 46 Avenue F61ix-Viallet 38031 Grenoble Cedex 1 France

Corke, P. I. CSIRO Division of Manufacturing Technology Locked Bag 9 Preston 3072 Australia

D ario, P. ARTS Lab. Scuola Superiore S.Anna Via Carducci,40 56127 Pisa Italy

viii

Eberman, B. S. MIT Artificial Intelligence Laboratory 545 Technology Sq Rm831 Cambridge,MA 02139 USA

Howe, R. D. Division of Applied Sciences Harvard University 29 Oxford Street, Cambridge, MA 02138 USA

Ellis, R. E. Department of Computing and Informa- tion Science Goodwin Hall Queen's University Kingston, Ontario K7L 3N6 Canada

Espiau, B. INRIA Rh6ne-Alpes 46, avenue F~lix Vialet 38031 Grenoble France

Goldenberg, A. Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto 5 King's College Rd., Toronto Ontario MSS 1A4 Canada

Ichikawa, J. Research Center for Advanced Science and Technology The University of Tokyo 4-6-1 Komaba, Meguro-ku, Tokyo 153 Japan

Ienne, P. Swiss Federal Institute of Technology Microcomputing Laboratory IN-F Ecublens, CH-1015 Lausanne Switzerland

Kaneko, M. The Robotics Institute Department of Industrial and Systems Eng. Hiroshima University 1-4-1 K agamiyama,Higashi-Hiroshima Hirosima 724 Japan

Hashino, S. Mech. Eng. Lab 1-2 Namiki, Tsukuba, Ibaraki 305 Japan

Katsurakawa T. Kawasaki Heavy Industries 1-1 Kawasaki-cho, Akashi 673 Japan

Hayward, V. McGill University Center for intelligent Machines 3480 University Street Mont%al, Qu6bec Canada H3A 2A7

Khatib, O. Robotics Laboratory Department of Computer Science Stanford University Stanford, CA 94305 USA

Hirzinger, G. DLR Oberpfaffenhofen German Aerospace Research Establish- ment Institute for Robotics and System Dy- namics Oberpfaffenhofen, D-82234 Wessling Germany

Khosla, P. K. The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213-3891 USA

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Konno, A. Department of Aeronautics and Space Engineering Tohoku University Aramaki-aza-Aoba, Aoba-ku, Sendai 980 Japan

Krotkov, E. Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh, PA 15213 USA

Laugier, C. LIFIA/INRIA Rh6ne-Alpes 46 Avenue F~lix Via/let 38031 Grenoble Cedex 1 France

Lenar~i~, J. "Jozef Stefan" Institute University of Ljubljana Jamova 39, 61111 Ljubljana Slovenia

Mazer, E. F. LIFIA/INRIA Rh6ne-Alpes 46, Avenue Felix Via/let 38031 Grenoble cedex France

Merlet, J.-P. INRIA Sophia-Antipolis BP 93 06902 Sophia-Antipolis Cedex France

Miura, H. The Univ. of Tokyo 7-3-1 Hongo, Bunkyo-ku Tokyo 113 Japan

Miyazaki, F. Department of Mechanical Engineering Faculty of Engineering Science Osaka University Machikaneyama-tyo 1-1, Toyonaka Osaka 560 Japan

Morel, G. Laboratoire de Robotique de Paris Centre Univ. de Technologie 10-12, av. de l'Europe 78140 V61izy France

Moritz, W. FB 10 - Automatisierungstechnik University of Paderborn Pohlweg 55 D-33098 Paderborn German),

Nakashima, K. Kawasaki Heavy Industries 1-1, Kawasaki-cho, Akashi 673 Japan

Nagai, K. Depertment of Computer Science and Systems Engineering Faculty of Science and Engineering Ritsumeikan University Kitamachi, Kita-ku Kyoto 603 Japan

Nishikawa, A. Osaka University Machikaneyam a-tyo 1-1 ,Toyonaka Osaka 560 Japan

Noborio, H. Osaka E. C. Univ. Hatsu-cho 18-8, Neyagawa Osaka 572 Japan

Papegay, Y. A. Electrotechnical Lab. 1-1-4 Umezono, Tsukuba, Ibaraki 305 Japan

Pardo, Gerardo Aerospace Robotics Laboratory Durand 017 Stanford University Stanford, CA 94305 USA

Sato, T. Research Center for Advanced Science and Technology The University of Tokyo 4-6-1 Komaba,Meguro-ku, Tokyo 153 Japan

Schiitte, H. University of Paderborn, Pohlweg 55 D-33098 Paderborn Germany

Pin, F. G. Oak Ridge National Laboratory P.O. Box 2008 Oak Ridge, TN 37831-6364 USA

Rives, P. INRIA-centre de Sophia Antipolis 2004 Route des Lucioles BP93 06902 Sophia Antipolis France

Rizzi, A. Artificial Intelligence Laboratory Department of Electrical Engineering and Computer Science University of Michigan 1101 Beal Avenue Ann Arbor, MI 48109-2110 USA

Siciliano, B. Dipartimento di Informatica e Sis- temistica Universitk degli Studi di Napoli Federico II DIS, Via Claudio 21, 80125 Napoli Italy

Sikka, Pavan Department of Computing Science University of Alberta 615 General Services Building Edmonton, Alberta T6G 2H1 Canada

Stein, M. R. University of Pennsylvania 3401 Walnut St. #330C, Philadelphia PA 19104 USA

Salcudean, T. Department of Electrical Engineering University of British Columbia Vancouver, B.C.2356, Main Mall V6T 1Z4 Canada

Sano~ A. Department of Mechanical and Control Engineering University of Electro-Communications 1-5-1 Chofu, Tokyo 182 Japan

Trevelyan, J. Department of Mechanical Engineering University of Western Australia Nedlands, 6009 Australia

Uchiyama, M. Department of Aeronautics and Space Engineering Tohoku University Aramaki-aza-Aoba, Aoba-ku, Sendal 980 Japan

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Ueyama, K. SANYO Electric 1-18-13 Hashiridani Hirakata Osaka 573 Japan

Ulivi, Giovanni Dipartimento di Informatica temistica Universit~ degli Studi di Roma "La Sapienza" Via Eudossiana, 18-00184 Roma Italy

e Sis-

Whitcomb, L. L. Department of Mathematical Engineer- ing and Information Physics University of Tokyo 7-3-1 Hongo, Bunkyo Tokyo 113 Japan

Yoshida, K. Dept. of Mechano-Aerospace Engineer- ing Tokyo Institute of Technology 2-12-1, O-okayama, Meguro Tokyo 152 Japan

Yoshikawa, T. Department of Mechanical Engineering Faculty of Engineering Kyoto University Yoshidahonmachi, Kyoto 606 Japan

Yoshimi, T. Toshiba R&D Center Toshiba Corporation 4-1 Ukishima-cho,Kawasaki-ku,Kawasaki Kanagawa 210 Japan

Yang, B.-H. Center for Information-Driven Mechani- cal Systems Department of Mechanical Engineering Massachusetts Institute of Technology 77 Massachusetts Ave. Rm 3-351 Cam- bridge, MA 02139 USA

Yokoi, K. Robotics Department Mechanical Engi- neering Laboratory Namiki 1-2, Tsukuba, Ibaraki 305 Japan

Yuta, S. Intelligent Robotics Laboratory University of Tsukuba Tsukuba 305 Japan

Zelinsky, A. Intelligent Machine Behaviour Section Intelligent Systems Division Electrotechnical Laboratory 1-1-4 Umezono, Tsukuba Science City Ibaraki 305 Japan

Yokokohji, Y. Department of Mechanical Engineering Faculty of Engineering Kyoto University Yoshidahonmachi, Kyoto 606 Japan

C o n t e n t s

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

S e c t i o n 1: P l a n n i n g a n d A r m C o n t r o l . . . . . . . . . . . . . . . . . . . . . . 1

E x p e r i m e n t a l Resu l t s on Control l ing a 6 -DOF R o b o t Man ipu l a to r in the N e i g h b o r h o o d of Kinemat i c Singularit ies S. Chiaverini, B. Siciliano, Universith degli Studi di Napoli Federico II, Italy, O. Egeland, Norges Tekniske ttcgskole, Norway . . . . . . . . . . . . . . 3

Expe r imen t s in Mul t i -Grasp Manipu la t ion D. Williams and O. Khatib, Stanford University, USA . . . . . . . . . . . . . 14

A Cont ro l Scheme Avoiding Singular Behav ior of Se l f -Pos ture Changing M o t i o n M. Kaneko, ttiroshima University, T. Hayashi, Mitsubishi Heavy Industry, Japan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Cont ro l Cons idera t ions on M i n i m u m Join t Torque Mot ion J. Lenar~i~ and L. Zlajpah, University of Ljubljana, Slovenia . . . . . . . 40

Expe r imen ta l In t eg ra t ion of P lann ing in a D i s t r i bu t ed Cont ro l S y s t e m G. Pardo-Castellote, T.-Y. Li, Y. Koga, R. H. Cannon, Jr., J.-C. Latombe, and S. A. Schneider, Stanford University, USA . . . . . . . . . . . 50

Paral le l M o t i o n P lann ing wi th the Ar iadne ' s Clew Algor i thm E. Mazer, J. M. Ahuactzin, E. Talbi, P. Bessiere, and T. Chatroux, Laboratoire d'lnformatique Fondamentale el d'Intelligence Artificielle, France . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

S e c t i o n 2: F o r c e C o n t r o l . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

R o b u s t Force Cont ro l of Man ipu la to r s Based on H °~ Cont ro l T h e o r y A. Sano, J. Furusho, K. Hattori, and M. Nishina, The University of Electro-Communications, Japan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

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Adaptive Dynamic Hybr id Position and Force Control of Flexible Joint Robot Manipulators H. A. E1Maraghy and A. T. Massoud, McMaster University, Canada . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Experiments on Impedance Control to Derive Adaptive Strategies G. Morel and P. Bidaud, Centre Universitaire de Technologic, France . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Segmentat ion and Interpreta t ion of Temporal Contact Signals B. S. Eberman and J. K. Salisbury, MIT, USA . . . . . . . . . . . . . . . . . . 120

Robo t Force Control without Stability Problems J. Trevelyan, University o f Western Australia, Australia . . . . . . . . . . 132

A Robot ic Cell for Deburring of Polygonal Objects J.-P. Merlet, N. M0uly, J.-J. B0rrelly, and P. Itey, I N R I A Sophia-Antipolis, France . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

An Experimental Environment for Adaptive Robot Force Control L. L. Whitc0mb, S. Arimoto, T. Naniwa, The University of Tokyo, F. Ozaki, Toshiba Corporation, Japan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

S e c t i o n 3: V i s u a l S e r v o i n g . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Integrat ing Sensor Placement and Visual Tracking Strategies B. Nelson and P. K. Khosla, Carnegie Mellon University, USA . . . . . 169

Effect of Camera Calibration Errors on Visual Servoing in Robot ics B. Espiau, I N R I A RhSne-Alpes, France . . . . . . . . . . . . . . . . . . . . . . . . . 182

Experiments in High-Performance Robot ic Visual Servoing P. I. Corke, CSIRO, Australia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

Auto-Cal ibrat ion in Automation Systems Using Vision O. Ravn, N. A. Andersen, and A. T. Scrensen, Technical University of Denmark , Den m ar k . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

S e c t i o n 4: S e n s i n g a n d L e a r n i n g . . . . . . . . . . . . . . . . . . . . . . . . . . 219

Tactile Servo: Control of Touch-Driven Robot Motion P. Sikka, H. Zhang, and S. Sutphen, University of Alberta, Canada . 221

A Neural Network-Based Robot ic System Implementing Recent Biological Theories on Tactile Percept ion P. Dario and M. Rucci, Scuola Superiore S. Anna, Italy . . . . . . . . . . . 234

× v

Rein fo rcemen t Learning of Assembly R o b o t s B.-H. Yang and H. Asada, MIT , USA . . . . . . . . . . . . . . . . . . . . . . . . . . 245

De tec t ion of Occluding Contours and Occlusion by Act ive Binocula r S tereo A. Nishikawa, N. Maru, and F. Miyazaki, Osaka University, Japan . 255

S e c t i o n 5: D y n a m i c Sk i l l s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

Expe r imen t s wi th an Electr ical ly A c t u a t e d P lana r Hopping R o b o t P. Gregorio, M. Ahmadi, and M. Buehler, McGi l l University, Canada . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

D y n a m i c Stereo Tr iangula t ion for R o b o t Juggl ing A. A. Rizzi and D. E. Koditschek, Universi ty of Michigan, USA . . . 282

S e c t i o n 6: R o b o t D e s i g n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

Design of a Hydrau l i c R o b o t Shoulder Based on a Combina tor ia l Mechan i sm V. Hayward, McGi l l University, Canada . . . . . . . . . . . . . . . . . . . . . . . . 297

Prac t ica l Real iza t ion of Mecha t ron ics in Robot ics H. Schiitte, W. Moritz, R. Neumann, and G. Wittler, Universi ty o f Paderborn, Germany . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

An Expe r imen ta l S t u d y of Nonl inear Stiffness~ Hysteresis~ and Frict ion Effects in R o b o t Joints wi th Harmonic Drives and Torque Sensors N. Kircanski, A. A. Goldenberg, and S. Jia, Universi ty o f Toronto, Canada . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

S e c t i o n 7: T e l e o p e r a t i o n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

High-Frequency Force In fo rma t ion in Te leope ra t ed Manipu la t ion R. D. Howe and D. A. Kontarinis, Harvard University, USA . . . . . . . 343

Micro Te leopera t ion S y s t e m Concen t ra t ing Visual and Force In fo rma t ion at Ope ra to r ' s H a n d T. Sato, J. Ichikawa, M. Mitsuishi, and Y. Hatamura, The Universi ty

o f Tokyo, Japan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

Te leopera t ion wi th Vi r tua l Force Feedback R. J. Anderson, Sandia Nat ional Laboratories, USA . . . . . . . . . . . . . . 366

xvi

Te l eope ra t ed Sensing by Grasping: R o b o t Sensors and H u m a n Psychophys ic s S. R. Ganeshan, R. E. Ellis, and S. J. Lederman, Queen's University, Canada . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

Task Shar ing and In te rven t ion in H u m a n - R o b o t Coope ra t i ng Sys t ems Y. Yokokohji and T. Yoshikawa, Kyoto University, Japan . . . . . . . . . 391

Coarse -F ine M o t i o n Coord ina t ion and Cont ro l of a Te leopera t ion S y s t e m wi th Magnet ica l ly Lev i t a t ed M a s t e r and Wris t S. E. Salcudean and N. M. Wong, University of British Columbia, Canada . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406

S e c t i o n 8: M o b i l e R o b o t s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

A u t o n o m o u s Naviga t ion in N a t u r a l Env i ronment s R. Chatila, S. Fleury, M. Herrb, S. Lacroix, and C. Proust, LAAS-CNRS , France . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

A Unif ied Approach to Planning, Sensing and Naviga t ion for Mobi le R o b o t s A. Zelinsky, ETL, S. Yuta, Tsukuba University, Japan . . . . . . . . . . . . 444

Combin ing Phys ica l and Geomet r i c Mode l s to P lan Safe and E x e c u t a b l e Mot ions for a Rover Moving on a Terrain M. Cherif, Ch. Laugier, and Ch. Milesi-Bellier, LIFIA- INRIA Rhgne-Alpes, B. Faverjon, A L E P H Technologies, France . . . . . . . . . . 456

A u t o n o m o u s Walking in Na tu r a l Terrain: A R e t r o s p e c t i v e on the P e r f o r m a n c e of the Amble r E. Krotkov and R. Simmons, Carnegie Mellon University, USA . . . . 476

D e v e l o p m e n t of a Reac t ive Mobi le R o b o t Using Real T ime Vision P. Rives, t N R I A Sophia Antipolis, R. Pissard-Gibollet and K. Kapellos, ISIA-Ecole des Mines de Paris, France . . . . . . . . . . . . . . . . . . . . . . . . . 486

Mobi le R o b o t Minia tur i sa t ion: A Tool for Inves t iga t ion in Cont ro l Algor i thms F. Mondada, E. Franzi, and P. Ienne, Swiss Federal Institute of Technology, Switzerland . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

Expe r imen ta l Inves t iga t ions of Sensor -Based Surface Following Tasks by a Mobi le Man ipu l a to r D. B. Reister, M. A. Unseren, J. E. Baker, and F. G. Pin, Oak Ridge National Laboratory, USA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514

xvii

S e c t i o n 9: S p a c e R o b o t i c s a n d F l e x i b l e M a n i p u l a t o r s . 529

Configurat ion-Dependent Controllability of Flexible Manipulators A. Konno, M. Uchiyama, Y. Kito, and M. Murakami, Tohoku Universi¢y, Japan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531

Point to Point Learning Control of a Two-Link Flexible Arm P. Lucibello, S. Panzieri, and G. Ulivi, Universith degli Studi di Roma "La Sapienza' , Ilaly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545

Space Robotics Research Activity with Experimental Free-Floating Robot Satellite (EFFORTS) Simulators K. Yoshida, Tokyo Institute of Technology, Japan . . . . . . . . . . . . . . . . 561

ROTEX - The First Space Robot Technology Experiment G. Hirzinger, DLR, Germany . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579

A u t h o r I n d e x - - ( sec t ion) p a g e - -

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Kito, Y . . . . . . . . . . . . . . . . . . . . . . . (9)531 Koditschek, D. E . . . . . . . . . . . . . . (5)282 Koga, Y . . . . . . . . . . . . . . . . . . . . . . . (1)50 Konno, A . . . . . . . . . . . . . . . . . . . . . (9)531 Kontarinis, D. A . . . . . . . . . . . . . . . (7)343 Krotkov, E . . . . . . . . . . . . . . . . . . . . (8)476 Lacroix, S . . . . . . . . . . . . . . . . . . . . (8)425 Latombe, J .-C . . . . . . . . . . . . . . . . . . (1)50 Laugier, Ch . . . . . . . . . . . . . . . . . . . (8)456 Lederman, S. J . . . . . . . . . . . . . . . . (6)376 Lenar~i~, J . . . . . . . . . . . . . . . . . . . . . (1)40 Li, T . -Y . . . . . . . . . . . . . . . . . . . . . . . (1)50 Lucibello, P . . . . . . . . . . . . . . . . . . . (9)545 Maru, N . . . . . . . . . . . . . . . . . . . . . . (4)255 Massoud, A. T . . . . . . . . . . . . . . . . . (2)87 Mazer, E . . . . . . . . . . . . . . . . . . . . . . (1)62 Merlet , J . -P . . . . . . . . . . . . . . . . . . . (2)143 Milesi-Bellier, Ch . . . . . . . . . . . . . . (8)456 Mitsuishi, M . . . . . . . . . . . . . . . . . . (7)353 Miyazaki, F . . . . . . . . . . . . . . . . . . . (4)255 Mondada, F . . . . . . . . . . . . . . . . . . . (8)501 Morel, G . . . . . . . . . . . . . . . . . . . . . (2)103 Moritz, W . . . . . . . . . . . . . . . . . . . . (6)310 Mouly, N . . . . . . . . . . . . . . . . . . . . . (2)143 Murakami, M . . . . . . . . . . . . . . . . . (9)531 Naniwa, T . . . . . . . . . . . . . . . . . . . . (2)152 Nelson, B . . . . . . . . . . . . . . . . . . . . . (3)169 Neumann, R . . . . . . . . . . . . . . . . . . (6)310 Nishikawa, A . . . . . . . . . . . . . . . . . . (4)255 Nishina, M . . . . . . . . . . . . . . . . . . . . . (2)75 Panzieri, S . . . . . . . . . . . . . . . . . . . . (9)545 Pardo-Castel lote , G . . . . . . . . . . . . . ( t )50 Pin, F. G . . . . . . . . . . . . . . . . . . . . . (8)514 Pissard-Gibollet , R . . . . . . . . . . . . (8)486 Proust , C . . . . . . . . . . . . . . . . . . . . . (8)425 Ravn, 0 . . . . . . . . . . . . . . . . . . . . . . (3)206 Reister, D. B . . . . . . . . . . . . . . . . . . (8)514 Rives, P . . . . . . . . . . . . . . . . . . . . . . (8)486 Rizzi, A. A . . . . . . . . . . . . . . . . . . . (5)282 Rucci, M . . . . . . . . . . . . . . . . . . . . . (4)234 Salcudean, S, E . . . . . . . . . . . . . . . . (6)406 Salisbury, J. K . . . . . . . . . . . . . . . . (2)120 Sano, A . . . . . . . . . . . . . . . . . . . . . . . (2)75 Sato, T . . . . . . . . . . . . . . . . . . . . . . . (7)353 Schneider, S. A . . . . . . . . . . . . . . . . . (1)50 Schfitte, H . . . . . . . . . . . . . . . . . . . . (6)310

× X

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