Lecture Notes in Control and Information Sciences 271 Editors:M.Thoma · M.Morari Springer Berlin Heidelberg NewYork Barcelona HongKong London Milan Paris Singapore Tokyo Daniela Rus, Sanjiv Singh (Eds) Experimental Robotics VII 1 3 SeriesAdvisoryBoard A.Bensoussan·P.Fleming·M.J.Grimble·P.Kokotovic· A.B.Kurzhanski·H.Kwakernaak·J.L.Massey Editors ProfessorDanielaRus DartmouthCollege DepartmentofComputerScience Hanover,NH03755 USA Dr.SanjivSingh CarnegieMellonUniversity RoboticsInstitute Pittsburgh,PA15213 USA Cataloging-in-PublicationDataappliedfor DieDeutscheBibliothek–CIP-Einheitsaufnahme ExperimentalroboticsVII Berlin;Heidelberg;NewYork;Barcelona;HongKong;London;Milano;Paris;Singapore;Tokyo: Springer,2001 (LectureNotesincontrolandinformationsciences;271) ISBN3-540-42104-1 ISBN3-540-42104-1 Springer-VerlagBerlinHeidelbergNewYork Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthemate- rialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmorinotherways,andstorageindatabanks.Duplication ofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyright LawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtained fromSpringer-Verlag.ViolationsareliableforprosecutionactunderGermanCopyrightLaw. Springer-VerlagBerlinHeidelbergNewYork amemberofBertelsmannSpringerScience+BusinessMediaGmbH http://www.springer.de ©Springer-VerlagBerlinHeidelberg2001 PrintedinGermany Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoes notimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Typesetting:Digitaldatasuppliedbyauthor.Data-conversionbyPTP-Berlin,StefanSossna Cover-Design:design&productionGmbH,Heidelberg Printedonacid-freepaper SPIN10796506 62/3020Rw-543210 Preface Experimental Robotics is at the core of validating robotics research for both its systems science and theoretical foundations. Because robotics experiments are carried out on physical, sometimes complex, machines whose controllers are subject to uncertainty, devising meaningful experiments and collecting statistically significant results pose important and unique challenges in robotics. Robotics experiments serve as a unifying theme for robotics system science and algorithmic foundations. These observations have led to the creation of the International Symposia on Experimental Robotics in 1989. The meetings are bi-annual and focus on research where theories and principles have been validated by experiments. The Seventh International Symposium on Experimental Robotics (ISER 2000) brought together a group of about 80 researchers to discuss recent results and relevant trends in experimental robotics. Held in Waikiki, Hawaii on December 11–13, the symposium was chaired by Prof. Daniela Rus (Dartmouth College) and Prof. Sanjiv Singh (Carnegie Mellon University). Prof. Song Choi from the University of Hawaii chaired the local arrangements committee. The meeting consisted of three invited talks, one invited panel, and fifty-seven contributed presentations in a single track. Each paper was refereed by the program chairs plus at least two members of the program committee. The program committee consisted of:Vincent Hayward (Canada), Oussama Khatib (USA), Herman Bruyninckx (Belgium), Alicia Casals (Spain), Raja Chatila (France), Peter Corke (Australia), Eve Coste-Maniere (France), John Craig (USA), Paolo Dario (Italy), Gerd Hirzinger (Germany), Jean-Pierre Merlet (France), Yoshihiko Nakamura (Japan), Daniela Rus (USA), Kenneth Salisbury (USA), Sanjiv Singh (USA), Tsuneo Yoshikawa (Japan), and Alex Zelinsky (Australia). Topics reported at ISER 2000 included humanoids and human-robot interactions, perception systems, assembly and manipulation, medical and field applications, locomotion, multi-robot systems, modeling and motion planning, control, and navigation and localization. Several research projects presented at ISER 2000 are clearly breakthroughs in the field and will likely have a big impact in the future. Representatives include the three talks given by our invited speakers. Russell Taylor (Johns Hopkins University) presented an impressive medical robot system and argued a great case for how the impact of Computer-Integrated Surgery on medicine in the next 20 years will be as great as that of Computer-Integrated Manufacturing on industrial production over the past 20 years. Hirochika Inoue (University of Tokyo) described an amazing suite of humanoid robots and their tasks and presented a research agenda for a human-centered robotized society. Ralf Koeppe (DLR, Germany) described their progress with light- weight robotic manipulators and advocated an exciting range of applications to personal and service robotics. We are very grateful to Dartmouth College and to Carnegie Mellon University for their generous financial support of ISER 2000. We would like to thank all the participants and their contributions, which made our meeting exciting and inspiring. We also thank David Bellows, Alan Guisewite, Monica Hopes, Catherine LaTouche, Dot Marsh and Alison Sartonov for their help with coordinating the meeting and producing the proceedings. March 2001 Daniela Rus Sanjiv Singh Contents 1. Humanoids and Human-Robot Interaction Haptically Augmented Teleoperation ........................................................................ 1 N. Turro and O. Khatib Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay ....... 11 Y. Yokokohji, T. Imaida, Y. Iida, T. Doi, M. Oda, and T. Yoshikawa Virtual Exoskeleton for Telemanipulation .............................................................. 21 J. Amat, M. Frigola, and A. Casals Design of Programmable Passive Compliance for Humanoid Shoulder ................. 31 M. Okada, Y. Nakamura, and S. Ban Design, Implementation, and Remote Operation of the Humanoid H6 ................... 41 S. Kagami, K. Nishiwaki, J.J. Kuffner Jr., T. Sugihara, M. Inaba, and H. Inoue Cooperative Human and Machine Perception in Teleoperated Assembly .............. 51 T. Debus, J. Stoll, R.D. Howe, and P. Dupont Regulation and Entrainment in Human-Robot Interaction ...................................... 61 C. Breazeal 2. Perception Advancing Active Vision Systems by Improved Design and Control .................... 71 O. Sutherland, H. Truong, and S. Rougeaux, A. Zelinsky S-NETS: Smart Sensor Networks ........................................................................... 81 Y. Chen and T.C. Henderson Six Degree of Freedom Sensing for Docking Using IR LED Emitters and Receivers .......................................................................................................... 91 K. Roufas, Y. Zhang, D. Duff, and M. Yim Height Estimation for an Autonomous Helicopter ................................................ 101 P. Corke, P. Sikka, and J. Roberts Ladar-Based Discrimination of Grass from Obstacles for Autonomous Navigation .................................................................................. 111 J. Macedo, R. Manduchi, and L. Matthies Reality-Based Modeling with ACME: A Progress Report .................................... 121 D.K. Pai, J. Lang, J.E. Lloyd, and J.L. Richmond VIII Contents 3. Assembly and Manipulation Grasp Strategy Simplified by Detaching Assist Motion (DAM) ........................... 131 M. Kaneko, T. Shirai, K. Harado, and T. Tsuji Force-Based Interaction for Distributed Precision Assembly ............................... 141 R.T. DeLuca, A.A. Rizzi, and R.L. Hollis Design and Implementation of a New Discretely-Actuated Manipulator ............. 151 J. Suthakorn and G.S. Chirikjian Design and Experiments on a Novel Biomechatronic Hand ................................. 159 P. Dario, M.C. Carrozza, S. Micera, B. Massa, and M. Zecca Autonomous Injection of Biological Cells Using Visual Servoing ....................... 169 S. Yu and B.J. Nelson 4. Medical, Space, and Field Applications An Active Tubular Polyarticulated Micro-System for Flexible Endoscope .......... 179 J. Szewczyk, V. de Sars, Ph. Bidaud, and G. Dumont Towards Semi-autonomy in Laparoscopic Surgery through Vision and Force Feedback Control .................................................................................. 189 A. Krupa, C. Doignon, J. Gangloff, M. de Mathelin, L. Soler, and G. More Optimized Port Placement for the Totally Endoscopic Coronary Artery Bypass Grafting Using the da Vinci Robotic System ............................................ 199 È. Coste-Manière, L. Adhami, R. Severac-Bastide, A. Lobontiu, J.K. Salisbury Jr., J.-D. Boissonnat, N. Swarup, G. Guthart, É. Mousseaux, and A. Carpentier ETS-VII Flight Experiments for Space Robot Dynamics and Control; Theories on Laboratory Test Beds Ten Years Ago, Now in Orbit ....................................... 209 K. Yoshida Experimental Demonstrations for a New Design Paradigm in Space Robotics .... 219 M.D. Lichter, V.A. Sujan, and S. Dubowsky A First-Stage Experiment of Long Term Activity of Autonomous Mobile Robot—Result of Repetitive Base-Docking Over a Week .................................... 229 Y. Hada and S. Yuta 5. Locomotion Comparing the Locomotion Dynamics of the Cockroach and a Shape Deposition Manufactured Biomimetic Hexapod ............................... 239 S.A. Bailey, J.G. Cham, M.R. Cutkosky, and R.J. Full Contents IX Super Mechano-System: New Perspective for Versatile Robotic System ............. 249 S. Hirose Using Modular Self-Reconfiguring Robots for Locomotion ................................. 259 K. Kotay, D. Rus, and M. Vona Open-Loop Verification of Motion Planning for an Underwater Eel-Like Robot ........................................................................ 271 K.A. McIsaac and J.P. Ostrowski Quadruped Robot Running With a Bounding Gait ................................................ 281 S. Talebi, I. Poulakakis, E. Papadopoulos, and M. Buehler Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot ... 291 R. Altendorfer, U. Saranli, H. Komsuo(cid:1)glu, D. Koditschek H.B. Brown Jr. M. Buehler, N. Moore, D. McMordie, and R. Full 6. Multi-robot Systems A Framework and Architecture for Multirobot Coordination ............................... 303 R. Alur, A. Das, J. Esposito, R. Fierro, G. Grudic, Y. Hur, V. Kumar, I. Lee, J.P. Ostrowski , G. Pappas, B. Southall, J. Spletzer, and C.J. Taylor Motion Control of Distributed Robot Helpers Transporting a Single Object in Cooperation with a Human ............................................................................... 313 Y. Hirata, K. Kosuge, H. Asama, H. Kaetsu, and K. Kawabata First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly ..................................................................................... 323 R. Simmons, S. Singh, D. Hershberger, J. Ramos, and T. Smith Towards A Team of Robots with Repair Capabilities: A Visual Docking System...................................................................................... 333 C. Bererton and P.K. Khosla Merging Gaussian Distributions for Object Localization in Multi-robot Systems .......................................................................................... 343 A.W. Stroupe, M.C. Martin, and T. Balch Principled Communication for Dynamic Multi-robot Task Allocation ................. 353 B.P. Gerkey and M.J. (cid:2)(cid:3)(cid:4)(cid:3)(cid:5)(cid:6)(cid:7) Progress in RoboCup Soccer Research in 2000 .................................................... 363 M. Asada, A. Birk, E. Pagello, M. Fujita, I. Noda, S. Tadokoro, D. Duhaut, P. Stone, M. Veloso, T. Balch, H. Kitano, and B. Thomas X Contents 7. Modeling and Motion Planning View Planning via C-Space Entropy for Efficient Exploration with Eye-in-Hand Systems .................................................................................... 373 Y. Yu and K.K. Gupta Motion Planning for a Self-Reconfigurable Modular Robot ................................. 385 E. Yoshida, S. Murata, A. Kamimura, K. Tomita, H. Kurokawa, and S. Kokaji Experimental Comparison of Techniques for Localization and Mapping Using a Bearing-Only Sensor ................................................................................ 395 M. Deans and M. Herbert Robot Navigation for Automatic Model Construction Using Safe Regions .......... 405 H. González-Baños and J.-C. Latombe Simulation and Experimental Evaluation of Complete Sensor-Based Coverage in Rectilinear Environments .................................................................................. 417 Z.J. Butler, A.A. Rizzi, and R.L. Hollis An Interactive Model of the Human Liver ............................................................ 427 F. Boux de Casson, D. d’Aulignac, and C. Laugier 8. Control The Biomechanical Fidelity of Slope Simulation on the Sarcos Treadport Using Whole-Body Force Feedback ..................................................................... 437 R. Mills, J.M. Hollerbach, and W.B. Thompson A New Approach to the Control of a Hydraulic Stewart Platform ........................ 447 M.R. Sirouspour and S.E. Salcudean Design of Life-Size Haptic Environments ............................................................. 461 Y. Matsuoka and B. Townsend Micro Nafion Actuators for Cellular Motion Control and Underwater Manipulation ............................................................................... 471 M.Y.F. Kwok, W. Zhou, W.J.Li, and Y. Xu Control of an Under Actuated Unstable Nonlinear Object .................................... 481 N.A. Andersen, L. Skovgaard, and O. Ravn Singularity Handling on Puma in Operational Space Formulation ....................... 491 D. Oetomo, M.H. Ang Jr., and S.Y. Lim Contents XI 9. Navigation and Localization Autonomous Rover Navigation on Unknown Terrains Functions and Integration ....................................................................................................... 501 S. Lacroix, A. Mallet, D. Bonnafous, G. Bauzil, S. Fleury, M. Herrb, and R. Chatila Map Building and Localization for Underwater Navigation ................................. 511 S. Majumder, J. Rosenblatt, S. Scheding, and H. Durrant-Whyte Visually Realistic Mapping of a Planar Environment with Stereo ........................ 523 L. Iocchi, K. Konolige, and M. Bajracharya Incorporation of Delayed Decision Making into Stochastic Mapping .................. 533 J.J. Leonard and R.J. Rikoski Tele-Autonomous Watercraft Navigation ............................................................. 543 R. Jarvis An Underwater Vehicle Monitoring System and Its Sensors ................................ 551 S.K. Choi and O.T. Easterday Real Time Obstacle Detection for AGV Navigation Using Multi-baseline Stereo .................................................................................. 561 H. Wang, J. Xu, J.I. Guzman, R.A. Jarvis, T. Goh, and C.W. Chan A new Generationacle of Light-Weight Robot Arms and Multifingered Hands ... 569 G. Hirzinger, J. Butterfaß, M. Fischer, M. Grebenstein, M. Hähnle H. Liu, I. Schaefer, N. Sporer, M. Schedl, R. Koeppe