2005 International Symposium on Computational Intelligence in Robotics and Automation

27-30 June 2005

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  • [Cover]

    Publication Year: 2005, Page(s): C1
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  • 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation

    Publication Year: 2005, Page(s): i
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  • Copyright page

    Publication Year: 2005, Page(s): ii
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  • Welcome to CIRA 2005

    Publication Year: 2005, Page(s): iii
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  • Committees & Organization

    Publication Year: 2005, Page(s):iv - v
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  • Table of contents

    Publication Year: 2005, Page(s):vi - x
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  • Computational intelligence for high-precision industrial robots

    Publication Year: 2005
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB) | HTML iconHTML

    Summary form only given. ABB has launched its fifth generation robot controller, the IRC5. The basic motion control of the IRC5 controller includes the TrueMove and QuickMove functionality for best possible production rate and quality. In addition to this, the MultiMove function enables new production concepts and more cost-effective solutions. To penetrate new market segments, ease-of-use, high p... View full abstract»

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  • Plenary talk June 29; The 3rdGeneration of Robotics: Ubiquitous Robot

    Publication Year: 2005, Page(s): 2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (836 KB) | HTML iconHTML

    This talk shows its possibility of implementation in real life through demonstrations using a Sobot, Rity: i) continuous interface between physical and virtual worlds ii) seamless transmission of Sobot between a PC and a Mobot, and iii) omnipresence of Sobot. Rity, developed at the Robot Intelligence Technology (RIT) Laboratory, KAIST, is a Sobot implemented as a 12 DOF artificial creature in the ... View full abstract»

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  • Robot navigation using biosonar for natural landmark tracking

    Publication Year: 2005, Page(s):3 - 7
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3536 KB) | HTML iconHTML

    A biosonar based mobile robot navigation system is presented for the natural landmark classification using acoustic image matching. The aim of this approach is to take advantage of the perceived properties of bats' prey and landmark identification mechanisms for mobile robots' tracking of natural landmarks. Recognizing natural landmarks like trees through sequential echolocation and acoustic image... View full abstract»

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  • Design of a semiautonomous biomimetic underwater vehicle for environmental monitoring

    Publication Year: 2005, Page(s):9 - 14
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4240 KB) | HTML iconHTML

    This paper describes a preliminary prototype of a fishlike biomimetic underwater robot. The goal is to develop a semiautonomous vehicle for environmental monitoring in shallow waters. We describe the vehicle and discuss the environmental factors that have influenced the design. Experimental results illustrate the performance of the prototype. View full abstract»

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  • The null-space-based behavioral control for mobile robots

    Publication Year: 2005, Page(s):15 - 20
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3272 KB) | HTML iconHTML

    In this paper a new behavior-based control for autonomous mobile robots is proposed and compared with the main behavioral control techniques. The behavioral algorithms share the same approach to the problem: first, the overall motion control problem is decomposed in simple tasks to be achieved by the robot; then the tasks are arranged so that a univocal motion command is given to the robot. The di... View full abstract»

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  • Experimental comparison of a directed and a non-directed potential field approach to formation navigation

    Publication Year: 2005, Page(s):21 - 26
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3360 KB) | HTML iconHTML

    The field of multirobot systems (MRS) is continuously drawing more attention. The DARPA SDR program and the RoboSoccer/RobotRescue contests have shown the great potential of this field. One of the increasingly popular uses of the field of MRS is in communication and sensor-networks. These applications require a task depended navigation. The MRS sub-problem of formation navigation is predestined fo... View full abstract»

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  • Kinematic and dynamic adaptive control of a nonholonomic mobile robot using a RNN

    Publication Year: 2005, Page(s):27 - 33
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3992 KB) | HTML iconHTML

    In this paper, an adaptive neurocontrol system with two levels is proposed for the motion control of a nonholonomic mobile robot. In the first level, a recurrent network improves the robustness of a kinematic controller and generates linear and angular velocities, necessary to track a reference trajectory. In the second level, another network converts the desired velocities, provided by the first ... View full abstract»

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  • A study of a single robot interacting with groups of children in a rotation game scenario

    Publication Year: 2005, Page(s):35 - 40
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3792 KB) | HTML iconHTML

    We tested the hypothesis that children are more attentive to a robot if the robot appears to be interested in the children. In addition, we investigated if and how the quality and quantity of a child's attentive behaviour varies with the distance to the robot, reflecting the notion of "social spaces". Hereto, 16 groups of up to 10 children each were engaged in a play scenario in which they had to ... View full abstract»

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  • Designing and observing human-robot interactions for the study of social development and its disorders

    Publication Year: 2005, Page(s):41 - 46
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (5184 KB) | HTML iconHTML

    This paper describes the design principle of our robot, Keepon, and reports the longitudinal observation of the interactions between the robot and children with developmental disorders. The robot, Keepon, is a small (12cm tall), simple (like a yellow snowman), soft (made of silicone rubber), creature-like robot, which was designed for studies on human social development and possible remedies for d... View full abstract»

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  • Speech-based localization of multiple persons for an interface robot

    Publication Year: 2005, Page(s):47 - 52
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2624 KB) | HTML iconHTML

    Robots are conveniently controlled by a human operator with spoken commands, since voice is a natural communication medium for humans. In order to successfully carry out a command, a robot needs to know which of the possibly many people gave the command and where this person is located. In this paper, we present a particle-filter based algorithm for localization of multiple speakers, in an environ... View full abstract»

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  • Is someone watching me? - consideration of social facilitation effects in human-robot interaction experiments

    Publication Year: 2005, Page(s):53 - 60
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2944 KB) | HTML iconHTML

    This discussion paper considers the implications of the psychological phenomena of social facilitation effects for human-robot interaction (HRI) studies. Research studies in HRI have significantly increased over the past few years. Such studies investigate, for example, robot appearance and behaviour, and the responses of subjects to robots. However, the possible effects of the experimental contex... View full abstract»

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  • An Approach for Programming Robots by Demonstration: Generalization Across Different Initial Configurations of Manipulated Objects

    Publication Year: 2005, Page(s):61 - 66
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (5008 KB) | HTML iconHTML

    Imitation is a powerful learning tool that can be used by a robotic agent to socially learn new skills and tasks. One of the fundamental problems in imitation is the correspondence problem, how to map between the actions, states and effects of the model and imitator agents, when the embodiment of the agents is dissimilar. In our approach, the matching depends on different metrics and granularity. ... View full abstract»

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  • MiReLa: a musical robot

    Publication Year: 2005, Page(s):67 - 72
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2384 KB) | HTML iconHTML

    A music based robot-human interaction system is presented. A musical language was developed to make robot-human interaction reliable in noisy environments. This language can be whistled and played on simple instruments. Mobile phones and PDAs can also be used to generate phrases in this language. It was implemented as part of a "society of agents" where each agent helps the others, and all of them... View full abstract»

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  • Trajectory reconstruction with NURBS curves for robot programming by demonstration

    Publication Year: 2005, Page(s):73 - 78
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3400 KB) | HTML iconHTML

    Service robots require simple programming techniques allowing users with little or no technical expertise to integrate new tasks in a robotic platform. A promising solution for automatic acquisition of robot behaviors is the programming by demonstration (PbD) paradigm. Its aim is to let robot systems learn new behaviors from a human operator demonstration. This paper describes a virtual reality ba... View full abstract»

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  • Task skill transfer of bolt attachment task

    Publication Year: 2005, Page(s):79 - 85
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    This paper describes how to write a task skill program for a bolt attachment. One of important features in this paper is that it is easy to find a knack for an axis adjustment and to program the axis adjustment. In a previous paper, we proposed a task skill transfer method using a bilateral teleoperation. The task skill is composed of an initial condition, a task skill motion and a final condition... View full abstract»

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  • Towards an autonomous small-size humanoid robot: design issues and control strategies

    Publication Year: 2005, Page(s):87 - 92
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4472 KB) | HTML iconHTML

    This paper presents the design considerations of a small-size humanoid robot. The design process has revealed much about the several problems, challenges and tradeoffs imposed by biped locomotion. Among them, we here focus on the control of a single leg and its behaviour when assuming a forward motion. The controller is based on simple motion goals taking into account the reaction forces between t... View full abstract»

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  • Pinching at finger tips by humanoid robot hand

    Publication Year: 2005, Page(s):93 - 98
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3384 KB) | HTML iconHTML

    It is difficult to generate the action of stably pinching paper or needle, etc. with the finger tips, which is one of the important functions to be realized by humanoid robot hands. In this paper, therefore, the authors firstly propose a small-sized and light-weight robotic hand designed according to the concept of extracting required minimum motor functions and implementing them to the robot, and... View full abstract»

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  • Realtime estimation of human hand posture for robot hand control

    Publication Year: 2005, Page(s):99 - 104
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (5376 KB) | HTML iconHTML

    The authors propose a system for searching the shape of human hands and fingers in real time and with high accuracy, without using any special peripheral equipment such as range sensor, PC cluster, etc., by a method of retrieving similar image quickly with high accuracy from a large volume of image database containing the complicated shapes and self-occlusions. In designing the system, we construc... View full abstract»

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  • Forces analysis for micro-manipulation

    Publication Year: 2005, Page(s):105 - 110
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4504 KB) | HTML iconHTML

    The aim of this article is to give an experimental analysis of the physical phenomena at a microscopic scale. In particular, this article presents experimental measurements based on an AFM system. These experiments show the influence of the contact forces and distance forces especially for micromanipulation applications. View full abstract»

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