2005 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第4页

Step-by-step sliding mode observer for control of a walking biped robot by using only actuated variables measurement 基于驱动变量测量的双足步行机器人步进滑模观测器控制

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545448

V. Lebastard, Y. Aoustin, F. Plestan

引用次数: 11

Approach to an architecture for a generic computer integrated surgery system 通用计算机集成手术系统的体系结构研究

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545553

H. Peters, J. Raczkowsky, H. Wörn

引用次数: 3

Vision data registration for robot self-localization in 3D 面向机器人三维自定位的视觉数据配准

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545433

Pifu Zhang, E. Milios, J. Gu

引用次数: 6

Decentralized sliding force/position PD control of cooperative robots in operational space under Jacobian uncertainty 雅可比不确定性下作业空间协作机器人的分散滑动力/位置PD控制

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545464

R. García-Rodríguez, Vicente Parra‐Vega

{"title":"Decentralized sliding force/position PD control of cooperative robots in operational space under Jacobian uncertainty","authors":"R. García-Rodríguez, Vicente Parra‐Vega","doi":"10.1109/IROS.2005.1545464","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545464","url":null,"abstract":"Cooperative robots have attracted the attention because they allow carrying out of tasks which cannot be done with a single robot. Though cooperative robot dynamics are quite complex to handle, regularly it is necessary to implement a nonlinear dynamics-based controller which guarantees fast tracking. A method for very fast constrained object maneuvering for non redundant rigid cooperative robot manipulators is proposed in this paper. The novelty of our approach lies in the fact that very fast decentralized Cartesian cooperative tracking is obtained without using the model of the robot nor exact knowledge of inverse Jacobian. The model-free sliding PD force controller, driven by second order position/force commuting sliding surfaces, is presented, such that approximate compensation of nonlinear dynamics of each robot arises, and the residual error dynamics is finally cancelled by a chattering-free Cartesian sliding mode to guarantee convergence of position and force tracking errors. Notice that inverse kinematics are avoided by synthesized Cartesian, rather than joint, error sliding surfaces, thus the commuting manifold does not depend on the Jacobian, therefore, the system is robust against Jacobian uncertainty, A simulation study of two cooperative robots manipulating a constrained object shows the expected performance.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114233774","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: 10

Development and control of a hand exoskeleton for rehabilitation of hand injuries 手外伤康复外骨骼的研制与控制

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545506

A. Wege, G. Hommel

{"title":"Development and control of a hand exoskeleton for rehabilitation of hand injuries","authors":"A. Wege, G. Hommel","doi":"10.1109/IROS.2005.1545506","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545506","url":null,"abstract":"Hand injuries are a frequent problem. The great amount of hand injuries is not only a problem for the affected people but economic consequences follow because rehabilitation takes a long time. Physical therapy after an operation is associated with high personnel expenses. To improve therapy results and reduce cost of rehabilitation a hand exoskeleton was developed. The hand exoskeleton was specifically designed to accomplish requirements of medical applications. For research on control algorithms and rehabilitation programs a prototype supporting all four degrees of freedom of one finger was build. The device can be easily attached and also be adjusted to deformed and scarred hands. In view of the fact that a lot of hand injuries affect only one finger, this prototype could already be functional in physical therapy. This paper presents the construction and the control system of the hand exoskeleton and possible applications in therapy of hand injuries. For the position control a PID controller was implemented and evaluated. The resulting control system allows following of recorded trajectories with sufficient accuracy.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116217826","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: 206

Attitude and gyro bias estimation for a flying UAV 无人机飞行姿态和陀螺偏置估计

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1544997

N. Metni, J. Pflimlin, T. Hamel, P. Souéres

引用次数: 53

Fuzzy approach for mobile robot positioning 移动机器人定位的模糊方法

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545417

W. Shen, J. Gu

引用次数: 6

Optimal design of parallel manipulators for maximum effective regular workspace 为获得最大的有效常规工作空间，并联机械手的优化设计

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545144

Y. Lou, Guanfeng Liu, N. Chen, Zexiang Li

引用次数: 72

Tactile telepresence system using PVDF sensors and electrostatic stimulator 触觉远程呈现系统采用PVDF传感器和静电刺激器

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545127

A. Yamamoto, Kyu Yong Kim, T. Higuchi

引用次数: 3

Recognition-based indoor topological navigation using robust invariant features 基于鲁棒不变特征的室内拓扑导航

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545589

Zhe L. Lin, Sungho Kim, In-So Kweon

{"title":"Recognition-based indoor topological navigation using robust invariant features","authors":"Zhe L. Lin, Sungho Kim, In-So Kweon","doi":"10.1109/IROS.2005.1545589","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545589","url":null,"abstract":"In this paper, we present a recognition-based autonomous navigation system for mobile robots. The system is based on our previously proposed robust invariant feature (RIF) detector. This detector extracts highly robust and repeatable features based on the key idea of tracking multi-scale interest points and selecting unique representative local structures with the strongest response in both spatial and scale domains. Weighted Zernike moments are used as the feature descriptor and applied to the place recognition. The navigation system is composed of on-line and off-line two stages. In the off-line learning stage, we train the robot in its workspace by just taking several images of representative places as landmarks. Then, in the on-line navigation stage, the robot recognizes scenes, obtains robust feature correspondences, and navigates the environment autonomously using the iterative pose converging (IPC) algorithm which is based on the idea of the visual servoing technique. The experimental results and the performance evaluation show that the proposed navigation system can achieve excellent performance in complex indoor environments.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126494057","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: 19