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Proceedings of International Conference on Robotics and Automation最新文献

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A 3D modular gripper design tool 三维模块化夹具设计工具
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619310
Russell G. Brown, R. Brost
{"title":"A 3D modular gripper design tool","authors":"Russell G. Brown, R. Brost","doi":"10.1109/ROBOT.1997.619310","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619310","url":null,"abstract":"Modular fixturing kits are sets of components used for flexible, rapid construction of fixtures. A modular vise is a parallel-jaw vise, each jaw of which is a modular fixture plate with a regular grid of precisely positioned holes. To fixture a part, one places pins in some of the holes so that when the vise is closed, the part is reliably located and completely constrained. The modular vise concept can be adapted easily to the design of modular parallel-jaw grippers for robots. By attaching a grid-plate to each jaw of a parallel-jaw gripper we gain the ability to easily construct high-quality grasps for a wide variety of parts from a standard set of hardware. Wallack and Canny (1994) developed an algorithm for planning planar grasp configurations for the modular vise. We expand this work to produce a 3D fixture/gripper design tool. We describe several analyses we have added to the planar algorithm, including a 3D grasp quality metric based on force information, 3D geometric loading analysis, and inter-gripper interference analysis. Finally, we describe two applications of our code. One of these is an internal application at Sandia, while the other shows a potential use of our code for designing part of an agile assembly line.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"54 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":"124072625","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: 53
A quality measure for compliant grasps 符合要求的抓手的质量度量
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620020
Q. Lin, J. Burdick, E. Rimon
{"title":"A quality measure for compliant grasps","authors":"Q. Lin, J. Burdick, E. Rimon","doi":"10.1109/ROBOT.1997.620020","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620020","url":null,"abstract":"This paper presents a systematic approach for quantifying the quality of compliant grasps. Appropriate tangent and cotangent subspaces to the object's configuration space are studied, from which frame-invariant characteristic compliance parameters are defined. Physical and geometric interpretations are given to these parameters, and a practically meaningful method is proposed to make the parameters comparable. A frame-invariant quality measure is then defined, and grasp optimization using this quality measure is discussed with examples.","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":"125822274","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: 26
Arm-manipulator coordination for load sharing using reflexive motion control 基于自反运动控制的臂-机械臂负载分担协调
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619309
O. Al-Jarrah, Yuan F. Zheng
{"title":"Arm-manipulator coordination for load sharing using reflexive motion control","authors":"O. Al-Jarrah, Yuan F. Zheng","doi":"10.1109/ROBOT.1997.619309","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619309","url":null,"abstract":"Arm-manipulator coordination is a new and attractive use of robotic manipulators in unstructured environments. In this paper, we propose a reflexive motion control as a coordination mechanism for the manipulator to share the load with the arm. Reflexive motion is an inspiration of biological systems. The motion is formulated in a manner which assists the manipulator to comprehend the intention of the human arm. It reduces the strain on the arm which is due to the weight of the object. In addition, the speed of manipulation on the object is improved significantly. The effects of the reflexive behavior on stability and load sharing of the system are investigated. Experimental results are presented to prove the effectiveness of the proposed scheme.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"16 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":"126148410","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
An optimized two-step camera calibration method 一种优化的两步相机标定方法
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614324
H. Bacakoglu, M. Kamel
{"title":"An optimized two-step camera calibration method","authors":"H. Bacakoglu, M. Kamel","doi":"10.1109/ROBOT.1997.614324","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614324","url":null,"abstract":"An optimized two-step camera calibration algorithm is developed. The proposed method starts with the well known linear calibration which approximates the transformation as a 3/spl times/4 matrix. Based on the results of the linear calibration and the camera model we construct the 4/spl times/4 homogeneous transformation matrix. Quaternion algebra is used to extract the optimum rotation matrix and this optimization is later extended to the other calibration parameters. Our calibration method includes nonlinear optimization which takes into consideration lens distortions. The convergence rate of the nonlinear optimization is accelerated by three more objective functions we introduced. To assess the accuracy of our proposed quaternion method, Euclidean norm of the error matrix between the original and computed homogeneous transformation matrices is calculated and compared to those of the existing methods. Simulations show that the quaternion method yields more accurate results both before and after the nonlinear optimization.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"13 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":"125060994","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
Instructing cooperating assembly robots through situated dialogues in natural language 通过自然语言对话指导协作装配机器人
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620146
A. Knoll, B. Hildebrandt, Jianwei Zhang
{"title":"Instructing cooperating assembly robots through situated dialogues in natural language","authors":"A. Knoll, B. Hildebrandt, Jianwei Zhang","doi":"10.1109/ROBOT.1997.620146","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620146","url":null,"abstract":"We present an assembly cell consisting of two cooperating robots and a variety of sensors. It offers a number of complex skills necessary for constructing aggregates from elements of a toy construction set. A high degree of flexibility was achieved because the skills were realised only through sensory feedback not by resorting to fixtures or specialised tools. The operation of the cell is completely controlled through natural language. Results from experiments in cognitive sciences and computer linguistics were incorporated to integrate natural language with vision as well as to control the construction dialogue between a human instructor and the robotic system. The experimental setup is described, and a sample dialogue demonstrates the capabilities of the cell. A brief discussion of issues for further research concludes the paper.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"39 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":"128442991","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: 53
Modular neural-visual servoing using a neural-fuzzy decision network 基于神经模糊决策网络的模块化神经视觉伺服
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.606782
Q. M. Wu, K. Stanley
{"title":"Modular neural-visual servoing using a neural-fuzzy decision network","authors":"Q. M. Wu, K. Stanley","doi":"10.1109/ROBOT.1997.606782","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.606782","url":null,"abstract":"Visual servoing is a growing research area. One of the key problems of feature based visual servoing is calculating the inverse Jacobian, relating change in features to change in robot position. Neural networks can learn to approximate the inverse feature Jacobian. However, the neural network approach can only approximate the feature Jacobian for a small workspace. In order to overcome this problem, we propose using a modular approach, where several networks are trained over a small area. Furthermore, we use a neural-fuzzy counterpropagation network to decide which subspace the robot is currently occupying. The neural fuzzy network provides smoother transitions between subspaces than hard switching. Preliminary results of the system's operation are also presented.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"29 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":"128514110","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: 16
An experimental comparison of tradeoffs in using compliant manipulators for robotic grasping tasks 在机器人抓取任务中使用柔顺机械手权衡的实验比较
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614415
S. Sur, R. Murray
{"title":"An experimental comparison of tradeoffs in using compliant manipulators for robotic grasping tasks","authors":"S. Sur, R. Murray","doi":"10.1109/ROBOT.1997.614415","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614415","url":null,"abstract":"Controllers developed for control of flexible-link robots in hybrid force-position control tasks by a new singular perturbation analysis of flexible manipulators are implemented on an experimental two-robot grasping setup. Various performance criteria are set up and experimental results are discussed within that setting to show tradeoffs in using flexible link robots for grasping. We conclude that large flexibility can be controlled without too much additional effort, has performance comparable to rigid robots and possesses enhancing properties which make it attractive for use in certain types of applications.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"28 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":"129311564","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: 6
Dynamical simulation of assemblies of planar, 1 DOF parts with changing contacts using configuration spaces 基于位形空间的平面变接触1自由度零件组合动力学仿真
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619152
E. Sacks, Leo Joskowicz
{"title":"Dynamical simulation of assemblies of planar, 1 DOF parts with changing contacts using configuration spaces","authors":"E. Sacks, Leo Joskowicz","doi":"10.1109/ROBOT.1997.619152","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619152","url":null,"abstract":"We present an algorithm for dynamical simulation of rigid-body mechanical systems with changing contact topologies based on configuration spaces. The algorithm advances the state of the art in contact analysis, which is the main bottleneck in dynamical simulation. The task is to identify the touching parts and to compute the ensuing contact forces. Our algorithm computes the configuration spaces of all pairs of parts and uses them as contact models. It overcomes the limitations of mechanical systems simulators, which require precomputed contact models, and of general-body simulators, which perform contact analysis on the part models at every time step. Neither approach is practical for mechanisms with multiple contacts and complex contact geometry, such as clock escapements, chain gears, and part feeders. We describe a configuration space simulator for assemblies of planar parts with one degree of freedom apiece and demonstrate it on two mechanisms with many complex contacts.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"25 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":"129376039","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: 5
Adaptive fuzzy-behavior hierarchy for autonomous navigation 自主导航的自适应模糊行为层次
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620137
E. Tunstel, H. Danny, Tanya Lippincott, M. Jamshidi
{"title":"Adaptive fuzzy-behavior hierarchy for autonomous navigation","authors":"E. Tunstel, H. Danny, Tanya Lippincott, M. Jamshidi","doi":"10.1109/ROBOT.1997.620137","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620137","url":null,"abstract":"Adaptive behavioral capabilities are necessary for robust navigation in non-engineered environments. A control approach to adaptive behavior is described which exploits the approximate reasoning facility of fuzzy logic. In particular, a behavior-based architecture for hierarchical fuzzy control of mobile robots is presented. Its structure is described as well as mechanisms of control decision-making which give rise to adaptive behavior. Control decisions result from a consensus of recommendations offered only by behaviors that are applicable to current situations. Indoor navigation examples demonstrate the practicality of the approach and reveals characteristics of multiple behavior interaction.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"5 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":"129784109","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
Learning and adaptive controls for coordination of multiple manipulators without knowing physical parameters of an object 不知道物体物理参数的多机械臂协调学习与自适应控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614350
T. Naniwa, S. Arimoto, K. Wada
{"title":"Learning and adaptive controls for coordination of multiple manipulators without knowing physical parameters of an object","authors":"T. Naniwa, S. Arimoto, K. Wada","doi":"10.1109/ROBOT.1997.614350","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614350","url":null,"abstract":"Learning control and model-based adaptive control schemes are proposed for coordinated control of multiple manipulators when physical parameters such as inertia moments and position of the mass center of a target object are unknown. The proposed schemes are constructed on the equation of motion of the coordinated multiple manipulators, which is derived in terms of joint angle coordinates of manipulators and includes the dynamics of the target object. Since this equation does not explicitly include the position of the mass center of the object, the proposed schemes can achieve exact tracking of given joint angle trajectories and given trajectories of \"internal force\" without using physical parameters of the manipulators and the object. The effectiveness of the proposed schemes is illustrated by the numerical simulation results on a model of two 3-DOF manipulators holding a single object.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"33 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":"129142203","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: 5
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