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1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97最新文献

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Modular formulation for dynamics of multi-legged robots 多足机器人动力学的模块化公式
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620195
Wenjie Chen, S. Yao, K. H. Low
{"title":"Modular formulation for dynamics of multi-legged robots","authors":"Wenjie Chen, S. Yao, K. H. Low","doi":"10.1109/ICAR.1997.620195","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620195","url":null,"abstract":"Dynamic modelling plays a significant role in the design and control of fast-moving multilegged machines. In this paper, a modular method for formulating the dynamics of multilegged robots with general leg structures is proposed. Each leg is considered as an individual module, and the whole multilegged system is treated as a free-floating system with the individual leg module being coupled to a main body. The inertia matrix of the system can then be formulated through combining the inertia sub-matrix of each leg module. It is seen that system dynamic equations having a modular characteristics can be derived using the Lagrange's equations. An algorithm for the inverse dynamic analysis is also included.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127084181","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
Experiences using a special purpose robot for prostate resection 使用专用机器人进行前列腺切除术的经验
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620177
S. J. Harris, Q. Mei, R. Hibberd, B. Davies
{"title":"Experiences using a special purpose robot for prostate resection","authors":"S. J. Harris, Q. Mei, R. Hibberd, B. Davies","doi":"10.1109/ICAR.1997.620177","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620177","url":null,"abstract":"As men age, their prostates can enlarge, causing urinary difficulty. Surgery to correct this (transurethral resection of the prostate-TURF) is a skilled and time consuming operation requiring many repetitive motions of a cutter. A robot (called Probot) has been developed to perform these motions, relieving the surgeon of much of the burden of surgery. This robot has been tried both in the laboratory and later on human subjects and has proved itself capable of performing prostate resection. The Probot system consists of online imaging and three-dimensional prostate model construction, an appropriate surgeon/computer interface, a counterbalanced mounting frame and a computer controlled robot.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128402225","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 two-link flexible manipulator using disturbance observer with reaction torque feedback 基于扰动观测器的双连杆柔性机械臂反力反馈控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620187
J. Cheong, W. Chung, Youngil Yoom, Sang-Rok Oh
{"title":"Control of two-link flexible manipulator using disturbance observer with reaction torque feedback","authors":"J. Cheong, W. Chung, Youngil Yoom, Sang-Rok Oh","doi":"10.1109/ICAR.1997.620187","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620187","url":null,"abstract":"We propose a simple and easily implementable controller for a planar type two-link flexible manipulator. Due to the neat property of the disturbance observer, each flexible link can be considered as just two lumped masses with a spring between them, which is called a two-mass resonant model within the selected frequency range. For such a system, we design a controller which is simple to implement and robust for uncertainty using feedforward disturbance cancellation through the disturbance observer. The performance of the proposed method is verified by simulation and experiments.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128420408","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
Planning of optimal paths for autonomous agents moving in inhomogeneous environments 在非同构环境中移动的自主代理的最优路径规划
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620205
M. Gerke, H. Hoyer
{"title":"Planning of optimal paths for autonomous agents moving in inhomogeneous environments","authors":"M. Gerke, H. Hoyer","doi":"10.1109/ICAR.1997.620205","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620205","url":null,"abstract":"Long-range route planning is an important feature of autonomous agents guidance and control during out-door missions. Offline path planning for any manoeuvres in cluttered environments depends on the pre-mission knowledge about the topographical features of the landscape between the agent's start position and goal position. A topographical landscape consists of regions with different traversal costs, and it is not binary in nature (in terms of passable/impassable). For certain extraterrestrial or cross-country missions, where a lack of vehicular resources has to be handled, there is a strong need to calculate an optimal path according to a given optimization criterion. This paper presents an optical approach to find optimal paths in inhomogeneous environments, which follows from FERMAT's principle. It is derived from the beam propagation method, which is commonly used in optical research areas.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125134386","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: 30
Development of leg-functions coordinated robot "MEL HORSE" 开发腿部功能协调机器人 "MEL HORSE"
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620162
H. Takeuchi
{"title":"Development of leg-functions coordinated robot \"MEL HORSE\"","authors":"H. Takeuchi","doi":"10.1109/ICAR.1997.620162","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620162","url":null,"abstract":"A new legged machine named \"MEL HORSE\" is developed. MEL HORSE is a quadruped machine and has different leg-function between front legs and rear legs. The front legs has the gravity-support function. However, conventional walking robot has the center of gravity in the center of body, MEL HORSE has the center of gravity at the front of the body. The rear legs has the function of generating forward force. Because the center of gravity is distributed at the front part, it is possible for rear legs to reduce generating support force of gravity. We developed these simple mechanism by using counter balance. Furthermore, we also interested in joint redundant mechanism which is adapted for cursoriality like as horse. \"Redundant Leg\" is also developed and installed into MEL HORSE. The paper makes basic simulation experiments and control method of \"MEL HORSE\" and \"Redundant Leg\".","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131393808","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
Hybrid position/force control of a dexterous hand based on fuzzy control strategy 基于模糊控制策略的灵巧手位置/力混合控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620173
M. Zand, P. Torab, A. Bahri
{"title":"Hybrid position/force control of a dexterous hand based on fuzzy control strategy","authors":"M. Zand, P. Torab, A. Bahri","doi":"10.1109/ICAR.1997.620173","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620173","url":null,"abstract":"The application of fuzzy control strategy to the hybrid position/force control problem of a dexterous hand has been demonstrated. From the measured positions, forces and velocities during a manipulative task, an ordinary fuzzy controller was utilized to control the hand in reaction and motion level. Then the results were compared with conventional PID controllers. Due to simplicity of the fuzzy controller, conventional controllers behave much better than the fuzzy one. Furthermore we have demonstrated that by choosing a dynamical sensitive range of error phase plane (distance vs. velocity), the fuzzy controller behaves far better than the PID one.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134016788","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
Development and experimental evaluation of a robust contact force control strategy for a 7-DOF redundant manipulator 七自由度冗余度机械臂鲁棒接触力控制策略的研制与实验评价
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620212
F. Shadpey, F. Ranjbaran, R. Patel, A. J. Robins
{"title":"Development and experimental evaluation of a robust contact force control strategy for a 7-DOF redundant manipulator","authors":"F. Shadpey, F. Ranjbaran, R. Patel, A. J. Robins","doi":"10.1109/ICAR.1997.620212","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620212","url":null,"abstract":"This paper is concerned with robust contact force control for a 7 degree-of-freedom (DOF) redundant robot arm. An outer-inner loop controller is developed. A 6-DOF force/torque sensor is used to measure the interaction forces and feed them back to the outer-loop controller which implements either a force or an impedance controller in each of the 6-DOF of the tool-frame. The second-order impedance controller causes the end-effector to act as a system of mass-spring-dash-pot with adjustable parameters. The force controller is provided with a force set-point, and desired inertia and damping are introduced in the force control loop to improve transient performance. The inner-loop consists of a PD controller, a redundancy resolution module at the acceleration level, and an inverse dynamics module. Experimental results are given to show the performance of the force controller. The successful application to a typical surface-cleaning scenario is presented.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131376072","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
A new robot control system with open architecture 一种新型的开放式机器人控制系统
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620275
Xuecai Zhou, Weiping Li, Qiang Li
{"title":"A new robot control system with open architecture","authors":"Xuecai Zhou, Weiping Li, Qiang Li","doi":"10.1109/ICAR.1997.620275","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620275","url":null,"abstract":"The closed architecture of conventional robot control systems is an obstacle to many robot applications, especially to the research projects in which the control schemes or the system parameters used by robot controllers need to be modified. For such cases, the architecture of the robot control system is obviously required to be open and interactive with users. This paper presents a new robot control system with open architecture and an interactive user interface developed at the Hong Kong University of Science and Technology. First, we present the architecture for our system hardware and software followed with simple explanations of each module. Then, we focus our attention on the system software and make a detail explanation of a crucial module the communication module of the system. Finally, we give a real world example to demonstrate the effectiveness of the proposed system.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132336959","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
Teaching 6-DOF tasks for robot operating assembly in the same category 教授同一类别机器人操作装配的六自由度任务
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620257
H. Ogata, M. Tsuda, M. Mizukawa
{"title":"Teaching 6-DOF tasks for robot operating assembly in the same category","authors":"H. Ogata, M. Tsuda, M. Mizukawa","doi":"10.1109/ICAR.1997.620257","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620257","url":null,"abstract":"A variety of product design is required in order to meet consumer's demands. However, the traditional mass production process specializes in producing commodities with regular forms. This paper proposes an assembly robot system that can produce the same product with various different designs. Here, the robot learns a typical assembly task from the operator, and executes similar tasks in environments where the shape, scale and location of objects may differ.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123227165","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
Adaptive controller of master-slave systems for transparent teleoperation 透明遥操作主从系统自适应控制器
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620306
Hyung-Kyi Lee, M. Shin, M. Chung
{"title":"Adaptive controller of master-slave systems for transparent teleoperation","authors":"Hyung-Kyi Lee, M. Shin, M. Chung","doi":"10.1109/ICAR.1997.620306","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620306","url":null,"abstract":"This paper addresses the problem to achieve the stability and transparency for teleoperation in unknown or varying environments. The proposed scheme is based on an adaptive control and the position-force architecture. Without any knowledge about the parameters of the slave robot and environment dynamics, it can guarantee the robustness to the parameter uncertainties of this master robot as well as the stability of the whole teleoperation system. Numerical simulations are presented to demonstrate the transparency and robustness to the parameter uncertainties.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122988180","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
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