Lecture Notes in Artificial Intelligence 7101

Subseries of Lecture Notes in Computer Science

LNAI Series Editors

Randy GoebelUniversity of Alberta, Edmonton, Canada

Yuzuru TanakaHokkaido University, Sapporo, Japan

Wolfgang WahlsterDFKI and Saarland University, Saarbrücken, Germany

LNAI Founding Series Editor

Joerg SiekmannDFKI and Saarland University, Saarbrücken, Germany

Sabina Jeschke Honghai LiuDaniel Schilberg (Eds.)

Intelligent Roboticsand Applications4th International Conference, ICIRA 2011Aachen, Germany, December 6-8, 2011Proceedings, Part I

13

Series Editors

Randy Goebel, University of Alberta, Edmonton, CanadaJörg Siekmann, University of Saarland, Saarbrücken, GermanyWolfgang Wahlster, DFKI and University of Saarland, Saarbrücken, Germany

Volume Editors

Sabina JeschkeRWTH Aachen University, IMA/ZLW & IFUDennewartstraße 27, 52068 Aachen, GermanyE-mail: jeschke.office@ima-zlw-ifu.rwth-aachen.de

Honghai LiuUniversity of Portsmouth, School of Creative TechnologiesIntelligent Systems and Biomedical Robotics GroupEldon Building, Winston Churchill Avenue, Portsmouth, PO1 2DJ, UKE-mail: honghai.liu@port.ac.uk

Daniel SchilbergRWTH Aachen University, IMA/ZLW & IFUDennewartstraße 27, 52068 Aachen, GermanyE-mail: daniel.schilberg@ima-zlw-ifu.rwth-aachen.de

ISSN 0302-9743 e-ISSN 1611-3349ISBN 978-3-642-25485-7 e-ISBN 978-3-642-25486-4DOI 10.1007/978-3-642-25486-4Springer Heidelberg Dordrecht London New York

Library of Congress Control Number: 2011941364

CR Subject Classification (1998): I.4, I.5, I.2, I.2.10, H.4, C.2

LNCS Sublibrary: SL 7 – Artificial Intelligence

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Preface

Robots are increasingly being used for service duties, exploring inaccessible areasand for emergency and security tasks, besides their conventional application inindustrial environments. The trend toward intelligent and autonomous systemsis uninterrupted and poses new challenges for the interaction between humansand robots. Controlling robots is far beyond conventional programming specifictasks and cooperation between humans and robots becomes crucially important.As a result, the behavior of modern robots needs to be optimized toward thesenew challenges.

Against this background, the 4th International Conference on IntelligentRobotics and Applications picked“Improving Robot Behavior”as its central sub-ject. Building on the success of the previous ICIRA conference series in Wuhan,China, Singapore and Shanghai, China, the renowned conference left Asia forthe first time and took place between December 6–8, 2011 in Aachen, Germany.On the one hand, ICIRA 2011 aimed to strengthen the link between differentdisciplines developing and/or using robotics and its applications. On the otherhand, it improved the connection between different perspectives on the field ofrobotics - from fundamental research to the industrial usage of robotics.

The response from the scientific community was great and after an extensivereview 122 papers were selected for oral presentation at the conference. These high-quality papers from international authors cover a broad variety of topics, resem-bling the state of the art in robotic research. The papers accepted for the conferenceare presented in this volume of Springer’s Lecture Notes in Artificial Intelligence.The volume is organized according to the conference sessions. The sessions covera wide field of robotic research including topics such as “Robotics in Education”,“Human–Robot-Interaction”and“Bio-inspired Robotics”as well as“Robotics As-sembly Applications”,“Parallel Kinematics”or“Multi-Robot Systems”.

We would like to thank all authors and contributors who supported ICIRA2011 and the organization team under the direction of Max Haberstroh andRalph Kunze. Our special gratitude goes to the International Advisory Commit-tee and Program Chairs for their help and guidance, as well as the many externalreviewers who helped to maintain the high quality the conference demonstratedin the past three years. Our particular thanks goes to the keynote speakers Rudi-ger Dillmann (KIT, Germany), Dennis Hong (Virginia Tech, USA) and BradleyNelson (ETH Zurich, Switzerland) for their inspiring talks.

December 2011 Sabina JeschkeHonghai Liu

Daniel Schilberg

Conference Organization

Conference Chair

Sabina Jeschke RWTH Aachen University, Germany

Conference Co-chair

Xiangyang Zhu Shanghai Jiao Tong University, China

Program Chairs

Ulrich Epple RWTH Aachen University, AachenStefan Kowalewski RWTH Aachen University, Aachen

Program Co-chairs

Honghai Liu University of Portsmouth, UKJangmyung Lee Pusan National University, Republic of KoreaChun-Yi Su Concordia University, Canada

International Advisory Committee

Tamio Arai University of Tokyo, JapanHegao Cai Harbin Institute of Technology, ChinaToshio Fukuda Nagoya University, JapanKlaus Henning RWTH Aachen University, GermanyHuosheng Hu Essex University, UKOussama Khatib Stanford University, USAJurgen Leopold Huazhong University of Science and

Technology, ChinaMing Li National Natural Science Foundation of China,

ChinaPeter Luh Connecticut University, USAJun Ni University of Michigan, USANikhil R. Pal Indian Statistical Institute, IndiaGrigory Panovko Russian Academy of Science, RussiaMohammad Siddique Fayetteville State University, USAXinyu Shao Huazhong University of Science and

Technology, ChinaShigeki Sugano Waseda University, JapanMichael Wang Chinese University of Hong Kong, China

VIII Conference Organization

Kevin Warwick University of Reading, UKBogdan M. Wilamowski Auburn University, USAMing Xie Nanyang Technological University, SingaporeYoulun Xiong Huazhong University of Science and

Technology, ChinaLotfi Zadeh California University of Berkeley, USA

Conference Area Chairs

Andrew Adamatzky University of the West of England, UKShamsudin H.M. Amin Universiti Teknologi Malaysia, MalaysiaNikos A. Aspragathos University of Patras, GreecePhilippe Bidaud Universite Pierre and Marie Curie, FranceDarwin G. Caldwell Italian Institute of Technology, ItalyJan-Olof Eklundh Center for Autonomous Systems, SwedenAshraf M. Elnagar University of Sharjah, United Arab EmiratesHubert Gattringer Johannes Kepler University Linz, AustriaVladimir Golovko Brest State Technical University,

Republic of BelarusJwusheng Hu National Chiao Tung Universty, TaiwanKarel Jezernik University of Maribor, SloveniaPetko Kiriazov Bulgarian Academy of Sciences, BulgariaHeikki Koivo Helsinki University of Technology, FinlandKrzysztof Koz�lowski Poznan University of Technology, PolandMaarja Kruusmaa Tallinn University of Technology, EstoniaDirk Lefeber Vrije Universiteit Brussel, BelgiumYangmin Li University of Macau, MacauBruce MacDonald University of Auckland, New ZealandEric T. Matson Purdue University, USAIvan Petrovic University of Zagreb, CroatiaMiguel A. Salichs Universidad Carlos III de Madrid, SpainJim Torresen University of Oslo, NorwayLaszlo Vajta Budapest University of Technology and

Economics, HungaryHolger Voos University of Luxembourg, LuxembourgCees Witteveen Delft University of Technology,

The NetherlandsChangjiu Zhou Singapore Polytechnic, Republic of Singapore

Conference Special Session Chair

Naoyuki Kubota Tokyo Metropolitan University, Japan

Conference Organization IX

International Program Committee

Fakhreddine Ababsa, FranceEhsan Aboosaeedan, IranSadek Crisostomo Absi Alfaro, BrazilCihan Acar, JapanCarlos Antonio Acosta Calderon,

SingaporeNitin Afzulpurkar, ThailandMojtaba Ahmadi, CanadaAndika Aji Wijaya, MalaysiaOtar Akanyeti, ItalyBerkant Akin, TurkeyMohammad Al Janaideh, JordanMohamed Al Marzouqi, UAEAhmed Al-ArajiAmna AlDahak, UAEKhalid A.S. Al-Khateeb, MalaysiaKaspar Althoefer, UKErdinc Altug, TurkeyFarshid Amirabdollahian, UKCecilio Angulo, SpainSherine Antoun, AustraliaSilvia Appendino, ItalyPhilippe S. Archambault, CanadaKartik Ariyur, USAPanagiotis Artemiadis, USAJoonbum Bae, USAFeng Bai, ChinaSubhasis Banerji, SingaporeSven Behnke, GermanyNicola Bellotto, UKCindy Bethel, USARichard J. Black, USAMisel Brezak, CroatiaElizabeth Broadbent, New ZealandMagdalena Bugajska, USADarius Burschka, GermanyQiao Cai, USABerk Calli, The NetherlandsJiangtao Cao, ChinaZhiqiang Cao, ChinaDavid Capson, CanadaBarbara Caputo, SwitzerlandGuillaume Caron, FranceAuat Cheein, Argentina

Xiaopeng Chen, ChinaIan Chen, New ZealandZhaopeng Chen, GermanyWenjie Chen, SingaporeYouhua Chen, USADimitrios Chrysostomou, GreeceXavier Clady, FranceBurkhard Corves, GermanyDaniel Cox, USAJacob Crandall, UAERobert Cupec, CroatiaBoris Curk, SloveniaMarija Dakulovic, CroatiaKonstantinos Dalamagkidis, GermanyFadly Jashi Darsivan, MalaysiaKamen Delchev, BulgariaHua Deng, ChinaMing Ding, JapanHao Ding, GermanyCan Ulas Dogruer, TurkeyHaiwei Dong, JapanZhenchun Du, ChinaHadi ElDaou, EstoniaMartin Esser, GermanyAndres Faına, SpainYongchun Fang, ChinaFaezeh Farivar, IranEhsan Fazl-Ersi, CanadaYing Feng, CanadaLucia Fernandez Cossio, SpainManuel Fernandez-Carmona, SpainKevin Fite, USAAntonio Frisoli, ItalyZhuang Fu, ChinaVelappa Gounder Ganapathy, MalaysiaZhen Gao, CanadaAntonios Gasteratos, GreeceYiannis Georgilas, UKHu Gong, ChinaDongbing Gu, UKLiwen Guan, ChinaLei Guo, ChinaAlvaro Gutierrez, SpainNorihiro Hagita, Japan

X Conference Organization

Hassan Haleh, IranKenji Hashimoto, JapanMitsuhiro Hayashibe, FrancePatrick Henaff, FranceSophie Hennequin, FranceDominik Henrich, GermanyK.V. Hindriks, The NetherlandsVesa Holtta, FinlandMasaaki Honda, JapanTianjiang Hu, ChinaYong’an Huang, ChinaCong-Hui Huang, TaiwanMathias Husing, GermanyDetelina Ignatova, BulgariaAtsutoshi Ikeda, JapanAkira Imada, BelarusMircea Ivanescu, RomaniaEdouard Ivanjko, CroatiaYumi Iwashita, JapanPatric Jensfelt, SwedenSeonghee Jeong, JapanLi Jiang, ChinaBahram Jozi, AustraliaTakahiro Kagawa, JapanYasuhiro Kakinuma, JapanKaneko Kaneko, JapanPizzanu Kanongchaiyos, ThailandShigeyasu Kawaji, JapanEunyoung Kim, USAChyon Hae Kim, JapanBalint Kiss, HungaryAndreja Kitanov, CroatiaBin Kong, ChinaPetar Kormushev, ItalyAkio Kosaka, USAVolker Krueger, DenmarkNaoyuki Kubota, JapanChung-Hsien Kuo, TaiwanBela Lantos, HungaryKiju Lee, USAKristijan Lenac, CroatiaGang Li, ChinaKang Li, UKZhijun Li, ChinaQinchuan Li, ChinaBin Li, China

Feng-Li Lian, TaiwanGeng Liang, ChinaChyi-Yeu Lin, TaiwanWei Liu, ChinaJindong Liu, UKJia Liu, ChinaXin-Jun Liu, ChinaBingbing Liu, SingaporeBenny Lo, UKYunjiang Lou, MacaoLeena Lulu, UAEDominic MaestasElmar Mair, GermanyTakafumi Matsumaru, JapanJouni Kalevi Mattila, FinlandJohannes Mayr, AustriaAbdul Md Mazid, AustraliaEmanuele Menegatti, ItalyQinhao MengHuasong Min, ChinaLei Min, ChinaSeyed Mohamed Buhari Mohamed

Ismail, Brunei DarussalamHyungpil Moon, Republic of KoreaRainer Muller, GermanyHyun MyungHiroyuki Nakamoto, JapanLazaros Nalpantidis, GreeceJohn Nassour, FranceAndreas C. Nearchou, GreeceSamia Nefti-Meziani, UKDuc Dung Nguyen, Republic of KoreaHirotaka Osawa, JapanMohammadreza Asghari Oskoei, UKChee Khiang Pang, SingaporeChristopher Parlitz, GermanyFederica Pascucci, ItalyFernando Lobo Pereira, PortugalAnton Satria Prabuwono, MalaysiaFlavio Prieto, ColombiaHong Qiao, ChinaMd. Jayedur Rashid, AASS, SwedenSushil Raut, IndiaNilanjan Ray, CanadaRobert Richardson, UKRoland Riepl, Austria

Conference Organization XI

Jorge Rivera-Rovelo, MexicoFabrizio Rocchi, ItalyStephen Rock, USAAndreja Rojko, SloveniaJuha Roning, FinlandAnis Sahbani, FranceSebastien Saint-Aime, FranceElsayed Sallam, EgyptMarti Sanchez-Fibla, SpainIngrid Schjolberg, NorwayKosuke Sekiyama, JapanNaserodin Sepehry, IranXinjun Sheng, ChinaDesire Sidibe, FrancePonnambalam Sivalinga G., MalaysiaJorge Solis, JapanKai-Tai Song, TaiwanPeter Staufer, AustriaGiovanni Stellin, ItalyChun-Yi Su, CanadaAnan Suebsomran, ThailandJussi Suomela, FinlandYoshiyuki Takahashi, JapanYuegang Tan, ChinaLi Tan, USABo Tao, ChinaKalevi Tervo, FinlandChing-Hua Ting, TaiwanFederico Tombari, ItalyAksel Andreas Transeth, NorwayNikos Tsourveloudis, GreeceAkira Utsumi, JapanKalyana Veluvolu, Republic of KoreaIvanka Veneva, BulgariaAihui Wang, JapanXiangke Wang, ChinaHao Wang, ChinaShuxin Wang, China

Furui Wang, USAGuowu Wei, UKStephen Wood, USAHongtao WuXiaojun Wu, SingaporeXianbo Xiang, ChinaElias Xidias, GreeceRong Xiong, ChinaCaihua Xiong, ChinaPeter Xu, New ZealandXipeng Xu, ChinaKai Xu, ChinaJijie Xu, USAXin Xu, ChinaGuohua Xu, ChinaBing Xu, ChinaXinqing Yan, ChinaWenyu Yang, ChinaZhouping Yin, ChinaMasahiro Yokomichi, JapanKuu-Young Young, TaiwanHanafiah Yussof, MalaysiaMassimiliano Zecca, JapanJianguo Zhang, UKWenzeng Zhang, ChinaXianmin Zhang, ChinaXuguang Zhang, ChinaYingqian Zhang, The NetherlandsDingguo Zhang, ChinaYanzheng Zhao, ChinaXiaoguang Zhao, ChinaYi Zhou, SingaporeHuiyu Zhou, UKChi Zhu, JapanLimin Zhu, ChinaChun Zhu, USAChungang Zhuang, ChinaWei Zou, China

Organizing Committee

Max HaberstrohRalph KunzeChristian TummelAlicia DrogeClaudia Capellmann

Katrin OhmenRichar BosnicRobert GlashagenLarissa MullerKathrin Schoenefeld

Table of Contents – Part I

Progress in Indoor UAV

On the Way to a Real-Time On-Board Orthogonal SLAM for an IndoorUAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Mirco Alpen, Klaus Frick, and Joachim Horn

Quadrocopter Localization Using RTK-GPS and Vision-BasedTrajectory Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Ulf Pilz, Willem Gropengießer, Florian Walder, Jonas Witt, andHerbert Werner

Five-Axis Milling Simulation Based on B-rep Model . . . . . . . . . . . . . . . . . . 22Yongzhi Cheng, Caihua Xiong, Tao Ye, and Hongkai Cheng

Robotics Intelligence

Exploration Strategies for Building Compact Maps in UnboundedEnvironments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Matthias Nieuwenhuisen, Dirk Schulz, and Sven Behnke

The Basic Component of Computational Intelligence for KUKA KR C3Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Tadeusz Szkodny

An Experimental Comparison of Model-Free Control Methods in aNonlinear Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Mateusz Przybyla, Rafal Madonski, Marta Kordasz, andPrzemyslaw Herman

Industrial Robots

Research on Modular Design of Perpendicular Jointed IndustrialRobots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Lin Song and Suixian Yang

Online Path Planning for Industrial Robots in Varying EnvironmentsUsing the Curve Shortening Flow Method . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Marcel Huptych, Konrad Groh, and Sascha Rock

Parallel-Populations Genetic Algorithm for the Optimization of CubicPolynomial Joint Trajectories for Industrial Robots . . . . . . . . . . . . . . . . . . . 83

Fares J. Abu-Dakka, Iyad F. Assad, Francisco Valero, andVicente Mata

XIV Table of Contents – Part I

Robotics Assembly Applications

Integrative Path Planning and Motion Control for Handling LargeComponents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Rainer Muller, Martin Esser, and Markus Janssen

Automatic Configuration of Robot Systems – Upward and DownwardIntegration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Gunther Reinhart, Stefan Huttner, and Stefan Krug

Process and Human Safety in Human-Robot-Interaction – A HybridAssistance System for Welding Applications . . . . . . . . . . . . . . . . . . . . . . . . . 112

Carsten Thomas, Felix Busch, Bernd Kuhlenkoetter, andJochen Deuse

Operation Simulation of a Robot for Space Applications . . . . . . . . . . . . . . 122Hui Li, Giuseppe Carbone, Marco Ceccarelli, and Qiang Huang

Re-grasping: Improving Capability for Multi-Arm-Robot-System byDynamic Reconfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Burkhard Corves, Tom Mannheim, and Martin Riedel

A Parallel Kinematic Concept Targeting at More Accurate Assembly ofAircraft Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

Christian Lochte, Franz Dietrich, and Annika Raatz

Dimensional Synthesis of Parallel Manipulators Based on Direction-Dependent Jacobian Indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Marwene Nefzi, Clement Gosselin, Martin Riedel,Mathias Husing, and Burkhard Corves

Rehabilitation Robotics

EMG Classification for Application in Hierarchical FES System forLower Limb Movement Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Dingguo Zhang, Ying Wang, Xinpu Chen, and Fei Xu

Situated Learning of Visual Robot Behaviors . . . . . . . . . . . . . . . . . . . . . . . . 172Krishna Kumar Narayanan, Luis-Felipe Posada,Frank Hoffmann, and Torsten Bertram

Humanoid Motion Planning in the Goal Reaching Movement ofAnthropomorphic Upper Limb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Wenbin Chen, Caihua Xiong, Ronglei Sun, and Xiaolin Huang

Human Sitting Posture Exposed to Horizontal Perturbation andImplications to Robotic Wheelchairs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

Karim A. Tahboub and Essameddin Badreddin

Table of Contents – Part I XV

Automatic Circumference Measurement for Aiding in the Estimation ofMaximum Voluntary Contraction (MVC) in EMG Systems . . . . . . . . . . . . 202

James A.R. Cannan and Huosheng Hu

Classification of the Action Surface EMG Signals Based on the DirichletProcess Mixtures Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

Min Lei and Guang Meng

Displacement Estimation for Foot Rotation Axis Using aStewart-Platform-Type Assist Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

Ming Ding, Tomohiro Iida, Hiroshi Takemura, and Hiroshi Mizoguchi

Mechanisms and their Applications

Inverse Kinematics Solution of a Class of Hybrid Manipulators . . . . . . . . . 230Shahram Payandeh and Zhouming Tang

Stiffness Analysis of Clavel’s DELTA Robot . . . . . . . . . . . . . . . . . . . . . . . . . 240Martin Wahle and Burkhard Corves

Optimum Kinematic Design of a 3-DOF Parallel Kinematic Manipulatorwith Actuation Redundancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

Fugui Xie, Xin-Jun Liu, Xiang Chen, and Jinsong Wang

Integrated Structure and Control Design for a Flexible PlanarManipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

Yunjiang Lou, Yongsheng Zhang, Ruining Huang, and Zexiang Li

Effects of Clearance on Dynamics of Parallel Indexing CamMechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270

Zongyu Chang, Lixin Xu, Yuhu Yang, Zhongqiang Zheng, andTongqing Pan

Design and Compliance Experiment Study of the Forging Simulator . . . . 281Pu Zhang, Zhenqiang Yao, Zhengchun Du, Hao Wang, andHaidong Yu

Design of Compliant Bistable Mechanism for Rear Trunk Lid of Cars . . . 291Shouyin Zhang and Guimin Chen

Multi Robot Systems

DynaMOC: A Dynamic Overlapping Coalition-Based MultiagentSystem for Coordination of Mobile Ad Hoc Devices . . . . . . . . . . . . . . . . . . 300

Vitor A. Santos, Giovanni C. Barroso, Mario F. Aguilar,Antonio de B. Serra, and Jose M. Soares

XVI Table of Contents – Part I

Design of a High Performance Quad-Rotor Robot Based on a LayeredReal-Time System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

Jonas Witt, Bjorn Annighofer, Ole Falkenberg, and Uwe Weltin

Simple Low Cost Autopilot System for UAVs . . . . . . . . . . . . . . . . . . . . . . . . 324S. Veera Ragavan, Velappa Ganapathy, and Chee Aiying

A Marsupial Relationship in Robotics: A Survey . . . . . . . . . . . . . . . . . . . . . 335Hamido Hourani, Philipp Wolters, Eckart Hauck, and Sabina Jeschke

Multi-objective Robot Coalition Formation for Non-additiveEnvironments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

Manoj Agarwal, Lovekesh Vig, and Naveen Kumar

Development of a Networked Multi-agent System Based on Real-TimeEthernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

Xiong Xu, Zhenhua Xiong, Jianhua Wu, and Xiangyang Zhu

A Conceptual Agent-Based Planning Algorithm for the Production ofCarbon Fiber Reinforced Plastic Aircrafts by Using Mobile ProductionUnits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366

Hamido Hourani, Philipp Wolters, Eckart Hauck,Annika Raatz, and Sabina Jeschke

Robot Mechanism and Design

Trajectory Tracking and Vibration Control of Two Planar RigidManipulators Moving a Flexible Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

Balasubramanian Esakki, Rama B. Bhat, and Chun-Yi Su

Concept and Design of the Modular Actuator System for the HumanoidRobot MYON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388

Torsten Siedel, Manfred Hild, and Mario Weidner

Design of a Passive, Bidirectional Overrunning Clutch for Rotary Jointsof Autonomous Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397

Manfred Hild, Torsten Siedel, and Tim Geppert

DeWaLoP-Monolithic Multi-module In-Pipe Robot System . . . . . . . . . . . . 406Luis A. Mateos and Markus Vincze

Design and Control of a Novel Visco-elastic Braking Mechanism UsingHMA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416

Keith Gunura, Juanjo Bocanegra, and Fumiya Iida

Table of Contents – Part I XVII

Parallel Kinematics, Parallel Kinematics Machinesand Parallel Robotics

Topological Design of Weakly-Coupled 3-Translation Parallel RobotsBased on Hybrid-Chain Limbs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

Huiping Shen, Tingli Yang, Lvzhong Ma, and Shaobin Tao

Working Space and Motion Analysis on a Novel Planar ParallelManipulator with Three Driving Sliders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436

Huiping Shen, Wei Wang, Changyu Xue, Jiaming Deng, andZhenghua Ma

Optimal Kinematic Design of a 2-DoF Translational ParallelManipulator with High Speed and High Precision . . . . . . . . . . . . . . . . . . . . 445

Gang Zhang, PinKuan Liu, and Han Ding

Modeling and Control of Cable Driven Parallel Manipulators withElastic Cables: Singular Perturbation Theory . . . . . . . . . . . . . . . . . . . . . . . . 455

Alaleh Vafaei, Mohammad A. Khosravi, and Hamid D. Taghirad

CAD-2-SIM – Kinematic Modeling of Mechanisms Based on theSheth-Uicker Convention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

Bertold Bongardt

Handling and Manipulation

Non-rigid Object Trajectory Generation for Autonomous RobotHandling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478

Honghai Liu and Hua Lin

Robotized Sewing of Fabrics Based on a Force Neural NetworkController . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

Panagiotis N. Koustoumpardis and Nikos A. Aspragathos

Dynamic Insertion of Bendable Flat Cables with Variation Based onShape Returning Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496

Yuuki Kataoka and Shinichi Hirai

A Vision System for the Unfolding of Highly Non-rigid Objects on aTable by One Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509

Dimitra Triantafyllou and Nikos A. Aspragathos

Tangibility in Human-Machine Interaction

Optimizing Motion of Robotic Manipulators in Interaction with HumanOperators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

Hao Ding, Kurniawan Wijaya, Gunther Reißig, and Olaf Stursberg

XVIII Table of Contents – Part I

Haptic Display of Rigid Body Contact Using Generalized PenetrationDepth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532

Jun Wu, Dangxiao Wang, and Yuru Zhang

Assistive Robots in Eldercare and Daily Living: Automation ofIndividual Services for Senior Citizens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542

Alexander Mertens, Ulrich Reiser, Benedikt Brenken,Mathias Ludtke, Martin Hagele, Alexander Verl,Christopher Brandl, and Christopher Schlick

Key Factors for Freshmen Education Using MATLAB and LEGOMindstorms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

Alexander Behrens, Linus Atorf, Dorian Schneider, and Til Aach

Navigation and Localization of Mobile Robot

Adaptive Dynamic Path Following Control of an Unicycle-Like MobileRobot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563

Victor H. Andaluz, Flavio Roberti, Juan Marcos Toibero,Ricardo Carelli, and Bernardo Wagner

A Study on Localization of the Mobile Robot Using Inertial Sensorsand Wheel Revolutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575

Bong-Su Cho, Woosung Moon, Woo-Jin Seo, and Kwang-Ryul Baek

Robust and Accurate Genetic Scan Matching Algorithm for RoboticNavigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584

Kristijan Lenac, Enzo Mumolo, and Massimiliano Nolich

Beacon Scheduling Algorithm for Localization of a Mobile Robot . . . . . . . 594Jaehyun Park, Sunghee Choi, and Jangmyung Lee

Position Estimation Using Time Difference of Flight of the Multi-codedUltrasonic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604

Woo-Jin Seo, Bong-Su Cho, Woo-Sung Moon, and Kwang-Ryul Baek

Detecting Free Space and Obstacles in Omnidirectional Images . . . . . . . . 610Luis Felipe Posada, Krishna Kumar Narayanan,Frank Hoffmann, and Torsten Bertram

A Composite Random Walk for Facing Environmental Uncertainty andReduced Perceptual Capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620

C.A. Pina-Garcia, Dongbing Gu, and Huosheng Hu

Motion Design for Service Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 630Elias Xidias, Nikos A. Aspragathos, and Philip Azariadis

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639

Table of Contents – Part II

A Body for the Brain: Embodied Intelligencein Bio-inspired Robotics

Biomechatronics for Embodied Intelligence of an Insectoid Robot . . . . . . 1Axel Schneider, Jan Paskarbeit, Mattias Schaffersmann, andJosef Schmitz

Novel Approaches for Bio-inspired Mechano-Sensors . . . . . . . . . . . . . . . . . . 12Alin Drimus and Arne Bilberg

Helping a Bio-inspired Tactile Sensor System to Focus on theEssential . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Sven Hellbach, Marc Otto, and Volker Durr

Robust Dataglove Mapping for Recording Human Hand Postures . . . . . . 34Jan Steffen, Jonathan Maycock, and Helge Ritter

Software/Hardware Issues in Modelling Insect Brain Architecture . . . . . . 46Paolo Arena, Luca Patane, Pietro Savio Termini,Alessandra Vitanza, and Roland Strauss

Higher Brain Centers for Intelligent Motor Control in Insects . . . . . . . . . . 56Roland Strauss, Tammo Krause, Christian Berg, and Bianca Zapf

An Insect-Inspired, Decentralized Memory for Robot Navigation . . . . . . . 65Holk Cruse and Rudiger Wehner

Models of Visually Guided Routes in Ants: Embodiment SimplifiesRoute Acquisition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Bart Baddeley, Paul Graham, Andrew Philippides, andPhilip Husbands

Intelligent Visual Systems

Robust Object Tracking for Resource-Limited Hardware Systems . . . . . . . 85Xiaoqin Zhang, Li Zhao, Shengyong Chen, and Lixin Gao

Adaptive Rank Transform for Stereo Matching . . . . . . . . . . . . . . . . . . . . . . . 95Ge Zhao, Yingkui Du, and Yandong Tang

Real Time Vision Based Multi-person Tracking for Mobile Roboticsand Intelligent Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Dennis Mitzel, Georgios Floros, Patrick Sudowe,Benito van der Zander, and Bastian Leibe

XX Table of Contents – Part II

A Method for Wandering Trajectory Detection in Video Monitor . . . . . . . 116Ruohong Huan, Zhehu Wang, Xiaomei Tang, and Yun Pan

The Design of a Vision-Based Motion Performance System . . . . . . . . . . . . 125Cheng Ren, Shuai Ye, and Xin Wang

Window Function for EEG Power Density Estimation and ItsApplication in SSVEP Based BCIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

Gan Huang, Jianjun Meng, Dingguo Zhang, and Xiangyang Zhu

Efficient Multi-resolution Plane Segmentation of 3D Point Clouds . . . . . . 145Bastian Oehler, Joerg Stueckler, Jochen Welle, Dirk Schulz, andSven Behnke

3D Body Pose Estimation Using an Adaptive Person Model forArticulated ICP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

David Droeschel and Sven Behnke

Self-optimising Production Systems

Artificial Cognition in Autonomous Assembly Planning Systems . . . . . . . 168Christian Buescher, Marcel Mayer, Daniel Schilberg, andSabina Jeschke

Self-optimization as an Enabler for Flexible and ReconfigurableAssembly Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

Rainer Muller, Christian Brecher, Burkhard Corves, Martin Esser,Martin Riedel, Sebastian Haag, and Matthias Vette

Flexible Assembly Robotics for Self-optimizing Production . . . . . . . . . . . . 189Sebastian Haag, Nicolas Pyschny, and Christian Brecher

Meta-modeling for Manufacturing Processes . . . . . . . . . . . . . . . . . . . . . . . . . 199Thomas Auerbach, Marion Beckers, Guido Buchholz,Urs Eppelt, Yves-Simon Gloy, Peter Fritz, Toufik Al Khawli,Stephan Kratz, Juliane Lose, Thomas Molitor, Axel Reßmann,Ulrich Thombansen, Drazen Veselovac, Konrad Willms,Thomas Gries, Walter Michaeli, Christian Hopmann, Uwe Reisgen,Robert Schmitt, and Fritz Klocke

Computational Intelligence

Control Architecture for Human Friendly Robots Based on Interactingwith Human . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

Hiroyuki Masuta, Eriko Hiwada, and Naoyuki Kubota

Multi-modal Communication Interface for Elderly People inInformationally Structured Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

Rikako Komatsu, Dalai Tang, Takenori Obo, and Naoyuki Kubota

Table of Contents – Part II XXI

Motion Control Strategies for Humanoids Based on Ergonomics . . . . . . . . 229Christian Schlette and Jurgen Rossmann

Fuzzy Representations and Control for Domestic Service Robotsin Golog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

Stefan Schiffer, Alexander Ferrein, and Gerhard Lakemeyer

Robot Control Systems

Minimum Jerk-Based Control for a Three Dimensional BipedalRobot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

Amira Aloulou and Olfa Boubaker

Development of a Smart Motion Control Card with an IEEE-1394Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

Guo-Ying Gu, LiMin Zhu, and Ying Feng

Control System by Observer for a Hyper-redundant Robot . . . . . . . . . . . . 275Mircea Ivanescu, Nirvana Popescu, and Mihaela Florescu

Towards a Multi-peclet Number Pollution Monitoring Algorithm . . . . . . . 287John Oyekan, Dongbing Gu, and Huosheng Hu

Self-balancing Controllable Robots in Education: A Practical Coursefor Bachelor Students . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

Paul Hansch, John Schommer, and Stefan Kowalewski

Intelligent Control Design in Robotics and Rehabilitation . . . . . . . . . . . . . 307Petko Kiriazov, Gergana Nikolova, and Ivanka Veneva

Human-Robot Interaction

Behavior Based Approach for Robot Navigation and Chemical AnomalyTracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317

Sambit Bhattacharya, Bogdan Czejdo, Shubo Han, andMohammad Siddique

Detection of Lounging People with a Mobile Robot Companion . . . . . . . . 328Michael Volkhardt, Steffen Muller, Christof Schroter, andHorst-Michael Groß

Autonomous Control for Human-Robot Interaction on Complex RoughTerrain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

Mahmoud Mustafa and Alex Ramirez-Serrano

A Modular Approach to Gesture Recognition for Interaction with aDomestic Service Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

Stefan Schiffer, Tobias Baumgartner, and Gerhard Lakemeyer

XXII Table of Contents – Part II

Safety System and Navigation for Orthopaedic Robot (OTOROB) . . . . . 358Muralindran Mariappan, Thayabaren Ganesan,Vigneswaran Ramu, and Muhammad Iftikhar

Approaching a Person in a Socially Acceptable Manner Using a FastMarching Planner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368

Jens Kessler, Christof Schroeter, and Horst-Michael Gross

Manipulators and Applications

Stiffness Identification for Serial Robot Manipulator Based onUncertainty Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378

Xiaoping Zhang, Wenyu Yang, Xuegang Cheng, and YuShan Chen

Serial Comanipulation in Beating Heart Surgery Using a LWPR-ModelBased Predictive Force Control Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

Juan Manuel Florez, Delphine Bellot, Jerome Szewczyk, andGuillaume Morel

Application of Wavelet Networks to Adaptive Control of RoboticManipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401

Hamid Reza Karimi

Development of a Deep Ocean Master-Slave Electric ManipulatorControl System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412

Xiong Shen, GuoHua Xu, Kun Yu, Guoyuan Tang, and Xiaolong Xu

Modelling of Flexible Link Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420Clementina Mladenova

An Outline for an Intelligent System Performing Peg-in-Hole Actionswith Flexible Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430

Andreas Jordt, Andreas R. Fugl, Leon Bodenhagen,Morten Willatzen, Reinhard Koch, Henrik G. Petersen,Knud A. Andersen, Martin M. Olsen, and Norbert Kruger

Stability, Dynamics and Interpolation

Framework for Use of Generalized Force and Torque Data inTransitional Levels of Autonomy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

Kyle Schroeder and Mitch Pryor

A New Solution for Stability Prediction in Flexible Part Milling . . . . . . . . 452XiaoJian Zhang, Caihua Xiong, and Ye Ding

A Practical Continuous-Curvature Bezier Transition Algorithm forHigh-Speed Machining of Linear Tool Path . . . . . . . . . . . . . . . . . . . . . . . . . . 465

Qingzhen Bi, Yuhan Wang, Limin Zhu, and Han Ding

Table of Contents – Part II XXIII

Design of a FPGA-Based NURBS Interpolator . . . . . . . . . . . . . . . . . . . . . . . 477Huan Zhao, Limin Zhu, Zhenhua Xiong, and Han Ding

Iso-scallop Trajectory Generation for the 5-Axis Machining of anImpeller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

Xubing Chen, Jinbo Wang, and Youlun Xiong

Evolutionary Robotics

Swarm Robot Flocking: An Empirical Study . . . . . . . . . . . . . . . . . . . . . . . . . 495M. Fikret Ercan and Xiang Li

Self-reconfiguration Path Planning Design for M-Lattice Robot Basedon Genetic Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505

Enguang Guan, Zhuang Fu, Weixin Yan, Dongsheng Jiang, andYanzheng Zhao

Mobile Robot Controller Design by Evolutionary MultiobjectiveOptimization in Multiagent Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . 515

Yusuke Nojima and Hisao Ishibuchi

Learning Intelligent Controllers for Path-Following Skills on Snake-LikeRobots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525

Francisco Javier Marın, Jorge Casillas, Manuel Mucientes,Aksel Andreas Transeth, Sigurd Aksnes Fjerdingen, andIngrid Schjølberg

Bio-inspired Robotics

Modular Behavior Controller for Underwater Robot Teams:A Biologically Inspired Concept for Advanced Tasks . . . . . . . . . . . . . . . . . . 536

Dong-Uck Kong and Jinung An

BioMotionBot - A New 3D Robotic Manipulandum with End-PointForce Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548

Volker Bartenbach, Klaus Wilging, Wolfgang Burger, andThorsten Stein

Adaptive Control Scheme with Parameter Adaptation - From HumanMotor Control to Humanoid Robot Locomotion Control . . . . . . . . . . . . . . 558

Haiwei Dong and Zhiwei Luo

Online Walking Gait Generation with Predefined Variable Height ofthe Center of Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569

Johannes Mayr, Hubert Gattringer, and Hartmut Bremer

XXIV Table of Contents – Part II

Image-Processing Applications

Visual Control of a Remote Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579David Sanchez-Benitez, Jesus M. de la Cruz, Gonzalo Pajares, andDawei Gu

Longitudinal and Lateral Control in Automated Highway Systems:Their Past, Present and Future . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589

Mohammad Alfraheed, Alicia Droge, Max Klingender,Daniel Schilberg, and Sabina Jeschke

Surface Defects Classification Using Artificial Neural Networks inVision Based Polishing Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599

Anton Satria Prabuwono, Adnan Rachmat Anom Besari,Ruzaidi Zamri, Md Dan Md Palil, and Taufik

Efficient Skin Detection under Severe Illumination Changesand Shadows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609

Bishesh Khanal and Desire Sidibe

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619