Experimental Robotics

1. Front Matter

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2. Session 1: Design

   1. Session 1: Design

      • Nikos Papanikolopoulos

      Pages 1-1

   2. The SDM Hand: A Highly Adaptive Compliant Grasper for Unstructured Environments

      • Aaron M. Dollar, Robert D. Howe

      Pages 3-11

   3. Reliable External Actuation for Extending Reachable Robotic Modular Self-Reconfiguration

      • Paul J. White, Mark Yim

      Pages 13-23

   4. Design and Development of a Soft Actuator for a Robot Inspired by the Octopus Arm

      • Cecilia Laschi, Barbara Mazzolai, Virgilio Mattoli, Matteo Cianchetti, Paolo Dario

      Pages 25-33

   5. Portable Autonomous Vehicle Controller

      • David Mikesell, Gary Heydinger, Dennis Guenther, John-David Yoder

      Pages 35-41

   6. Design and Control of a Bio-inspired Human-Friendly Robot

      • Dongjun Shin, Irene Sardellitti, Yong-Lae Park, Oussama Khatib, Mark Cutkosky

      Pages 43-52

3. Session 2: Autonomous Driving

   1. Session 2: Autonomous Driving

      • Sanjiv Singh

      Pages 53-54

   2. Path Planning for Autonomous Driving in Unknown Environments

      • Dmitri Dolgov, Sebastian Thrun, Michael Montemerlo, James Diebel

      Pages 55-64

   3. Experimental Results for Over-the-Horizon Planetary Exploration Using a LIDAR Sensor

      • Ioannis Rekleitis, Jean-Luc Bedwani, David Gingras, Erick Dupuis

      Pages 65-77

   4. Efficient Techniques for Dynamic Vehicle Detection

      • Anna Petrovskaya, Sebastian Thrun

      Pages 79-91

   5. Comparison of Boosting Based Terrain Classification Using Proprioceptive and Exteroceptive Data

      • Ambroise Krebs, Cédric Pradalier, Roland Siegwart

      Pages 93-102

4. Session 3: Cooperation

   1. Session 3: Cooperation

      • Konstantinos Kyriakopoulos

      Pages 103-104

   2. Demonstrating the Benefits of Cooperation for a UAV Team Performing Vision Based Feature Localisation

      • David T. Cole, Paul Thompson, Ali Haydar Göktoğan, Salah Sukkarieh

      Pages 105-115

   3. Maintaining Connectivity in Mobile Robot Networks

      • Nathan Michael, Michael M. Zavlanos, Vijay Kumar, George J. Pappas

      Pages 117-126

   4. From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots

      • Mac Schwager, James McLurkin, Jean-Jacques E. Slotine, Daniela Rus

      Pages 127-136

   5. Co-ordinated Tracking and Planning Using Air and Ground Vehicles

      • Abraham Bachrach, Alborz Garamifard, Daniel Gurdan, Ruijie He, Sam Prentice, Jan Stumpf et al.

      Pages 137-146

   6. Distributed Robotic Radiation Mapping

      • R. Andres Cortez, Herbert G. Tanner, Ron Lumia

      Pages 147-156

5. Session 4: Mini and Micro Robots

   1. Session 4: Mini and Micro Robots

      • Roland Siegwart

      Pages 157-158

   2. Visual Tracking for Teams of Miniature Robots

      • Hyeun Jeong Min, Andrew Drenner, Nikolaos Papanikolopoulos

      Pages 159-168

By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

• actuator
• algorithms
• android
• autonom
• cam
• communication
• exoskeleton
• kinematics
• medical robotics
• mobile robot
• motion planning
• navigation
• robotics research
• sensing
• unmanned aerial vehicle

• Artificial Intelligence Laboratory Department of Computer Science, Stanford University, Stanford, USA

  Oussama Khatib

• Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, USA

  Vijay Kumar

• Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, USA

  George J. Pappas

Policies and ethics