Advanced Robotics, Volume 29

Volume 29, Number 1, 2015

Special Issue: Cutting Edge of Robotics in Japan 2015
Preface

• 
  Tetsuya Ogata:
  Special Issue on Cutting Edge of Robotics in Japan 2015. 1

Full Papers

• 
  Rui Fukui, Masahiko Watanabe, Masamichi Shimosaka, Tomomasa Sato:
  Hand shape classification in various pronation angles using a wearable wrist contour sensor. 3-11
• 
  Kimitoshi Yamazaki:
  A method of grasp point selection from an item of clothing using hem element relations. 13-24

Full Paper

• 
  Shinichiro Kumagaya:
  Tojisha-Kenkyu of autism spectrum disorders. 25-34

Full Papers

• 
  Yoshiaki Bando, Takuma Otsuka, Takeshi Mizumoto, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Hiroshi G. Okuno:
  Posture estimation of hose-shaped robot by using active microphone array. 35-49
• 
  Philipp Mittendorfer, Eiichi Yoshida, Gordon Cheng:
  Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot. 51-67
• 
  Nana Takahashi, Shuhei Yamashita, Yurina Sato, Yuta Kutsuna, Manabu Yamada:
  All-round two-wheeled quadrotor helicopters with protect-frames for air-land-sea vehicle (controller design and automatic charging equipment). 69-87
• 
  Y. Terao, Norimitsu Sakagami:
  Design and development of an autonomous wave-powered boat with a wave devouring propulsion system. 89-102
• 
  Mizuho Shibata, Norimitsu Sakagami:
  Fabrication of a fish-like underwater robot with flexible plastic film body. 103-113

Volume 29, Number 2, 2015

Full Papers

• 
  Wataru Takano, Yoshihiko Nakamura:
  Construction of a space of motion labels from their mapping to full-body motion symbols. 115-126
• 
  Paolo Boscariol, Alessandro Gasparetto, Renato Vidoni, Vanni Zanotto:
  A delayed force-reflecting haptic controller for master-slave neurosurgical robots. 127-138

Short Paper

• 
  Suwoong Lee, Hidetaka Nozawa, Daisuke Watanabe, Kenji Inoue:
  Force estimation via physical properties of air cushion for the control of a human-cooperative robot: basic experiments. 139-146

Volume 29, Number 3, 2015

Special Issue: Disaster Response Robotics (2)

• 
  Kazunori Ohno, Satoshi Tadokoro, Nathan Michael, Geert-Jan M. Kruijff:
  Special issue on disaster response robotics (2). 147
• 
  Naoji Shiroma, Ryo Miyauchi, Akira Nagafusa, Youhei Haga, Fumitoshi Matsuno:
  Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control. 149-163
• 
  Tsukasa Suwazono, Norihito Nakamura, Atsushi Yamashita:
  Development of the remote-controlled platform truck for handling heavy object and the remote control human interface for the disaster response. 165-169
• 
  Mojtaba Sharifi, Hassan Sayyaadi:
  Nonlinear robust adaptive Cartesian impedance control of UAVs equipped with a robot manipulator. 171-186
• 
  Min-Fan Ricky Lee, Ying-Chi Li, Ming-Yen Chien:
  Real-time face tracking and recognition using the mobile robots. 187-208

Volume 29, Number 4, 2015

Full Papers

• 
  Seyed Ali Mohamad Dehghan, Mohammad Danesh, Farid Sheikholeslam:
  Adaptive hybrid force/position control of robot manipulators using an adaptive force estimator in the presence of parametric uncertainty. 209-223
• 
  Mahisorn Wongphati, Hirotaka Osawa, Michita Imai:
  User-defined gestures for controlling primitive motions of an end effector. 225-238
• 
  Jianing Zhou, Yasumichi Aiyama:
  On-line collision avoidance system for two PTP command-based manipulators with distributed controller. 239-251
• 
  Chao Ren, Shugen Ma, Yi Sun, Changlong Ye:
  A continuous dynamic modeling approach for an omnidirectional mobile robot. 253-271
• 
  Ryuta Ozawa, Hiroaki Kobayashi, Ryota Ishibashi:
  Adaptive impedance control of a variable stiffness actuator. 273-286
• 
  Wataru Takano, Tatsuhiro Jodan, Yoshihiko Nakamura:
  Recursive process of motion recognition and generation for action-based interaction. 287-299

Volume 29, Number 5, 2015

Special Issue: Humanoid Robotics (1)
Preface

• 
  Wataru Takano, Tamim Asfour, Petar Kormushev:
  Special Issue on Humanoid Robotics - Published in Vol. 29, No. 5 & No. 9. 301

Full Papers

• 
  Santiago Morante, Juan G. Victores, Alberto Jardón, Carlos Balaguer:
  Humanoid robot imitation through continuous goal-directed actions: an evolutionary approach. 303-314
• 
  Miguel González-Fierro, Daniel Hernández García, D. P. Thrishantha Nanayakkara, Carlos Balaguer:
  Behavior sequencing based on demonstrations: a case of a humanoid opening a door while walking. 315-329
• 
  Erik Berger, Mark Sastuba, David Vogt, Bernhard Jung, Heni Ben Amor:
  Estimation of perturbations in robotic behavior using dynamic mode decomposition. 331-343
• 
  Karinne Ramirez-Amaro, Michael Beetz, Gordon Cheng:
  Understanding the intention of human activities through semantic perception: observation, understanding and execution on a humanoid robot. 345-362
• 
  João Bimbo, Petar Kormushev, Kaspar Althoefer, Hongbin Liu:
  Global estimation of an object's pose using tactile sensing. 363-374
• 
  Mohammad Reza Sabaapour, Muhammad Reza Hairi Yazdi, Borhan Beigzadeh:
  Passive turning motion of 3D rimless wheel: novel periodic gaits for bipedal curved walking. 375-384

Volume 29, Number 6, 2015

Full Papers

• 
  Takashi Imaida, Kei Senda:
  Performance improvement of the PD-based bilateral teleoperators with time delay by introducing relative D-control. 385-400
• 
  Iman Kardan, Alireza Akbarzadeh Tootoonchi:
  An improved hybrid method for forward kinematics analysis of parallel robots. 401-411
• 
  Kirill Van Heerden, Atsuo Kawamura:
  Humanoid robot trajectory generator for safe haptic arm control via arm wrench limitation, trajectory compensation and reactive stepping. 413-429
• 
  Ravipudi Venkata Rao, Gajanan Govindrao Waghmare:
  Design optimization of robot grippers using teaching-learning-based optimization algorithm. 431-447

Volume 29, Number 7, 2015

Special Issue: Cutting Edge of Robotics in Japan 2015 (2)
Full Papers

• 
  Komei Sugiura, Yoshinori Shiga, Hisashi Kawai, Teruhisa Misu, Chiori Hori:
  A cloud robotics approach towards dialogue-oriented robot speech. 449-456
• 
  Kohei Okumura, Keiko Yokoyama, Hiromasa Oku, Masatoshi Ishikawa:
  1 ms Auto Pan-Tilt - video shooting technology for objects in motion based on Saccade Mirror with background subtraction. 457-468
• 
  Reo Matsumura, Masahiro Shiomi, Takahiro Miyashita, Hiroshi Ishiguro, Norihiro Hagita:
  What kind of floor am I standing on? Floor surface identification by a small humanoid robot through full-body motions. 469-480
• 
  Yuki Uratsuji, Kentaro Takemura, Jun Takamatsu, Tsukasa Ogasawara:
  Mobility assistance system for an electric wheelchair using annotated maps. 481-491
• 
  Tadayoshi Aoyama, Yuji Harada, Qingyi Gu, Takeshi Takaki, Idaku Ishii:
  Cyclic motion design and analysis for a passive object manipulation using an active plate. 493-503
• 
  Jun-ichiro Furukawa, Tomoyuki Noda, Tatsuya Teramae, Jun Morimoto:
  Fault tolerant approach for biosignal-based robot control. 505-514

Volume 29, Number 8, 2015

Survey Paper

• 
  Amit Kumar Mondal, Kamal Bansal:
  A brief history and future aspects in automatic cleaning systems for solar photovoltaic panels. 515-524

Full Papers

• 
  Somphong Thanok, Manukid Parnichkun:
  Longitudinal control of an intelligent vehicle using particle swarm optimization based sliding mode control. 525-543
• 
  Khalil Alipour, S. Ali A. Moosavian:
  Dynamically stable motion planning of wheeled robots for heavy object manipulation. 545-560
• 
  Federico Montagnani, Marco Controzzi, Christian Cipriani:
  Non-back-drivable rotary mechanism with intrinsic compliance for robotic thumb abduction/adduction. 561-571

Volume 29, Number 9, 2015

Special Issue: Humanoid Robotics (2)
Full Papers

• 
  Chang Hyun Sung, Takahiro Kagawa, Yoji Uno:
  Synthesis of humanoid whole-body motion with smooth transition. 573-585
• 
  Shun Nishide, Harumitsu Nobuta, Hiroshi G. Okuno, Tetsuya Ogata:
  Preferential training of neurodynamical model based on predictability of target dynamics. 587-596
• 
  Greet Van de Perre, Michaël Van Damme, Dirk Lefeber, Bram Vanderborght:
  Development of a generic method to generate upper-body emotional expressions for different social robots. 597-609
• 
  Robert Bevec, Ales Ude:
  Building object models through interactive perception and foveated vision. 611-623
• 
  Can Erdogan, Mike Stilman:
  Autonomous design of functional structures. 625-638
• 
  Garam Park, Atsushi Konno:
  Imitation learning framework based on principal component analysis. 639-656

Volume 29, Number 10, 2015

Full Papers

• 
  Mohammad Al-khawaldah, Andreas Nüchter:
  Enhanced frontier-based exploration for indoor environment with multiple robots. 657-669
• 
  Kuniaki Kawabata, Jianru Xue, Liang Ma, Nanning Zheng:
  An online reference governor for mobile robot to reduce the occurrence of control input saturation. 671-681
• 
  Yue Wang, Rong Xiong, Shoudong Huang:
  A pose pruning driven solution to pose feature GraphSLAM. 683-698

Volume 29, Number 11, 2015

Full Papers

• 
  Shun Ishikawa, Shogo Okamoto, Yasuhiro Akiyama, Kaoru Isogai, Yoji Yamada:
  Simulated crepitus and its reality-based specification using wearable patient dummy. 699-706
• 
  Maja Zorjan, Vincent Hugel, Pierre Blazevic, Branislav Borovac:
  Influence of rotation of humanoid hip joint axes on joint power during locomotion. 707-719
• 
  Ryuichi Ueda:
  Generation of compensation behavior of autonomous robot for uncertainty of information with probabilistic flow control. 721-734

Short Paper

• 
  Yoshihiro Tanaka, Tatsuya Ito, Masayoshi Hashimoto, Motoaki Fukasawa, Nobuteru Usuda, Akihito Sano:
  Collagen fibers induce expansion of receptive field of Pacinian corpuscles. 735-741

Volume 29, Number 12, 2015

Full Papers

• 
  Yu Su, Yuanying Qiu, Peng Liu:
  The continuity and real-time performance of the cable tension determining for a suspend cable-driven parallel camera robot. 743-752
• 
  Aris I. Synodinos, Vassilis C. Moulianitis, Nikos A. Aspragathos:
  A fuzzy approximation to dexterity measures of mobile manipulators. 753-769
• 
  Wataru Takano, Junichi Ishikawa, Yoshihiko Nakamura:
  Using a human action database to recognize actions in monocular image sequences: recovering human whole body configurations. 771-784
• 
  Ken Masuya, Tomomichi Sugihara:
  Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation. 785-799
• 
  Jouh Yeong Chew, Daisuke Kurabayashi, Yudai Nakamura:
  Echo state networks with Tikhonov regularization: optimization using integral gain. 801-814

Volume 29, Number 13, 2015

Special Issue: Continuum robots and manipulation
Survey Paper

• 
  Gregory S. Chirikjian:
  Conformational Modeling of Continuum Structures in Robotics and Structural Biology: A Review. 817-829

Full Papers

• 
  Mircea Ivanescu, Decebal Popescu, Nirvana Popescu:
  A decoupled sliding mode control for a continuum arm. 831-845
• 
  Matthias Rolf, Klaus Neumann, Jeffrey F. Queisser, René Felix Reinhart, Arne Nordmann, Jochen J. Steil:
  A multi-level control architecture for the bionic handling assistant. 847-859
• 
  Manas M. Tonapi, Isuru S. Godage, Amith Vijaykumar, Ian D. Walker:
  A novel continuum robotic cable aimed at applications in space. 861-875
• 
  Ryosuke Ban, Yoshiki Kimura, Taro Nakamura:
  Development of insertion-type peristalsis pump using pneumatic artificial muscles. 877-888
• 
  Jinglin Li, Jing Xiao:
  A general formulation and approach to constrained, continuum manipulation. 889-899

Volume 29, Number 14, 2015

Full Papers

• 
  Kenta Yonekura, Chyon Hae Kim, Kazuhiro Nakadai, Hiroshi Tsujino, Kazuhito Yokoi:
  Prevention of accomplishing synchronous multi-modal human-robot cooperation by using visual rhythms. 901-912
• 
  Altan Onat, Metin Ozkan:
  Dynamic adaptive trajectory tracking control of nonholonomic mobile robots using multiple models approach. 913-928
• 
  Stefan Staicu:
  Dynamics modelling of a Stewart-based hybrid parallel robot. 929-938

Short Paper

• 
  Jong-won Lee, Hyogon Kim, Jaeho Jang, Sangdeok Park:
  An experimental study of the characteristics of hydrostatic transmission systems. 939-946

Volume 29, Number 15, 2015

Full Papers

• 
  Jwu-Sheng Hu, Jyun-Ji Wang:
  The proof of a better performance by one-stage than two-stage estimation in robot calibration. 947-960
• 
  Mohammad Mehdi Fateh, Vahab Khoshdel:
  Voltage-based adaptive impedance force control for a lower-limb rehabilitation robot. 961-971
• 
  Xiaohui Wei, Chunlei Wang, Yongjun Long, Shigang Wang:
  The effect of spine on the bounding dynamic performance of legged system. 973-987
• 
  Jose Guillermo Guarnizo, Martin Mellado, Cheng Yee Low, Francisco Blanes:
  Architecting centralized coordination of soccer robots based on principle solution. 989-1004

Short Paper

• 
  Sung-In Choi, Soon-Yong Park:
  A new 2-point absolute pose estimation algorithm under planar motion. 1005-1013

Volume 29, Number 16, 2015

Full Papers

• 
  Víctor M. Hernández Guzmán, Ramón Silva-Ortigoza, Celso Márquez-Sánchez:
  A PD path-tracking controller plus inner velocity loops for a wheeled mobile robot. 1015-1029
• 
  Yongle Li, Jingtao Lou, Youchun Xu:
  Defocus deblurring for catadioptric omnidirectional imaging based on coded aperture and omni-total variation. 1031-1043
• 
  Jianhua Li, Alex Masuo Kaneko, Gen Endo, Edwardo F. Fukushima:
  In-field self-calibration of robotic manipulator using stereo camera: application to Humanitarian Demining Robot. 1045-1059
• 
  Un-Je Yang, Jung-Yup Kim:
  Mechanical design of powered prosthetic leg and walking pattern generation based on motion capture data. 1061-1079

Volume 29, Number 17, 2015

Full Papers

• 
  Hirotaka Komura, Hiroya Yamada, Shigeo Hirose:
  Development of snake-like robot ACM-R8 with large and mono-tread wheel. 1081-1094
• 
  Satoshi Hoshino, Koichiro Maki:
  Safe and efficient motion planning of multiple mobile robots based on artificial potential for human behavior and robot congestion. 1095-1109
• 
  Gustavo Alfonso Garcia Ricardez, Akihiko Yamaguchi, Jun Takamatsu, Tsukasa Ogasawara:
  Asymmetric Velocity Moderation for human-safe robot control. 1111-1125
• 
  Kai Liu, Tao Ma, Baotong Gu, Yangwei Wang, Dongbiao Zhao, Yonghua Lu:
  A new method to predict contractile force for pneumatic muscle actuators. 1127-1136
• 
  Shoichi Maeyama, Yuta Takahashi, Keigo Watanabe:
  A solution to SLAM problems by simultaneous estimation of kinematic parameters including sensor mounting offset with an augmented UKF. 1137-1149

Volume 29, Number 18, 2015

Full Papers

• 
  Hisashi Ishihara, Minoru Asada:
  Design of 22-DOF pneumatically actuated upper body for child android 'Affetto'. 1151-1163
• 
  Meryam Rachedi, Boualem Hemici, Mohamed Bouri:
  Design of an H∞ controller for the Delta robot: experimental results. 1165-1181
• 
  Shan Jiang, Xiaodong Ma, Yan Yu, Zhiyong Yang:
  Accurate error compensation for a MR-compatible surgical robot based on a novel kinematic calibration method. 1183-1194
• 
  Oded Medina, Amir Shapiro, Nir Shvalb:
  Motion planning for an actuated flexible polyhedron manifold. 1195-1203
• 
  Izaya Nishimuta, Katsutoshi Itoyama, Kazuyoshi Yoshii, Hiroshi G. Okuno:
  Toward a quizmaster robot for speech-based multiparty interaction. 1205-1219

Volume 29, Number 19, 2015

Survey Paper

• 
  David Sanz, João Valente, Jaime del Cerro, Julián Colorado, Antonio Barrientos:
  Safe operation of mini UAVs: a review of regulation and best practices. 1221-1233

Full Papers

• 
  Christian I. Penaloza, Yasushi Mae, Masaru Kojima, Tatsuo Arai:
  Brain signal-based safety measure activation for robotic systems. 1234-1242
• 
  Travis Baratcart, Valerio Salvucci, Takafumi Koseki:
  Experimental verification of two-norm, infinity-norm continuous switching implemented in resolution of biarticular actuation redundancy. 1243-1252
• 
  Franco Penizzotto, Emanuel Slawiñski, Lucio Rafael Salinas, Vicente A. Mut:
  Human-centered control scheme for delayed bilateral teleoperation of mobile robots. 1253-1268
• 
  Zhifeng Huang, Takahiro Katayama, Masako Kanai-Pak, Jukai Maeda, Yasuko Kitajima, Mitsuhiro Nakamura, Kyoko Aida, Noriaki Kuwahara, Taiki Ogata, Jun Ota:
  Design and evaluation of robot patient for nursing skill training in patient transfer. 1269-1285

Volume 29, Number 20, 2015

Full Papers

• 
  Jianjun Gui, Dongbing Gu, Sen Wang, Huosheng Hu:
  A review of visual inertial odometry from filtering and optimisation perspectives. 1289-1301

Full Paper

• 
  Aliasghar Arab, Mohammad Mehdi Fateh:
  An uncertainty compensator for robust control of wheeled mobile robots. 1303-1313

Full Papers

• 
  Yasuhiro Akiyama, Yoji Yamada, Shogo Okamoto:
  Interaction forces beneath cuffs of physical assistant robots and their motion-based estimation. 1315-1329
• 
  Mitsunori Uemura, Kento Matsusaka, Yawara Takagi, Sadao Kawamura:
  A stiffness adjustment mechanism maximally utilizing elastic energy of a linear spring for a robot joint. 1331-1337
• 
  Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge:
  Motion control of wearable-type walking support system based on the spring-mass model. 1339-1355

Volume 29, Number 21, 2015

Special Issue: Robotic Sensor Skins
Preface

• 
  Kolja Kühnlenz, Barbara Kühnlenz, Ravinder Dahiya, Takao Someya, Akio Yamamoto, Gordon Cheng:
  Preface. 1357

Survey Papers

• 
  Nivasan Yogeswaran, Wenting Dang, William Taube Navaraj, Dhayalan Shakthivel, Saleem Khan, Emre Ozan Polat, Shoubhik Gupta, Hadi Heidari, Mohsen Kaboli, Leandro Lorenzelli, Gordon Cheng, Ravinder Dahiya:
  New materials and advances in making electronic skin for interactive robots. 1359-1373

Full Papers

• 
  Sophon Somlor, Richard Sahala Hartanto, Alexander Schmitz, Shigeki Sugano:
  A novel tri-axial capacitive-type skin sensor. 1375-1391
• 
  Ganna Pugach, Alexandre Pitti, Philippe Gaussier:
  Neural learning of the topographic tactile sensory information of an artificial skin through a self-organizing map. 1393-1409
• 
  Mohsen Kaboli, Alex Long, Gordon Cheng:
  Humanoids learn touch modalities identification via multi-modal robotic skin and robust tactile descriptors. 1411-1425

Volume 29, Number 22, 2015

Full Papers

• 
  Qimi Jiang, Clément M. Gosselin, Yujun Wang, Can Fang:
  Maximal singularity-free orientation workspace over a position region of Gough-Stewart platform. 1427-1436
• 
  Lianli Zhu, Lizhan Zeng, Xuedong Chen, Xin Luo, Xiaoqing Li:
  A bioinspired touching sensor for amphibious mobile robots. 1437-1452
• 
  Luis Canete, Takayuki Takahashi:
  Modeling, analysis and compensation of disturbances during task execution of a wheeled inverted pendulum type assistant robot using a unified controller. 1453-1462
• 
  Wen-Xia Xu, Jian Huang, Yongji Wang, Chunjing Tao, Lei Cheng:
  Reinforcement learning-based shared control for walking-aid robot and its experimental verification. 1463-1481
• 
  Kazuki Misu, Jun Miura:
  Specific person tracking using 3D LIDAR and ESPAR antenna for mobile service robots. 1483-1495

Volume 29, Number 23, 2015

Full Papers

• 
  Hirone Komatsu, Gen Endo, Ryuichi Hodoshima, Shigeo Hirose, Edwardo F. Fukushima:
  How to optimize the slope walking motion by the quadruped walking robot. 1497-1509
• 
  Yongchen Tang, Shugen Ma, Yi Sun, Dingxin Ge:
  Planar legged walking of a passive-spine hexapod robot. 1510-1525
• 
  Ali Mahmoodi, Amir Sayadi:
  Six-Dimensional space expression of workspace of six-DoF parallel manipulators using hyper spherical coordinates (HSC). 1527-1537
• 
  Viet-Hung Dang, Nguyen Duc Thang, Hoang Huu Viet, Le Anh Tuan:
  Batch-Theta* for path planning to the best goal in a goal set. 1537-1550
• 
  Dinesh Kumar Vishwakarma, Rajiv Kapoor:
  Integrated approach for human action recognition using edge spatial distribution, direction pixel and ℛ-transform. 1553-1562
• 
  Masahiro Shiomi, Norihiro Hagita:
  Finding a person with a wearable acceleration sensor using a 3D position tracking system in daily environments. 1563-1574

Volume 29, Number 24, 2015

Survey Papers

• 
  Mustafa Turki Hussein:
  A review on vision-based control of flexible manipulators. 1575-1585

Full Papers

• 
  Takeshi Takaki, Keisuke Shima, Naohisa Mukaidani, Toshio Tsuji, Akira Otsuka, Takaaki Chin:
  Electromyographic prosthetic hand using grasping-force-magnification mechanism with five independently driven fingers. 1586-1598
• 
  Julián Colorado, Claudio Rossi, C. Zhang, Antonio Barrientos:
  Towards efficient flight: insights on proper morphing-wing modulation in a bat-like robot. 1599-1610
• 
  Jeonghyeon Wang, Jujang Lee, Jinwhan Kim:
  Constrained motion planning for robot manipulators using local geometric information. 1611-1623
• 
  Hiroko Kamide, Koji Kawabe, Satoshi Shigemi, Tatsuo Arai:
  Anshin as a concept of subjective well-being between humans and robots in Japan. 1624-1636
• 
  Zhirong Wang, Erbao Dong, Min Xu, Jie Yang:
  Circling turning locomotion of a new multiple closed-chain-legs robot with hybrid-driven mechanism. 1637-1648