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Proceedings of International Conference on Robotics and Automation最新文献

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Evolutionary fuzzy control of a flexible-link 柔性连杆的进化模糊控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614287
M. Akbarzadeh-T., M. Jamshidi
{"title":"Evolutionary fuzzy control of a flexible-link","authors":"M. Akbarzadeh-T., M. Jamshidi","doi":"10.1109/ROBOT.1997.614287","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614287","url":null,"abstract":"In recent years, evolution-based knowledge optimization has gained a great deal of popularity due to its inherent ability in efficient and parallel search of complex and multimodal landscapes. Application of genetic algorithms (GA) to knowledge enhancement involves several aspects. First is how to code a string to represent all the necessary degrees of freedom for search in the fuzzy knowledge domain. The second aspect is how to incorporate existing expert knowledge into the GA-optimising algorithm. And in general, how to take advantage of several experts' opinions in creation of an initial population. Conventional applications of GA-fuzzy suggest using a random initial population. However, it is intuitively clear that any search routine could converge faster if starting points are good solutions. In this paper, a methodology is illustrated which incorporates expert knowledge in creating an initial population while allowing for randomness among members of the population for diversity. Furthermore, the methodology is applied to step response optimization of a flexible-link feedback control system.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126114848","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: 11
Analysis of requirements for high speed rough terrain autonomous mobility. I. Throughput and response 高速崎岖地形自主机动需求分析。1 .吞吐量和响应
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606795
A. Kelly, A. Stentz
{"title":"Analysis of requirements for high speed rough terrain autonomous mobility. I. Throughput and response","authors":"A. Kelly, A. Stentz","doi":"10.1109/ROBOT.1997.606795","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606795","url":null,"abstract":"A basic requirement of autonomous vehicles is that of guaranteeing the safety of the vehicle by avoiding hazardous situations. This paper analyses this requirement in general terms of real-time response, and throughput. Several nondimensional expressions emerge which characterize requirements in canonical form.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126121846","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
A study on an adaptive gait for a quadruped walking robot under external forces 外力作用下四足步行机器人的自适应步态研究
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606707
Dong-oh Kang, Yun-Jung Lee, Seung-Ha Lee, Yeh-Sun Hong, Z. Bien
{"title":"A study on an adaptive gait for a quadruped walking robot under external forces","authors":"Dong-oh Kang, Yun-Jung Lee, Seung-Ha Lee, Yeh-Sun Hong, Z. Bien","doi":"10.1109/ROBOT.1997.606707","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606707","url":null,"abstract":"In this presentation we propose an algorithm for the adaptive gait control by which a quadruped walking robot can walk against external disturbances. The proposed gait mechanism makes it possible for a quadruped walking robot to change its gait pattern in response to external disturbances from various external forces acting on the body of the walking robot. More specifically, we propose a new criterion for the stability margin of a walking robot under unknown external forces by using the effective mass center based on the zero moment point. And for the solution of the adaptive gait algorithm against external disturbances, a method of altitude control and reflexive direction control is suggested. Based on the algorithmic search method, an optimal stride of the quadruped walking robot that walks from any leg configuration to the standard configuration is also proposed. To verify the efficiency of the proposed approach, some simulation results are provided.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114932437","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: 41
Tolerance analysis for multi-chain assemblies with sequence and functionality constraints 具有序列和功能约束的多链装配公差分析
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614253
Sukhan Lee, Chunsik Yi
{"title":"Tolerance analysis for multi-chain assemblies with sequence and functionality constraints","authors":"Sukhan Lee, Chunsik Yi","doi":"10.1109/ROBOT.1997.614253","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614253","url":null,"abstract":"We present an approach for evaluating the assemblability of a product based on tolerances and adjustable displacements. An adjustable displacement is a functionally permitted free space between two mating features, which can be used for compensating tolerances. The assemblability of a product is computed in term of a multi chain by incrementally solving the parallel chains. We consider both the functionality and assembly sequence constraint in the evaluation. The result of the computation is a statistical measure of the product assemblability which can be used by the designer to evaluate and to optimize the tolerance allocation. In addition, this measure can be used for evaluating assembly sequences. The algorithms and simulation results are given.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115207851","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
A two-level search algorithm for motion planning 运动规划的两级搜索算法
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619170
Pekka Isto
{"title":"A two-level search algorithm for motion planning","authors":"Pekka Isto","doi":"10.1109/ROBOT.1997.619170","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619170","url":null,"abstract":"A two-level search algorithm for motion planning is presented in this paper. The algorithm combines a multiheuristic local search algorithm with a subgoal graph based global guidance. A novel feature of the planner is that it can adjust the balance between local and global planning. As the experimental data suggests that the optimal balance depends on the problem, a scheduling mechanism is added to the algorithm to adjust the balance during planning. The resulting motion planner is capable of solving very difficult motion planning problems.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116228234","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: 17
Force control command synthesis for assembly using a discrete event framework 使用离散事件框架的装配力控制命令合成
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614254
D. Austin, B. McCarragher
{"title":"Force control command synthesis for assembly using a discrete event framework","authors":"D. Austin, B. McCarragher","doi":"10.1109/ROBOT.1997.614254","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614254","url":null,"abstract":"A new discrete event controller synthesis methodology for the successful convergence of assembly tasks is presented. The modelling of an assembly process as a hybrid dynamic system has been shown to be a very effective strategy to incorporate both the continuous and discrete natures of the interaction between the workpiece and its environment. Prior works have presented controller synthesis methodologies for velocity-controlled systems (McCarragher and Asada, 1995) and here we follow a similar structure for force-controlled systems. Force control is a natural paradigm for assembly as it is fundamentally compliant. Compliance reduces sensitivity to positioning errors, which, are the most common, source of failure in assembly. A non-trivial example is given which demonstrates the effectiveness of this method.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"12 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116439300","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: 17
Control of the distributed autonomous robotic system based on the biologically inspired immunological architecture 基于生物学启发的免疫结构的分布式自主机器人系统控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606885
N. Mitsumoto, T. Fukuda, F. Arai, H. Ishihara
{"title":"Control of the distributed autonomous robotic system based on the biologically inspired immunological architecture","authors":"N. Mitsumoto, T. Fukuda, F. Arai, H. Ishihara","doi":"10.1109/ROBOT.1997.606885","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606885","url":null,"abstract":"In this paper, we propose a new algorithm to control a distributed autonomous robotic system under dynamically changing environment based on immunological interaction between robots. Our algorithm can organize the robot population for dynamically changing multiple works. At first, we designed a control architecture for a multiple robotic system based on B-cell (which is main agent of immune system) interaction. Immune system has various kinds of B-cells, and B-cell interaction can organize its population balance against dynamically changing environment. We set the analogy between distributed autonomous robotic system and biological immune system. We verified the performance of our algorithm by computer simulation. As a simulation example there is considered the transportation of multiple objects to multiple locations against a deadline, with time-varying demand.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122469108","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: 22
A general method for accessibility analysis 可达性分析的一般方法
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619312
A. Limaiem, H. Elmaraghy
{"title":"A general method for accessibility analysis","authors":"A. Limaiem, H. Elmaraghy","doi":"10.1109/ROBOT.1997.619312","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619312","url":null,"abstract":"This paper presents a general method for the accessibility analysis of points in 3D space by straight lines such as light rays, measurement probes and welding rods. This method can be applied to any type of solid or surface and is not limited by continuity or derivability constraints and may be implemented on any commercial solid modeler with an exact representation of spheres. It is based on the intersection of concentric spherical shells (ICSS) centred at the analyzed point. The exact accessibility cones can be generated easily as a limit case of the ICSS. This method has been used for the accessibility analysis of measurement points by coordinates measuring machines and has potential applications in fields such as machining and robotics.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116622052","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: 11
Introducing the "SPHERICLE": an experimental testbed for research and teaching in nonholonomy 介绍非完整学研究与教学的实验平台“SPHERICLE”
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619356
A. Bicchi, A. Balluchi, D. Prattichizzo, Andrea Gorelli
{"title":"Introducing the \"SPHERICLE\": an experimental testbed for research and teaching in nonholonomy","authors":"A. Bicchi, A. Balluchi, D. Prattichizzo, Andrea Gorelli","doi":"10.1109/ROBOT.1997.619356","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619356","url":null,"abstract":"In this paper we describe an experimental apparatus developed in our laboratory for research and advanced teaching purposes. The device consists of an untethered spherical vehicle that autonomously rolls on the laboratory floor, and can reach arbitrary positions and orientations in the environment. The kinematics of the vehicle are nonholonomic and result from the combination of the kinematics of two classical nonholonomic systems, namely, a unicycle and a plate-ball system. The \"SPHERICLE\" introduces features that are new with respect to the two systems.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"15 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116730177","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: 252
Vision based model generation for indoor environments 基于视觉的室内环境模型生成
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619072
Darius Burschka, Christof Eberst, C. Robl
{"title":"Vision based model generation for indoor environments","authors":"Darius Burschka, Christof Eberst, C. Robl","doi":"10.1109/ROBOT.1997.619072","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619072","url":null,"abstract":"This paper presents our approach to retrieve a dependable three-dimensional description of a partially known indoor environment. We describe the way the sensor data from a video camera is preprocessed by contour tracing to extract the boundary lines of the objects and how this information is transformed into a three-dimensional environmental model of the world. We introduce a dynamic map that operates in a closed loop with various sensor systems improving their performance by filtering and contributing certain knowledge. The filtering relies on the capability of a mobile robot to gather sensor readings from different positions. An important part of our approach is the interaction between the dynamic map, storing and filtering the incoming information, and a module predicting missing sensor features based on structures and reference objects. This interaction helps to generate a more accurate model containing also poor detectable features, that are impossible to extract from a single sensor view.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128522142","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: 22
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