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Proceedings of International Conference on Robotics and Automation最新文献

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Rapid world modelling from a mobile platform 从移动平台快速世界建模
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620018
R. Barry, Judson P. Jones, C. Little, Christopher W. Wilson
{"title":"Rapid world modelling from a mobile platform","authors":"R. Barry, Judson P. Jones, C. Little, Christopher W. Wilson","doi":"10.1109/ROBOT.1997.620018","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620018","url":null,"abstract":"The ability to successfully use and interact with a computerized world model is dependent on the ability to create an accurate world model. The goal of this project was to develop a prototype system to remotely deploy sensors into a workspace, collect surface information, and rapidly build an accurate world model of that workspace. A key consideration was that the workspace areas are typically hazardous environments, where it is difficult or impossible for humans to enter. Therefore, the system needed to be fully remote, with no external connections. To accomplish this goal, an electric, mobile platform with battery power sufficient for both the platform and sensor electronics was procured and 3D range sensors were deployed on the platform to capture surface data within the workspace. A radio Ethernet connection was used to provide communications to the vehicle and all on-board electronics. Video from on-board cameras was also transmitted to the base station and used to teleoperate the vehicle. Range data generated by the on-board 3D sensors was transformed into surface maps, or models. Registering the sensor location to a consistent reference frame as the platform moved through the workspace allowed construction of a detailed 3D world model of the extended workspace.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"40 6 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":"131026470","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
Path planning by analogy 类比路径规划
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614339
H. Ogata, M. Mizukawa
{"title":"Path planning by analogy","authors":"H. Ogata, M. Mizukawa","doi":"10.1109/ROBOT.1997.614339","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614339","url":null,"abstract":"A new framework is proposed for generating trajectories for robots. This \"path planning by analogy\" approach uses problems and solutions acquired from previous operator teaching or automatic path planning. Unlike traditional path-planning methods, users need not specify goals or prepare search heuristics. Instead, users specify the correspondence of objects in the task environment to those in a reference environment. \"Path planning by analogy\" reduces the amount of operator instruction and the computational cost of making a path, and can generate a trajectory close to the desired trajectory.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"20 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":"123740182","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
A simple strategy for opening an unknown door 打开未知之门的简单策略
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614341
G. Niemeyer, J. Slotine
{"title":"A simple strategy for opening an unknown door","authors":"G. Niemeyer, J. Slotine","doi":"10.1109/ROBOT.1997.614341","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614341","url":null,"abstract":"Many robotic applications involve interactions with a simple mechanism, such as opening a door or turning a crank. Implementing such tasks using standard controllers may require precise knowledge of the kinematics or result in prohibitively large internal forces. We propose a simple method that learns the shape of the mechanism while in motion and generates little internal forces, in essence following the path of least resistance. The discussion is illustrated experimentally.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"38 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":"132874687","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: 66
Stereo vision based mapping and navigation for mobile robots 基于立体视觉的移动机器人测绘与导航
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614387
D. Murray, C. Jennings
{"title":"Stereo vision based mapping and navigation for mobile robots","authors":"D. Murray, C. Jennings","doi":"10.1109/ROBOT.1997.614387","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614387","url":null,"abstract":"This paper describes a visually guided robot that can plan paths, construct maps and explore an indoor environment. The robot uses a trinocular stereo vision system to produce highly accurate depth images at 2 Hz allowing it to safely travel through the environment at 0.5 m/s. The algorithm integrates stereo vision, occupancy grid mapping, and potential field path planning techniques to form a robust and cohesive robotic system for mapping and navigation. Stereo vision is shown to be a viable alternative to active sensing devices such as sonar and laser range finders.","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":"132262181","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: 193
Automatic fixture synthesis in 3D 自动合成夹具在三维
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614393
K. Penev, A. Requicha
{"title":"Automatic fixture synthesis in 3D","authors":"K. Penev, A. Requicha","doi":"10.1109/ROBOT.1997.614393","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614393","url":null,"abstract":"A fixture is an arrangement of fixturing modules that locate and hold a workpart during a manufacturing operation. In this work we consider fixtures with frictionless point contacts and present a method for placement of contact points on a non-prismatic 3D workpart. It is a nondeterministic, potential field algorithm for contact point placement. The method provides a basic framework for the integration of heterogeneous high-level fixturing agents through an interface based on zones of attraction and repulsion on the workpart boundary. The algorithm may produce redundant fixtures, and can augment partial solutions to complete form closure fixtures.","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":"130432075","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
A model-based concept for telerobotic control of decontamination and dismantlement tasks 基于模型的远程机器人控制净化和拆除任务的概念
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619289
W. Kamel, S. Marland, T. C. Widner
{"title":"A model-based concept for telerobotic control of decontamination and dismantlement tasks","authors":"W. Kamel, S. Marland, T. C. Widner","doi":"10.1109/ROBOT.1997.619289","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619289","url":null,"abstract":"Mobile robot work systems needed to do nuclear cleanup tasks exhibit complex structural and lost motion characteristics in their mechanisms which make them very difficult to automate. This research considers a macroscopic modeling technique which can be combined with sensor-guided manipulation schemes to achieve the needed in situ automation. A structural modeling method for flexible manipulators is used to optimize system control through sensor integration. The model detail is aimed at total system optimization, rather than maximum accuracy. The model reduces computational intensity of image processing, yet remains simple enough so as not to induce significant computational demands itself. Structural deflections are represented through homogeneous transforms inserted into the forward kinematic chain. The technique is being developed for full-scale evaluation at the Oak Ridge National Laboratory.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"3 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":"131329589","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
Panoramic sensor calibration using computational projective geometry 全景传感器校准使用计算投影几何
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.614325
R. Benosman, T. Manière, J. Devars
{"title":"Panoramic sensor calibration using computational projective geometry","authors":"R. Benosman, T. Manière, J. Devars","doi":"10.1109/ROBOT.1997.614325","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.614325","url":null,"abstract":"This paper presents a new method of camera calibration for a panoramic stereovision sensor based on a cylindrical projective geometry. The multidirectional sensor allows us to get peripheral information about unknown environments, the architecture simplifies considerably computation. The device needs no calculation of epipolar lines. The calibration method derives directly from the benefits of the chosen architecture of the sensor and is not based on computation of vanishing points like former methods, which can only be an approximation and introduces uncertainty in the calibration process. Our calibration is based on the theory of projective vectors but uses simple geometry based on colinearity and orthogonality of vectors existing in the scene.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"8 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":"129194840","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
Robust control of manipulators using Hamiltonian optimization 基于hamilton优化的机械臂鲁棒控制
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.619314
Youngjin Choi, W. Chung, Y. Youm
{"title":"Robust control of manipulators using Hamiltonian optimization","authors":"Youngjin Choi, W. Chung, Y. Youm","doi":"10.1109/ROBOT.1997.619314","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.619314","url":null,"abstract":"Although nonlinear H/sub /spl infin// control theory for systems with uncertainties has been developed, it has been rarely applied to robot manipulators. We derive Hamiltonian equations of motion and Hamiltonian matrix (Riccati equation) for robot manipulators to get an optimal controller. Using the H/sub /spl infin// framework, we specify the L/sub 2/ norm of the performance measure, which consists of the position and momentum error during the task when there are uncertainties in the dynamic model of robot manipulators. For practical application, a stationary solution of the Riccati equation for the end-point is suggested and evaluated by simulation.","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":"128850449","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
Control of manipulators with hyper degrees of freedom: Shape tracking based on curve parameter estimation 超自由度机械臂的控制:基于曲线参数估计的形状跟踪
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620034
H. Mochiyama, E. Shimemura, Hisato Kobayashi
{"title":"Control of manipulators with hyper degrees of freedom: Shape tracking based on curve parameter estimation","authors":"H. Mochiyama, E. Shimemura, Hisato Kobayashi","doi":"10.1109/ROBOT.1997.620034","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620034","url":null,"abstract":"In this paper, a shape tracking control problem for a hyper degrees of freedom manipulator is discussed. The objective of shape tracking is to control its shape, which is characterized by all the joints and the tip positions, to follow a given time-varying curve. Crucial key to solve this problem is to introduce a 2nd-order estimator that infers the curve parameters corresponding to the target positions of the joints and the tip on the curve. The coupled dynamics of the manipulator and this estimator has the same properties as the manipulator dynamics which is useful for control design purposes. Therefore, familiar design methods for manipulator trading can be utilized to solve the shape tracking problem. Examples are shown to illustrate how to find shape tracking laws by two famous methods, that is, the ID (inverse dynamics)-based and Lyapunov-based method.","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":"128877284","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
Visually guided manipulation using active camera-lens systems 使用有源摄像机镜头系统的视觉引导操作
Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI: 10.1109/ROBOT.1997.620076
B. Nelson, P. Khosla
{"title":"Visually guided manipulation using active camera-lens systems","authors":"B. Nelson, P. Khosla","doi":"10.1109/ROBOT.1997.620076","DOIUrl":"https://doi.org/10.1109/ROBOT.1997.620076","url":null,"abstract":"Visual servoing is a robust technique for aligning both static and moving parts using imprecisely calibrated camera-lens-manipulator systems. An important limitation of these systems is the workspace within which the alignment task can be successfully performed due to the position and orientation of the camera. An active camera can extend this region, however this changes the visual representation of the task itself. Therefore, the reference input that drives the visually servoed manipulator must change appropriately. In this paper a framework that allows for camera-lens motion during visually servoed manipulation is described. The main components of the framework include object schemas and port-based agents. Object schemas represent the task internally in terms of geometric models with attached sensor mappings. Object schemas are dynamically updated by sensor feedback, and thus provide an ability to perform three dimensional spatial reasoning during task execution, a capability traditional image-based visual servoing lacks. Object schemas are also able to dynamically create desired visual representations of the task from which reference inputs for vision-based control strategies are derived. The sensor mappings of object schemas are also used to guide camera motion based on task characteristics. Port-based agents are the executors of the visual reference inputs and the camera motion commands. They interact with the real world through visual servoing control laws. Experimental results that demonstrate system capabilities and performance are presented.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"61 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":"126725233","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
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