eBook ROBOT2013: First Iberian Robotics Conference, 1st Edition

  • Volume 2
  • Published By:
  • ISBN-10: 331903653X
  • ISBN-13: 9783319036533
  • DDC: 629.892
  • Grade Level Range: College Freshman - College Senior
  • 747 Pages | eBook
  • Original Copyright 2014 | Published/Released June 2014
  • This publication's content originally published in print form: 2014
  • Price:  Sign in for price



The interest in robotics has grown remarkably in recent years. Novel solutions for complex and very diverse application fields (exploration/intervention in severe environments, assistive, social, personal services, emergency rescue operations, transportation, entertainment, unmanned aerial vehicles, medical, etc.), have been anticipated by means of progress in this area. The amalgamation of original ideas and related innovations, the search for new potential applications and the use of supporting technologies forecast an important step forward and a significant socio-economic impact of advanced robot technology in coming years. Significant research and development effort has yet to be undertaken concerning embedded technologies (for power sources, actuators, sensors, information systems), new design methods, adapted control techniques for highly redundant systems, and operational and decisional autonomy and human/robot co-existence. This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, was demonstrated by a large number of contributions. Moreover, It incorporates a special session on Legal and Ethical Aspects in Robotics, which is becoming a topic of key relevance. This Conference, held in Madrid (28-29 Nov. 2013), was organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GTRob, Sociedade Portuguesa de Robotica (SPR), and Asociación Española de Promoción de la Investigación en Agentes Físicos (RedAF).

Table of Contents

Front Cover.
Editorial Board.
Other Frontmatter.
Title Page.
Copyright Page.
About Editors.
1: Social Robots and Robot Competitions.
2: Sacarino, a Service Robot in a Hotel Environment.
3: Animation of Expressions in a Mechatronic Head.
4: Limited Resources Management in a RoboCup Team Vision System.
5: A Review of Eight Years of CEABOT Contest: A National Wide Mini Humanoids Competition.
6: Perception for UAV.
7: Visual Quadrotor Swarm for the IMAV 2013 Indoor Competition.
8: Entropy-Based Search Combined with a Dual Feedforward-Feedback Controller for Landmark Search and Detection for the Navigation of a UAV Using Visual Topological Maps.
9: Topological Height Estimation Using Global Appearance of Images.
10: Floor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles.
11: Air Drones for Explosive Landmines Detection.
12: Flexible Robots.
13: Passivity-Based Control Improvement of Single-Link Flexible Manipulators by a Two-Degree-of-Freedom PID Motor Controller.
14: Vibration Suppression Controller for a Flexible Beam on a Cart Using SMC*.
15: Modal Filtering Properties of Piezoelectric Laminates with Directional Actuation.
16: Slip Detection in Robotic Hands with Flexible Parts.
17: Feedback Linearizing Controller for a Flexible Single-Link Arm Under Gravity and Joint Friction.
18: Design of Modular Robot System for Maintenance Tasks in Hazardous Facilities and Environments.
19: Improving the Motion of a Sensing Antenna by Using an Input Shaping Technique.
20: Robust Techniques for Planning, Navigation and SLAM.
21: Towards Exploiting the Advantages of Colour in Scan Matching.
22: Improving Sampling-Based Path Planning Methods with Fast Marching.
23: A State Lattice Approach for Motion Planning Under Control and Sensor Uncertainty*.
24: Fusion of the Odometer and External Position System with Different Coverage Areas.
25: Seamless Indoor-Outdoor Robust Localization for Robots*.
26: Robust Person Guidance by Using Online POMDPs.
27: Perception for Mobile Robots.
28: Learning-Based Floor Segmentation and Reconstruction.
29: Perception and Navigation in Unknown Environments: The DARPA Robotics Challenge.
30: Facilitating Human-Robot Interaction: A Formal Logic for Task Description.
31: Internet-Based Supervisory Teleoperation of a Virtual Humanoid Robot.
32: 3-Dimensional Object Perception for Manipulation Tasks Using the Atlas Robot.
33: Estimation of Gaussian Plume Model Parameters Using the Simulated Annealing Algorithm.
34: Competing in the DARPA Virtual Robotics Challenge as the SARBOT Team.
35: Reactive Humanoid Walking Algorithm for Occluded Terrain.
36: ROS Methodology to Work with Non-ROS Mobile Robots: Experimental Uses in Mobile Robotics Teaching.
37: Automatic Control of a Large Articulated Vehicle.
38: Field Robotics.
39: How to Deal with Difficulty and Uncertainty in the Outdoor Trajectory Planning with Fast Marching.
40: Energy Efficient Area Coverage for an Autonomous Demining Robot.
41: Integrating Internode Measurements in Sum of Gaussians Range Only SLAM.
42: RiskRRT-Based Planning for Interception of Moving Objects in Complex Environments.
43: Analysis of Methods for Playing Human Robot Hide-and-Seek in a Simple Real World Urban Environment.
44: Robot Networks and Telerobotics.
45: Haptic Aids for Bilateral Teleoperators.
46: Adaptive Self-triggered Control for Remote Operation of Wifi Linked Robots.
47: Effect of Video Quality and Buffering Delay on Telemanipulation Performance.
48: Pose Estimation of a Mobile Robot Based on Network Sensors Adaptive Sampling.
49: Operational Space Consensus in Networks of Robots: the Leader-Follower Case.
50: Teleoperation of Mobile Robots Considering Human's Commands.
51: Safe Teleoperation of a Dual Hand-Arm Robotic System.
52: External Force Estimation for Telerobotics without Force Sensor.
53: Grasping and Dexterous Manipulation.
54: Contact Detection and Location from Robot and Object Tracking on RGB-D Images.
55: A New Extended SDLS to Deal with the JLA in the Inverse Kinematics of an Anthropomorphic Robotic Hand.
56: Analysis and Experimental Evaluation of an Object-Level In-Hand Manipulation Controller Based on the Virtual Linkage Model.
57: Affordance-Based Grasp Planning for Anthropomorphic Hands from Human Demonstration.
58: Reachability and Capability Analysis for Manipulation Tasks.
59: Dexterity Optimization of a Three Degrees of Freedom DELTA Parallel Manipulator.
60: High Speed Fragile Object Manipulation.
Author Index.