Table Of ContentSpringer Tracts in Advanced Robotics
Volume 54
Editors:BrunoSiciliano·OussamaKhatib·FransGroen
Oussama Khatib, Vijay Kumar,
George J. Pappas (Eds.)
Experimental Robotics
The Eleventh International Symposium
ABC
ProfessorBrunoSiciliano, Dipartimento diInformatica eSistemistica, Università diNapoli Federico II,
ViaClaudio21,80125Napoli,Italy,E-mail:[email protected]
ProfessorOussamaKhatib,ArtificialIntelligenceLaboratory,DepartmentofComputerScience,
StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:[email protected]
Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403,
1098SJAmsterdam,TheNetherlands,E-mail:[email protected]
Editors
Prof.OussamaKhatib Prof.GeorgeJ.Pappas
ArtificialIntelligenceLaboratory DepartmentofElectricaland
DepartmentofComputerScience SystemsEngineering
StanfordUniversity UniversityofPennsylvania
Stanford,CA94305-9010 460LevineHall,200South33rdStreet
USA Philadelphia,PA19104
E-Mail:[email protected] USA
E-Mail:[email protected]
Prof.VijayKumar
DepartmentofMechanicalEngineering
andAppliedMechanics
UniversityofPennsylvania
3330WalnutStreet
Philadelphia,PA19104
USA
E-Mail:[email protected]
ISBN978-3-642-00195-6 e-ISBN978-3-642-00196-3
DOI 10.1007/978-3-642-00196-3
SpringerTractsinAdvancedRobotics ISSN1610-7438
LibraryofCongressControlNumber:2008944106
(cid:2)c2009Springer-VerlagBerlinHeidelberg
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EditorialAdvisoryBoard
OliverBrock,Univ.MassachusettsAmherst,USA
HermanBruyninckx,KULeuven,Belgium
RajaChatila,LAAS,France
HenrikChristensen,GeorgiaTech,USA
PeterCorke,CSIRO,Australia
PaoloDario,ScuolaS.AnnaPisa,Italy
RüdigerDillmann,Univ.Karlsruhe,Germany
KenGoldberg,UCBerkeley,USA
JohnHollerbach,Univ.Utah,USA
MakotoKaneko,OsakaUniv.,Japan
LydiaKavraki,RiceUniv.,USA
VijayKumar,Univ.Pennsylvania,USA
SukhanLee,SungkyunkwanUniv.,Korea
FrankPark,SeoulNationalUniv.,Korea
TimSalcudean,Univ.BritishColumbia,Canada
RolandSiegwart,ETHZurich,Switzerland
GuaravSukhatme,Univ.SouthernCalifornia,USA
SebastianThrun,StanfordUniv.,USA
YangshengXu,ChineseUniv.HongKong,PRC
Shin’ichiYuta,TsukubaUniv.,Japan
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Foreword
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, neurosci-
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.
Since its inception, wanted by my STAR Co-Editor Oussama Khatib some twenty
years ago, the International Symposium on Experimental Robotics (ISER) was pub-
lished by Springer. Since the three past editions, ISER has found a more suitable
home under STAR, together with other thematic symposia devoted to excellence in
robotics research.
The Eleventh edition of Experimental Robotics edited by Oussama Khatib, Vijay
Kumar and George Pappas offers in its twelve-chapter volume a collection of a broad
range of topics in field and human-centered robotics. The contents of these contributions
represent a cross-section of the current state of robotics research from one particular
aspect: experimental work, and how it reflects on the theoretical basis of subsequent
developments. Experimental validation of algorithms, concepts, or techniques is the
common thread running through this large collection of widely diverse contributions,
spanning from design to autonomous driving, from cooperation to mini and micro robots,
from human robot interaction to medical robotics, from locomotion to localization and
VIII Foreword
mapping, from autonomous underwater and aerial vehicles to sensing and planning,
from vision to manipulation.
From its warm social program to its excellent technical program, ISER culminates
with this unique reference on the current developments and new directions of experi-
mental robotics – the gradient is kept.
Naples, Italy Bruno Siciliano
December 2008 STAR Editor
Preface
The International Symposium on Experimental Robotics (ISER) is a series of
biennial symposia which began in 1989, and is sponsored by the International
Foundation of Robotics Research (IFRR). The goal of ISER is to provide the
robotics community with a forum for researchdriven by creative ideas, bold vi-
sions,newsystems,andnovelapplicationsofrobotics,emphasizingexperimental
work.ThetraditioninISERistofosterscholarlyworkthateitheraddressesval-
idation of theoreticalparadigmsthroughcareful experimentationor contributes
to the creation of novel experimental platforms that in turn inspire new theo-
retical developments. The ISER symposia are conceived to bring together in a
smallgroupsettingresearchersfromaroundtheworldwhoareattheforefrontof
experimental robotics research, to assess and share their views and ideas about
the state of the art and to discuss promising new avenues for future research
exploration in experimental robotics. The ISER meetings are organized around
oral technical presentations in a single-track format.
The Eleventh Symposium was held on July 13-16, 2008 in Athens, Greece.
The symposium was chaired by Oussama Khatib (Stanford University, USA),
VijayKumar(UniversityofPennsylvania,USA),andGeorgePappas(University
of Pennsylvania, USA). The local organizing committee was chaired by Kostas
Kyriakopoulos(NationalTechnicalUniversity,Athens).TheInternationalSteer-
ing Committee for ISER is chaired by Oussama Khatib and includes Marcelo
Ang (Singapore), Herman Bruyninckx (Belgium), Alicia Casals (Spain), Raja
Chatila (France), Peter Corke (Australia), Eve Coste-Maniere (France), John
Craig (USA), Paolo Dario (USA), Vincent Hayward (Canada), Gerd Hirzinger
(Germany), Yoshihiko Nakamura (Japan), Paul Newman (UK), Daniela Rus
(USA), Kenneth Salisbury (USA), Bruno Siciliano (Italy), Sanjiv Singh (USA),
James Trevelyan (Australia), Tsuneo Yoshikawa (Japan), and Alex Zelinsky
(Australia).
The program of Eleventh Symposium included 53 technical papers, selected
from the open submission through a review process organized by the Interna-
tionalSteering Committee. The symposium contributions reportona variety of
new theoretical and experimental results, and point to new visions and trends
X Preface
inthe field. The topics ofthe technicalsessionscoveredabroadspectrumofex-
perimentalroboticsresearchactivities.Thesessionswereondesign,autonomous
driving, cooperation, micro-robots, human-robot interaction, medical robotics,
locomotion, localization and mapping, underwater and aerial vehicles, sensing
and planning, vision, and manipulation.
This volume includes the complete collection of the contributions presented
atthesymposium,withauthoritativeintroductionstoeachsectionbythechairs
of the corresponding sessions. We are grateful to the authors and the partici-
pants who have all contributed to the success of this symposium by bringing
an outstanding program, excellent technical presentations, and stimulating and
insightfuldiscussions.We wouldlikealsoto expressourthanksandgratitudeto
thelocalorganizingteamwhohavecreatedtheperfectenvironmentforfostering
technical discussions and promoting intellectual debates in a relaxed setting.
Athens, Greece Oussama Khatib, Stanford University
July 16, 2008 Vijay Kumar, University of Pennsylvania
George Pappas, University of Pennsylvania
Contents
Session 1: Design
Introduction.................................................... 1
The SDM Hand: A Highly Adaptive Compliant Grasper for
Unstructured Environments
Aaron M. Dollar, Robert D. Howe................................... 3
Reliable External Actuation for Extending Reachable Robotic
Modular Self-Reconfiguration
Paul J. White, Mark Yim.......................................... 13
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..................................... 25
Portable Autonomous Vehicle Controller
David Mikesell, Gary Heydinger, Dennis Guenther,
John-David Yoder................................................. 35
Design and Control of a Bio-inspired Human-Friendly Robot
Dongjun Shin, Irene Sardellitti, Yong-Lae Park, Oussama Khatib,
Mark Cutkosky ................................................... 43
Session 2: Autonomous Driving
Introduction.................................................... 53
Path Planning for Autonomous Driving in Unknown
Environments
Dmitri Dolgov, Sebastian Thrun, Michael Montemerlo,
James Diebel ..................................................... 55
XII Contents
Experimental Results for Over-the-Horizon Planetary
Exploration Using a LIDAR Sensor
Ioannis Rekleitis, Jean-Luc Bedwani, David Gingras,
Erick Dupuis ..................................................... 65
Efficient Techniques for Dynamic Vehicle Detection
Anna Petrovskaya, Sebastian Thrun ................................. 79
Comparison of Boosting Based Terrain Classification Using
Proprioceptive and Exteroceptive Data
Ambroise Krebs, C´edric Pradalier, Roland Siegwart ................... 93
Session 3: Cooperation
Introduction.................................................... 103
Demonstrating the Benefits of Cooperation for a UAV Team
Performing Vision Based Feature Localisation
David T. Cole, Paul Thompson, Ali Haydar Go¨kto˘gan,
Salah Sukkarieh................................................... 105
Maintaining Connectivity in Mobile Robot Networks
Nathan Michael, Michael M. Zavlanos, Vijay Kumar,
George J. Pappas ................................................. 117
From Theory to Practice: Distributed Coverage Control
Experiments with Groups of Robots
Mac Schwager, James McLurkin, Jean-Jacques E. Slotine,
Daniela Rus...................................................... 127
Co-ordinated Tracking and Planning Using Air and Ground
Vehicles
Abraham Bachrach, Alborz Garamifard, Daniel Gurdan, Ruijie He,
Sam Prentice, Jan Stumpf, Nicholas Roy............................. 137
Distributed Robotic Radiation Mapping
R. Andres Cortez, Herbert G. Tanner, Ron Lumia .................... 147
Session 4: Mini and Micro Robots
Introduction.................................................... 157
Visual Tracking for Teams of Miniature Robots
Hyeun Jeong Min, Andrew Drenner, Nikolaos Papanikolopoulos ......... 159
