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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

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Robust mixed H2/H∞ control of time-varying delay systems with extended LMI 扩展LMI时变时滞系统的鲁棒混合H2/H∞控制
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399616
Yanjun Shen, W. Shen, J. Gu, M. Meng
{"title":"Robust mixed H2/H∞ control of time-varying delay systems with extended LMI","authors":"Yanjun Shen, W. Shen, J. Gu, M. Meng","doi":"10.1109/IROS.2007.4399616","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399616","url":null,"abstract":"This paper studies robust performance analysis of H2/Hinfin control problem in time-varying systems. In the case where the state-space matrices of the system depend affinely on the uncertain parameters, it is known that recently developed extended or dilated linear matrix inequalities (LMIs) are effective to assess the robust performance in a less conservative fashion. This paper further probes into those preceding results and proposes a new form of extended LMIs for time-varying H2/Hinfin controllers synthesis. The new method enables us to parameterize controllers without involving the Lyapunov variables in the parameterization. The numerical simulations prove the validity of this framework.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127001782","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
One-handed knotting of a flexible rope with a high-speed multifingered hand having tactile sensors 用有触觉传感器的高速多指手单手打结
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399379
Y. Yamakawa, A. Namiki, M. Ishikawa, M. Shimojo
{"title":"One-handed knotting of a flexible rope with a high-speed multifingered hand having tactile sensors","authors":"Y. Yamakawa, A. Namiki, M. Ishikawa, M. Shimojo","doi":"10.1109/IROS.2007.4399379","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399379","url":null,"abstract":"This paper proposes a new strategy for making knots with a high-speed multifingered robot hand having tactile sensors. The strategy is divided into three skills: loop production, rope permutation, and rope pulling. Through these three skills, a knot can be made with a single multifingered robot hand. The dynamics of the rope permutation are analyzed in order to improve the success rate, and an effective tactile feedback control method is proposed based on the analysis. Finally, experimental results are shown.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129297912","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: 63
Design, fabrication, and analysis of a 3DOF, 3cm flapping-wing MAV 3厘米扑翼微型飞行器的设计、制造与分析
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399495
R. Wood
{"title":"Design, fabrication, and analysis of a 3DOF, 3cm flapping-wing MAV","authors":"R. Wood","doi":"10.1109/IROS.2007.4399495","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399495","url":null,"abstract":"Significant advances in meso-scale prototyping are enabling rigid, articulated, and actuated microrobotic structures. Here, an elegant manufacturing paradigm is employed for the creation of a biologically- inspired flapping-wing micro air vehicle with similar dimensions to Dipteran insects. A novel wing transmission system is presented which contains one actuated and two passive degrees of freedom. The design and fabrication are detailed and the performance of the resulting structure is elucidated highlighting two key metrics: the wing trajectory and the thrust generated.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123976987","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: 179
Identification and hybrid impedance control of human skin muscle by multi-fingered robot hand 多指机械手人体皮肤肌肉的识别与混合阻抗控制
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399308
Keisuke Mouri, K. Terashima, Panya Minyong, H. Kitagawa, T. Miyoshi
{"title":"Identification and hybrid impedance control of human skin muscle by multi-fingered robot hand","authors":"Keisuke Mouri, K. Terashima, Panya Minyong, H. Kitagawa, T. Miyoshi","doi":"10.1109/IROS.2007.4399308","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399308","url":null,"abstract":"This paper proposes an intelligent massage control system by using multi-fingered robot hand with hybrid impedance control, which is able to create the movement and the force of robot such as the human's massage. Therefore, the various massage points, such as the change of the stiffness of human skin muscle, can be controlled by using impedance control method. The hybrid impedance control is comprised of the two methods of the position-based and the force-based impedance control were applied. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also gives the identification of human skin muscle through robot perception of impedance to decide the parameter of impedance controller. The control strategy using impedance control to implement an adaptive control system is presented, when human condition is changed with soft and hard skin muscle. Effectiveness of massage control system by using multi- fingered robot hand with hybrid impedance control is demonstrator through actual massage experiments of pushing and rubbing motion.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"280 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120964067","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: 35
Self-localization based on a short-term memory of bearings and odometry 自我定位基于短期记忆的轴承和里程计
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399453
M. Jungel
{"title":"Self-localization based on a short-term memory of bearings and odometry","authors":"M. Jungel","doi":"10.1109/IROS.2007.4399453","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399453","url":null,"abstract":"In this paper we introduce a localization method which is based on a memory of horizontal bearings to landmarks and odometry. The approach is perfectly suited for mobile robots equipped with a camera because bearings can be extracted from images with high accuracy. In contrast to existing approaches, our method does not need any internal representation of the robot's position which is updated by alternating motion and sensor updates. In our approach the location is calculated by applying constraints on the robot's position which are derived from the observations and performed actions that are stored in a short-term memory. We give a detailed description of the method and analyze the properties of different observation selection mechanisms. Results of experiments done in simulation and conducted on a Sony Aibo robot are presented in this paper demonstrating the precision of the method.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121212375","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
Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots 异构自主机器人的合作:仿人机器人和轮式机器人的案例研究
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399291
J. Kiener, O. Stryk
{"title":"Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots","authors":"J. Kiener, O. Stryk","doi":"10.1109/IROS.2007.4399291","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399291","url":null,"abstract":"In this paper we present a case study of cooperation of a strongly heterogeneous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some competing capabilities. By combining two strongly heterogeneous robots the diversity of accomplishable tasks increases as the variety of sensors and actuators in the robot systems is extended compared with a team consisting of homogeneous robots. The scenario describes a tightly cooperative task, where the humanoid robot and the wheeled robot follow for a long distance a ball, which is kicked finally by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots. For task distribution and allocation, a newly developed objective function is presented which is based on a proper modeling of the sensing, perception, motion and onboard computing capabilities of the cooperating robots. Aspects of reliability and fault tolerance are considered.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"809 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121327751","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: 33
Dexterous manipulation planning using probabilistic roadmaps in continuous grasp subspaces 连续抓取子空间中基于概率路线图的灵巧操作规划
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399090
J. Saut, A. Sahbani, S. El-Khoury, V. Perdereau
{"title":"Dexterous manipulation planning using probabilistic roadmaps in continuous grasp subspaces","authors":"J. Saut, A. Sahbani, S. El-Khoury, V. Perdereau","doi":"10.1109/IROS.2007.4399090","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399090","url":null,"abstract":"In this paper, we propose a new method for the motion planning problem of rigid object dexterous manipulation with a robotic multi-fingered hand, under quasi-static movement assumption. This method computes both object and finger trajectories as well as the finger relocation sequence. Its specificity is to use a special structuring of the research space that allows to search for paths directly in the particular subspace GSn which is the subspace of all the grasps that can be achieved with n grasping fingers. The solving of the dexterous manipulation planning problem is based upon the exploration of this subspace. The proposed approach captures the connectivity of GSn in a graph structure. The answer of the manipulation planning query is then given by searching a path in the computed graph. Simulation experiments were conducted for different dexterous manipulation task examples to validate the proposed method.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114192713","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: 57
Development of a micromanipulation mystem with force sensing 力传感微操作系统的研制
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399421
Shahzad Khan, A. O. Nergiz, A. Sabanoviç, V. Patoglu
{"title":"Development of a micromanipulation mystem with force sensing","authors":"Shahzad Khan, A. O. Nergiz, A. Sabanoviç, V. Patoglu","doi":"10.1109/IROS.2007.4399421","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399421","url":null,"abstract":"This article provides in-depth knowledge about our undergoing effort to develop an open architecture micromanipulation system with force sensing capabilities. The major requirement to perform any micromanipulation task effectively is to ensure the controlled motion of actuators within nanometer accuracy with low overshoot even under the influence of disturbances. Moreover, to achieve high dexterity in manipulation, control of the interaction forces is required. In micromanipulation, control of interaction forces necessitates force sensing in milli-Newton range with nano-Newton resolution . In this paper, we present a position controller based on a discrete time sliding mode control architecture along with a disturbance observer. Experimental verifications for this controller are demonstrated for 100, 50 and 10 nanometer step inputs applied to PZT stages. Our results indicate that position tracking accuracies up to 10 nanometers, without any overshoot and low steady state error are achievable. Furthermore, the paper includes experimental verification of force sensing within nano-Newton resolution using a piezoresistive cantilever end- effector. Experimental results are compared to the theoretical estimates of the change in attractive forces as a function of decreasing distance and of the pull off force between a silicon tip and a glass surface, respectively. Good agreement among the experimental data and the theoretical estimates has been demonstrated.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116174825","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
People tracking by cross modal association of vision sensors and acceleration sensors 视觉传感器与加速度传感器的交叉模态关联跟踪
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399628
Tetsushi Ikeda, H. Ishiguro, T. Nishimura
{"title":"People tracking by cross modal association of vision sensors and acceleration sensors","authors":"Tetsushi Ikeda, H. Ishiguro, T. Nishimura","doi":"10.1109/IROS.2007.4399628","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399628","url":null,"abstract":"To realize accurate tracking of people in the environment, many studies have been proposed using vision sensors, floor sensors, and wearable devices. The problem of using vision sensors is that they do not provide ID information of each people and there are ambiguities when people come across. To solve the problem, we propose to combine acceleration sensors that are attached to the human body. Since the signals from vision sensors and acceleration sensors synchronize when they observe same person who are acting or walking in the environment, these signals are not independent. The correlation between the signals is evaluated based on the canonical correlation analysis. Experimental results are shown to detect gesture and to track people to confirm the effectiveness of the proposed method.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121651720","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
Controlling walking behavior of passive dynamic walker utilizing passive joint compliance 利用被动关节顺应性控制被动动态步行器的行走行为
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399348
Takashi Takuma, K. Hosoda
{"title":"Controlling walking behavior of passive dynamic walker utilizing passive joint compliance","authors":"Takashi Takuma, K. Hosoda","doi":"10.1109/IROS.2007.4399348","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399348","url":null,"abstract":"The passive dynamic walker (PDW) has a remarkable characteristic that it realizes cyclic locomotion without planning the joint trajectories. However, it cannot control the walking behavior because it is dominated by the fixed body dynamics. Observing the human cyclic locomotion emerged by elastic muscles, we add the compliant hip joint on PDW, and we propose a \"phasic dynamics tuner\" that changes the body dynamics by tuning the joint compliance in order to control the walking behavior. The joint compliance is obtained by driving the joint utilizing antagonistic and agonistic McKibben pneumatic actuators. This paper shows that PDW with the compliant joint and the phasic dynamics tuner enhances the walking performance than present PDW with passive free joints. The phasic dynamics tuner can change the walking velocity by tuning the joint compliance. Experimental results show the effectiveness of the joint compliance and the phasic dynamics tuner.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121671185","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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