Robotics Research

Volume 2

Antonio Bicchi, Wolfram Burgard

• Publisher: Springer
• Year: 2017
• Print ISBN:
  9783319609157
• eBook ISBN:
  9783319609164
• Topic: Technology & Engineering
• Subtopic: Artificial Intelligence (AI) & Semantics
• Index: Technology & Engineering

ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the seventeenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in robotics. The content of the contributions provides a wide coverage of the current state of robotics research.: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.

Table of contents

• Foreword
• Preface
• Contents
• Part I Cognitive Robotics and Learning
• Bridging the Robot Perception Gap with Mid-Level Vision
• Deep Feature Learning for Acoustics-Based Terrain Classification
• Generalizing Over Uncertain Dynamics for Online Trajectory Generation
• Inverse KKT -- Learning Cost Functions of Manipulation Tasks from Demonstrations
• Autonomously Acquiring Instance-Based Object Models from Experience
• Transition State Clustering: Unsupervised Surgical Trajectory Segmentation for Robot Learning
• Robot Learning with Task-Parameterized Generative Models
• Modeling Objects as Aspect Transition Graphs to Support Manipulation
• An Approximate Inference Approach to Temporal Optimization for Robotics
• Part II Humanoids and Legged Locomotion
• A New Simple Model of Balancing in the Plane
• Slip Detection and Recovery for Quadruped Robots
• Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts
• The Yoyo-Man
• Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain
• A Probabilistic Framework for Semi-autonomous Robots Based on Interaction Primitives with Phase Estimation
• Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped
• A Reachability-Based Planner for Sequences of Acyclic Contacts in Cluttered Environments
• On the Dualities Between Grasping and Whole-Body Loco-Manipulation Tasks
• Part III Robot Planning and Navigation
• Bayesian Learning for Safe High-Speed Navigation in Unknown Environments
• Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty
• A Computational Framework for Environment-Aware Robotic Manipulation Planning
• Small and Adrift with Self-Control: Using the Environment to Improve Autonomy
• Unifying Robot Trajectory Tracking with Control Contraction Metrics
• Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces
• Relative Topometric Localization in Globally Inconsistent Maps
• Fast Sample-Based Planning for Dynamic Systems by Zero-Control Linearization-Based Steering
• Active Multi-view Object Recognition and Online Feature Selection
• An Iterative Kalman Smoother for Robust 3D Localization and Mapping
• Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance
• Path Following for Mobile Manipulators
• Incremental Sparse GP Regression for Continuous-Time Trajectory Estimation and Mapping
• A General Region-Based Framework for Collaborative Planning
• Robotic Invention: Challenges and Perspectives for Model-Free Design Optimization of Dynamic Locomotion Robots
• Part IV Knowledge-Based Robotics and Knowledge
• A Complete Algorithm for Generating Safe Trajectories for Multi-robot Teams
• Neuromorphic Artificial Sense of Touch: Bridging Robotics and Neuroscience
• Robot Creation from Functional Specifications
• Cloud-Based Probabilistic Knowledge Services for Instruction Interpretation
• Identifiability Analysis of Planar Rigid-Body Frictional Contact
• The Importance of a Suitable Distance Function in Belief-Space Planning
• Robobarista: Object Part Based Transfer of Manipulation Trajectories from Crowd-Sourcing in 3D Pointclouds