Robotics Research

1. Front Matter

   Pages I-XV

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2. Physical Human Robot Interaction and Haptics

   1. Front Matter

      Pages 1-1

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   2. Session Overview Physical Human-Robot Integration and Haptics

      • Antonio Bicchi, Yoshihiko Nakamura

      Pages 3-4

   3. A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

      • Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger

      Pages 5-21

   4. Wave Haptics: Encoderless Virtual Stiffnesses

      • Günter Niemeyer, Nicola Diolaiti, Neal Tanner

      Pages 22-33

   5. Reality-Based Estimation of Needle and Soft-Tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation

      • James T. Hing, Ari D. Brooks, Jaydev P. Desai

      Pages 34-48

   6. Haptic Virtual Fixtures for Robot-Assisted Manipulation

      • Jake J. Abbott, Panadda Marayong, Allison M. Okamura

      Pages 49-64

3. Planning

   1. Front Matter

      Pages 65-65

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   2. Session Overview Planning

      • Nicholas Roy, Roland Siegwart

      Pages 67-68

   3. POMDP Planning for Robust Robot Control

      • Joelle Pineau, Geoffrey J. Gordon

      Pages 69-82

   4. On the Probabilistic Foundations of Probabilistic Roadmap Planning

      • David Hsu, Jean-Claude Latombe, Hanna Kurniawati

      Pages 83-97

4. Humanoids

   1. Front Matter

      Pages 99-99

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   2. Session Overview Humanoids

      • Hirohisa Hirukawa

      Pages 101-102

   3. Humanoid HRP2-DHRC for Autonomous and Interactive Behavior

      • S. Kagami, K. Nishiwaki, J. Kuffner, S. Thompson, J. Chestnutt, M. Stilman et al.

      Pages 103-117

   4. Android Science

      • Hiroshi Ishiguro

      Pages 118-127

   5. Mimetic Communication Theory for Humanoid Robots Interacting with Humans

      • Yoshihiko Nakamura, Wataru Takano, Katsu Yamane

      Pages 128-139

5. Mechanism and Design

   1. Front Matter

      Pages 141-141

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   2. Session Overview Mechanisms and Design

      • Jean-Pierre Merlet

      Pages 143-144

   3. Design of a Compact 6-DOF Haptic Device to Use Parallel Mechanisms

      • Masaru Uchiyama, Yuichi Tsumaki, Woo-Keun Yoon

      Pages 145-162

   4. Hybrid Nanorobotic Approaches to NEMS

      • B. J. Nelson, L. X. Dong, A. Subramanian, D. J. Bell

      Pages 163-174

Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human environments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing to the research community the latest advances in the robotics field on the basis of their significance and quality. Through a wide and timely dis­ semination of critical research developments in robotics, our objective with this series is to promote more exchanges and collaborations among the re­ searchers in the community and contribute to further advancements in this rapidly growing field. As one of robotics pioneering symposia, the International Symposium on Robotics Research (ISRR) has established over the past two decades some of the fields most fundamental and lasting contributions. Since the launching of STAR, ISRR and several other thematic symposia in robotics find an important platform for closer links and extended reach within the robotics community. This twelfth edition of Robotics Research, edited by Sebastian Thrun, Rodney Brooks, and Hugh Durrant-Whyte, offers in its 14-part volume a collection of a broad range of topics in robotics. The content of these contributions provides a wide coverage of the current state of robotics research: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and novel areas of apphcations.

• Bayesian network
• Bias
• Rover
• Session
• android
• autonom
• autonomous robot
• communication
• linear optimization
• microelectromechanical system (MEMS)
• parallel robot
• robot
• robotics
• robotics research
• therapy

• Department of Computer Science, Stanford University, Stanford, USA

  Sebastian Thrun

• MIT Computer Science & Artificial Intelligence Laboratory (CSAIL), Cambridge, USA

  Rodney Brooks

• Australian Centre for Field Robotics, University of Sydney, Sydney, Australia

  Hugh Durrant-Whyte

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