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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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Towards development of robotic aid for rehabilitation of locomotion-impaired subjects 机器人辅助运动障碍患者康复的研究进展
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-28 DOI: 10.1109/ROMOCO.1999.791044
D. A. K. Bejczy
{"title":"Towards development of robotic aid for rehabilitation of locomotion-impaired subjects","authors":"D. A. K. Bejczy","doi":"10.1109/ROMOCO.1999.791044","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791044","url":null,"abstract":"Scientists at the Department of Physiological Science at the University of California Los Angeles and roboticists at the Jet Propulsion Laboratory initiated a joint effort to develop a robotic mechanism capable of performing controlled motions equivalent to the arm and hand motions of therapists assisting the stepping of locomotion impaired subjects on a treadmill, while the subjects' body weight is partially supported by an overhead harness. A first necessary technical step towards this development is to measure and understand the kinematics and dynamics of the therapists' arm and hand motions as they are reflected on the subjects' leg movement. This paper describes an initial measurement system developed for this purpose together with the related measurement results, and outlines the planned future technical work.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114801094","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: 18
A reactive navigation method based on an incremental learning of tasks sequences 一种基于任务序列增量学习的响应式导航方法
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-28 DOI: 10.1109/ROMOCO.1999.791048
F. Davesne, C. Barret
{"title":"A reactive navigation method based on an incremental learning of tasks sequences","authors":"F. Davesne, C. Barret","doi":"10.1109/ROMOCO.1999.791048","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791048","url":null,"abstract":"Within the contest of learning sequences of basic tasks to build a complex behavior, a method is proposed to coordinate a hierarchical set of tasks. Each one possesses a set of sub-tasks lower in the hierarchy, which must be coordinated to respect a binary perceptive constraint. For each task, the coordination is achieved by a reinforcement learning inspired algorithm based on the heuristic which does not need internal parameters. A validation of the method is given, using a simulated Khepera robot. A goal-seeking behavior is divided into three tasks: go to the goal, follow a wall on the left and on the right. The last two tasks utilize basic behaviors and two other sub-tasks: avoid obstacles on the left and on the right. All the tasks may use a set of 5 basic behaviors. The global goal-seeking behavior and the wall-following and the obstacle avoidance tasks are learned during a step by step learning process.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129718639","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
Sensor-based obstacle modeling in configuration space for manipulator motion planning 基于传感器的机械臂运动规划位姿障碍建模
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791076
Wei Li, Zushun Chen, F. Wahl, K. Kozlowski
{"title":"Sensor-based obstacle modeling in configuration space for manipulator motion planning","authors":"Wei Li, Zushun Chen, F. Wahl, K. Kozlowski","doi":"10.1109/ROMOCO.1999.791076","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791076","url":null,"abstract":"Presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance sensors to detect obstacles in the local region. By computation of the critical points of an obstacle based on information acquired by the distance sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"67 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127119645","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
Vision-based implementation of feedback control of unicycle robots 基于视觉的独轮车机器人反馈控制实现
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791060
B. Kwolek, T. Kapuscinski, M. Wysocki
{"title":"Vision-based implementation of feedback control of unicycle robots","authors":"B. Kwolek, T. Kapuscinski, M. Wysocki","doi":"10.1109/ROMOCO.1999.791060","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791060","url":null,"abstract":"The paper considers the development and experimental implementation of real-time visual control for unicycle laboratory mobile robots. Two problems are discussed: 1) posture tracking on the basis of pictures obtained from static monochromatic CCD camera looking down at the planar motion field from above; and 2) following geometric path given as white line, continuous or dashed, on the road observed by an on-board camera. Realization details of feedback laws and results of computer simulations and experiments with real vehicles are presented.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125832158","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
Efficient computation of optimal navigation functions for nonholonomic planning 非完整规划中最优导航函数的高效计算
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791074
Prashanth Konkimalla, S. LaValle
{"title":"Efficient computation of optimal navigation functions for nonholonomic planning","authors":"Prashanth Konkimalla, S. LaValle","doi":"10.1109/ROMOCO.1999.791074","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791074","url":null,"abstract":"We present a fast, numerical approach to computing optimal feedback motion strategies for a nonholonomic robot in a cluttered environment. Although many techniques exist to compute navigation functions that can incorporate feedback, none of these methods is directly able to determine optimal strategies for general nonholonomic systems. Our approach builds on previous techniques in numerical optimal control, and on our previous efforts in developing algorithms that compute feedback strategies for problems that involve nondeterministic and stochastic uncertainties in prediction. The proposed approach efficiently computes an optimal navigation function for nonholonomic systems by exploiting two ideas: 1) the principle of Dijkstra's algorithm can be generalized to continuous configuration spaces and nonholonomic systems; and 2) a simplicial mesh representation can be used to reduce the complexity of numerical interpolation.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114605391","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: 21
Path planning for moving sensors in parameter estimation of distributed systems 分布式系统参数估计中运动传感器的路径规划
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791086
D. Ucinski, J. Korbicz
{"title":"Path planning for moving sensors in parameter estimation of distributed systems","authors":"D. Ucinski, J. Korbicz","doi":"10.1109/ROMOCO.1999.791086","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791086","url":null,"abstract":"We develop an effective numerical procedure for optimizing trajectories of moving sensors which take measurements in a given spatial in order to find parameter estimates of a given distributed system. The global design criterion is the Frobenius condition number for the Hessian of the least-squares criterion. The approach converts the problem to an optimal control one in which both the control forces of the sensors and the initial sensor positions are optimized. Its solution is obtained by the use of a gradient algorithm which handles various constraints imposed on sensor motions. Among other things, the method copes efficiently with problems involving state constraints induced by collision-avoidance conditions or admissible distances between the sensors. A simple test problem is presented to illustrate the presented ideas.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131614459","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: 7
User-friendly design method for fuzzy speed controller for servo drives 伺服驱动器模糊速度控制器的人性化设计方法
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791045
S. Brock
{"title":"User-friendly design method for fuzzy speed controller for servo drives","authors":"S. Brock","doi":"10.1109/ROMOCO.1999.791045","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791045","url":null,"abstract":"A fuzzy PD-I speed controller, which can be designed without a large amount of effort, is presented. The method based on shrinking factors for membership functions is used. Speed control of a permanent magnet synchronous servo motor drive using the proposed control method is illustrated. The robustness of the control system against the change of inertia is investigated. Finally, results of a computer simulation and a practical application are presented.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"255 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132647728","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: 2
Walking machine position and force control 行走机的位置和力的控制
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791066
T. Zielińska, J. Heng, G. Seet
{"title":"Walking machine position and force control","authors":"T. Zielińska, J. Heng, G. Seet","doi":"10.1109/ROMOCO.1999.791066","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791066","url":null,"abstract":"An extension to the normal functions of a walking robot is introduced. A multi-function leg which serves the walking vehicle as a leg for propulsion, sensor probe for exploratory work as well as for pick and place function is being developed. The leg has been designed with a large leg lift and swing angle to perform these additional tasks. The goal of present works is to develop a small autonomous device. Implementation of a simple force and position control algorithm is described. The functional structure of the walking machine's control system is decomposed into hierarchically related levels (soft hierarchical structure).","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132940508","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
The planning of suboptimal collision-free robotic motions 次优无碰撞机器人运动规划
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791080
I. Pająk, M. Galicki
{"title":"The planning of suboptimal collision-free robotic motions","authors":"I. Pająk, M. Galicki","doi":"10.1109/ROMOCO.1999.791080","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791080","url":null,"abstract":"A method of planning sub-optimal collision-free motion for redundant manipulators is presented. It is based on using a penalty function approach and scaling the robot dynamic equation to satisfy actuator constraints. The proposed method allows real time computations. A computer example involving a planar redundant manipulator of three revolute kinematics pairs which operates in a work space with obstacles, is also presented.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132232815","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: 12
Application of parameter space discretization for local navigation among moving obstacles 参数空间离散化在移动障碍物局部导航中的应用
Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI: 10.1109/ROMOCO.1999.791075
B. Kreczmer
{"title":"Application of parameter space discretization for local navigation among moving obstacles","authors":"B. Kreczmer","doi":"10.1109/ROMOCO.1999.791075","DOIUrl":"https://doi.org/10.1109/ROMOCO.1999.791075","url":null,"abstract":"The paper presents an approach to the problem of local navigation among moving obstacles. The main feature of the approach is the discretization of the space of parameters describing movements of obstacles. The assumption of the method is that obstacles move along straight lines. This approach allows one to compute off-line admissible controls for all expected values of parameters defining an obstacle movement. Therefore, to solve the local navigation problem a look-at-table technique can be applied. This technique allows one to reduce the time of computation significantly. The example of experiments shows that the method can be used to find a solution for non-trivial cases.","PeriodicalId":131049,"journal":{"name":"Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121786305","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: 2
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