Research and Education in Robotics - EUROBOT 2009: International Conference, la Ferté-Bernard, France, May 21-23, 2009. Revised Selected Papers / Edition 1

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This volume contains the accepted papers presented during the International Conference on Research and Education in Robotics – EUROBOT Conference 2009, held in La Fer&tacute; e-Bernard, France, May 21–23, 2009. Today, robots are indispensable tools for—exible, automated manufacturing in many areas of industry as well as for the execution of sophisticated or d- gerous tasks in the nuclear industry, in medicine and in space technology, and last but not least, they are being increasingly used in everyday life. To further encourage researchin this area, the EUROBOT Conferences have been set up. They aim to gather researchersand developersfromacademic—elds and industries worldwide to explore the state of the art. This conference is - companiedbythe EUROBOTContestFinals,aninternationalamateur robotics contest open to teams of young people. During the—nals in 2009, teams from 25 countries came together not only to compete, but also to exchange knowledge and ideas and to learn from each other. In addition to the paper and poster presentations, there were two invited talks: – Raja Chatila, Director of the LAAS – CNRS, Toulouse, France whose talk was about “Cognitive Robots” – &Vacute; eronigue Raoul, EUROBOT Association, France whose talk was about “EUROBOT” Organizing a conference is a task that requires the collaboration of many p- ple. We personally would like to warmly thank all members of the EUROBOT Conference2009programcommittee; without their help and dedicationit would not have been possible to produce these proceedings.

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Table of Contents

Walk-Startup of a Two-Legged Walking Mechanism Kalman Babkovic László Nagy Damir Krklješ Branislav Borovac 1

Control Methodologies for Endoscope Navigation in Robotized Laparoscopic Surgery Enrique Bauzano Victor Muñoz Isabel Garcia-Morales Belen Estebanez 11

Fast Object Registration and Robotic Bin Picking Kay Böhnke Achim Gottscheber 23

What Role for Emotions in Cooperating Robots? - The Case of RH3-Y Jean-Daniel Dessimoz Pierre-François Gauthey 38

A Mobile Robot for Small Object Handling Ondrej Fišer Hana Szucsová Vladimír Grimmer Jan Popelka Vojtech Vonásek Tomáš Krajník Jan Chudoba 47

Real-Time Door Detection Based on AdaBoost Learning Algorithm Jens Hensler Michael Blaich Oliver Bittel 61

DC Motor Drive for Small Autonomous Robots with Educational and Research Purpose Damir Krklješ Kalman Babkovic László Nagy Branislav Borovac Milan Nikolic 74

A Multi-axis Control Board Implemented via an FPGA Domenico Longo Giovanni Muscato 88

Robot Localisation in Known Environment Using Monte Carlo Localisation David Obdrzálek Stanislav Basovník Pavol Jusko Tomáš Petrušek Michal Tulácek 96

Detecting Scene Elements Using Maximally Stable Colour Regions David Obdrzálek Stanislav Basovník Lukáš Mach Andrej Mikulík 107

Ultrasonic Localization of Mobile Robot Using Active Beacons and Code Correlation Marek Peca 116

Calibration Methods for a 3D Triangulation Based Camera Ulrike Schulz Kay Böhnke 131

Camera-Based Control for Industrial Robots Using OpenCV Libraries Patrick A. Seidel Kay Böhnke 144

Generating Complex Movements of Humanoid Robots by Using Primitives Miormir Vukobratovic Branislav Borovac Mirko Rakovic Milutin Nikolic 158

Author Index 173

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