Robotics Research

1. Advanced Manipulation Session Summary.- Elastic Strips: Real-Time Path Modification for Mobile Manipulation.- Modeling and Control for Mobile Manipulation in Everyday Environments.- Scale-Dependent Grasps.- 2. Dynamics and Control Session Summary.- A General Formulation of Under-Actuated Manipulator Systems.- Towards Precision Robotic Maneuvering, Survey, and Manipulation in Unstructured Undersea Environments.- Where does the Task Frame Go?.- 3. Emergent Motions Session Summary.- Motion Synthesis, Learning and Abstraction through Parameterized Smooth Map from Sensors to Behaviors.- Safe Cooperative Robot Patterns via Dynamics on Graphs.- 4. Motion Planning Session Summary.- Motion Planning with Visibility Constraints: Building Autonomous Observers.- Motion Planning in Humans and Robots.- Local and Global Planning in Sensor Based Navigation of Mobile Robots.- Interleaving Motion Planning and Execution for Mobile Robots.- 5. Manufacturing Session Summary.- Opportunities for Increased Intelligence and Autonomy in Robotic Systems for Manufacturing.- Rapid Deployment Automation: Technical Challenges.- Stability of Assemblies as a Criterion for Cost Evaluation in Robot Assembly.- Towards a New Robot Generation.- 6. New Components Session Summary.- The Design of a Serial Communication Link for Built-in Servo Driver and Sensors in a Robot.- Omnidirectional Vision.- Small Vision Systems: Hardware and Implementation.- 7. Mobile Robots Session Summary.- Exploration of Unknown Environments with a Mobile Robot using Multisensorfusion.- Integration of Topological Map and Behaviors for Efficient Mobile Robot Navigation.- A Robotic Travel Aid for the Blind: Attention and Custom for Safe Behavior.- Automated Highways and the Free Agent Demonstration.- The Design of High Integrity Navigation Systems.- 8. Haptics Session Summary.- Tactile Displays for Increased Spatial and Temporal Bandwidth in Haptic Feedback.- Design of an Anthropomorphic Haptic Interface for the Human Arm.- Testing A Visual Phase Advance Hypothesis for Telerobots.- 9. Medical Session Summary.- Robot Assisted Surgery and Training for Future Minimally Invasive Therapy.- Surgery Simulation with Visual and Haptic Feedback.- Synergistic Mechanical Devices: A New Generation of Medical Robots.- 10. Learning from Human Session Summary.- Vision-based Behavior Learning and Development for Emergence of Robot Intelligence.- Using Human Development as a Model for Adaptive Robotics.- Developmental Processes in Remote-Brained Humanoids.- Animating Human Athletes.- 11. Future Robots Session Summary.- Mechanics and Control of Biomimetic Locomotion.- Robots: A Premature Solution for the Land Mine Problem.- Robots Integrated with Environments: A Perceptual Information Infrastructure for Robot Navigation.- Bio-robotic Systems Based on Insect Fixed Behavior by Artificial Stimulation.- 12. Projects in Japan Session Summary.- Physical Understanding of Manual Dexterity.- Tightly Coupled Sensor and Behavior for Real World Recognition.- Intelligence and Autonomy for Human-machine Cooperative System.- Biologically Inspired Approach to Autonomous Systems.- FNR: Toward a Platform Based Humanoid Project.- Current and Future Perspective of Honda Humanoid Robot.- List of Participants.