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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)最新文献

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Calibration of multi-robot system without and under load using electronic theodolites 用电子经纬仪标定无负载和有负载的多机器人系统
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791055
J. Frączek, Z. Busko
{"title":"Calibration of multi-robot system without and under load using electronic theodolites","authors":"J. Frączek, Z. Busko","doi":"10.1109/ROMOCO.1999.791055","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791055","url":null,"abstract":"The new algorithm of the kinematic calibration of robot system using two electronic theodolites is presented. All measurements are carried out relatively to the global, Cartesian coordinate system (GCS) based on three markers fixed on the walls of measurement laboratory instead of system fixed to the theodolites. Since marker distances are measured with relatively low accuracy an error correction procedure was applied. The presented algorithm was applied first to the calibration of two-robot system with five and six degree of freedom respectively. The parameters of robot kinematics were estimated using optimisation procedures. All calculations were performed for coordinates measured in GCS giving significant improvement of robots accuracy. Moreover, using the algorithms developed the calibration of serial-parallel robot was performed. To compare results of robot calibration obtained for robot without load and under load the measurement stand for robot calibration was designed. The serial-parallel robot was calibrated both under load and without load and results obtained were compared.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124438885","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 13
Regular motions of a tube-crawling robot: simulation and optimization 管道爬行机器人的规则运动:仿真与优化
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791051
G. V. Kostin, F. L. Chernousko, N. Bolotnik, F. Pfeiffer
{"title":"Regular motions of a tube-crawling robot: simulation and optimization","authors":"G. V. Kostin, F. L. Chernousko, N. Bolotnik, F. Pfeiffer","doi":"10.1109/ROMOCO.1999.791051","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791051","url":null,"abstract":"The tube-crawling robot is an eight-legged walking machine that moves inside pipe-lines and can be used for inspection, maintenance, and repair. Optimization of structural parameters and possible gaits of the robot is discussed. The results obtained by computer simulation show a considerable sensitivity of operation characteristics of the robot with respect to its geometrical and kinematic parameters.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"46 32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122727303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
Quadruped free gait generation combined with body trajectory planning 结合身体轨迹规划的四足自由步态生成
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791070
S. Bai, K. H. Low, T. Zielińska
{"title":"Quadruped free gait generation combined with body trajectory planning","authors":"S. Bai, K. H. Low, T. Zielińska","doi":"10.1109/ROMOCO.1999.791070","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791070","url":null,"abstract":"A method of free gait generation for both straight line and circular body trajectories is proposed utilizing the primary/secondary gait. The primary gait is a fixed sequence of leg transfers with modified legend kinematic limits according to the obstacle presence, while the secondary gait is a flexible gait which is generated to adjust the leg-end position. The primary gait is generated by considering the following four constraints: stability constraint, kinematic constraint, sequential constraint and neighboring constraints. Primary gait parameters are modified by the influence of the obstacle. Using a generalized reference coordinate system, all constraints and obstacle influences are expressed by only one set of equations despite the difference of motion modes. With the proposed method, the free gait could be efficiently generated with consideration of body trajectory planning. Simulation results are given to demonstrate the efficiency of the proposed methodology.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124501740","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Modified A* algorithm suitable for online car-like mobile robot control 改进的A*算法，适用于在线类车移动机器人控制
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791081
L. Podsędkowski, J. Nowakowski, M. Idzikowski, I. Visvary
{"title":"Modified A* algorithm suitable for online car-like mobile robot control","authors":"L. Podsędkowski, J. Nowakowski, M. Idzikowski, I. Visvary","doi":"10.1109/ROMOCO.1999.791081","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791081","url":null,"abstract":"This paper presents a theoretical analysis of different methods, which can be used for online path generation for mobile robots with nonholonomic constraints in a partially known workspace. We then introduce a new method for solving the problem. The method presented works very fast and gives the optimal path in a complex environment. The algorithm of the method presented is based on A* graph searching with the nodes placed in a discretised configuration space. This paper is focused on the analysis of different heuristic cost functions and introduces new statement of this function. The method presented is equipped with procedures for fast path replanning, very useful in partially known workspaces. The series of simulation tests and experimental results of online control for car-like robot are also presented.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131603892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Robots in human environments 人类环境中的机器人
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791078
O. Khatib, K. Yoko, Oliver Brock, Ch. Kyong-Sok, A. Casal
{"title":"Robots in human environments","authors":"O. Khatib, K. Yoko, Oliver Brock, Ch. Kyong-Sok, A. Casal","doi":"10.1109/ROMOCO.1999.791078","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791078","url":null,"abstract":"Discusses the basic capabilities needed to enable robots to operate in human populated environments for accomplishing both autonomous tasks and human-guided tasks. These capabilities are key to many new emerging robotic applications in service, construction, field, underwater, and space. An important characteristic of these robots is the \"assistance\" ability they can bring to humans in performing various physical tasks. To interact with humans and operate in their environments, these robots must be provided with the functionality of mobility and manipulation. The article presents developments of models, strategies, and algorithms concerned with a number of autonomous capabilities that are essential for robot operations in human environments. These capabilities include: integrated mobility and manipulation, cooperative skills between multiple robots, interaction ability with humans, and efficient techniques for real-time modification of collision-free path. These capabilities are demonstrated on two holonomic mobile platforms designed and built at Stanford University in collaboration with Oak Ridge National Laboratories and Nomadic Technologies.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114813788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 42
Fine-motion strategies programming for robots 机器人精细运动策略编程
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791087
J. Warczynski
{"title":"Fine-motion strategies programming for robots","authors":"J. Warczynski","doi":"10.1109/ROMOCO.1999.791087","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791087","url":null,"abstract":"The paper presents a research on control and programming fault-tolerant robot fine-motions for constraint tasks encountered, for instance, in robot automation of assembly processes. It concerns mainly the problem of the autonomous adjustment of fine-motion misplacement which can be resulted from a number of factors but especially from the constrained accuracy of robots. It has been proposed to apply a task-level programming concept which assumes that user programs specify only goals of robot motions without any need to develop means ensuring the goals to be achieved. The control programs including such means can be synthesized by an automatic programming system developed for complementing user programs with the sensor-based fine-motion control strategies. The system presented was applied in a supervisory level of the three-layered control system of Zebra ZERO research robot, for experimental verification of the proposed approach.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"169 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122513934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Planning of robot trajectories with genetic algorithms 基于遗传算法的机器人轨迹规划
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791079
D.C. Monteiro, M. K. Madrid
{"title":"Planning of robot trajectories with genetic algorithms","authors":"D.C. Monteiro, M. K. Madrid","doi":"10.1109/ROMOCO.1999.791079","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791079","url":null,"abstract":"Uses genetic algorithms (GA) for planning the stages of the trajectory of a robot arm called Jeca III. First, the GAs are used for planning the trajectory in the cartesian plane with obstacle avoidance, and some new operations, like crossover, are shown. Second, planning in the joint spaces are implemented using the classical GA with some modifications. This stage is divided into two parts: initial positioning and incremental positioning. The initial positioning has the purpose of locating the end effector of the robot arm in the first point of the trajectory, and the incremental positioning of moving the end effector to the next point of the trajectory. The result is a complete trajectory planning with the GAs, demonstrating the flexibility of this technique of artificial intelligence.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122045370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Autonomous vehicle navigation in 3D environment 三维环境下的自动车辆导航
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791083
J. Sasiadek, Qi Wang
{"title":"Autonomous vehicle navigation in 3D environment","authors":"J. Sasiadek, Qi Wang","doi":"10.1109/ROMOCO.1999.791083","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791083","url":null,"abstract":"The vehicle used has three different sensors to navigate in the obstacles populated environment. The obstacles may be static or dynamics. There are some additional conditions related to moving obstacles. The vehicle main sensor systems are: sonar, global positioning system and inertial navigation system. The first sensor is used for obstacle avoidance and object recognition. The second and third sensors are used to determine the position and velocity. The signals from those two sensors are fused together using Kalman filter and the fused signal is fed to the vehicle control system. The control system is based on the fuzzy logic controller. The fully autonomous vehicle can navigate in sparsely as well as densely populated 3D environment. Results of simulation experiments are shown.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133375746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Motion planning for Mars Rover 火星探测器的运动规划
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791084
Z. Shiller
{"title":"Motion planning for Mars Rover","authors":"Z. Shiller","doi":"10.1109/ROMOCO.1999.791084","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791084","url":null,"abstract":"This paper presents an global-optimal motion planner for Mars Rover. It accounts for traversability and dynamic stability due to vehicle dynamics and terrain topography. A given path is traversable if along it the vehicle is statically stable. The vehicle is dynamically stable if its velocity does not exceed the velocity limit, determined from tip-over, sliding, and contact constraints. The cost function for the optimization consists of the path distance divided by the lowest velocity limit along the path. It produces paths that are traversable (and are hence dynamically stable) at the widest speed range.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116939427","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 15
Mechatronic approach towards designing and implementing of control systems 控制系统设计与实现的机电一体化方法
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI: 10.1109/ROMOCO.1999.791065
T. Uhl, T. Bojko, Z. Mrozek
{"title":"Mechatronic approach towards designing and implementing of control systems","authors":"T. Uhl, T. Bojko, Z. Mrozek","doi":"10.1109/ROMOCO.1999.791065","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791065","url":null,"abstract":"The paper describes a mechatronic approach towards designing and implementing complex motion control systems. Stages of control systems and the tools used for each stage are described. Particular attention is paid to the virtual and physical stage of prototyping of control systems. Possible implementations of control systems are divided into two groups according to their applicability in either single applications or mass production. The paper attempts to present a unified approach towards the development of the process of designing control systems of both types. The approach proposed is presented with an example of the control of a flexible robot arm.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131023580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
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