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

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Simulation kinematics model of a multi-legged mobile robot 多足移动机器人仿真运动学模型
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620167
M.Y. Al-Zaydi, S. Amin
{"title":"Simulation kinematics model of a multi-legged mobile robot","authors":"M.Y. Al-Zaydi, S. Amin","doi":"10.1109/ICAR.1997.620167","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620167","url":null,"abstract":"This paper addresses the kinematics modeling of a four legged mobile robot which has been developed to study the leg swinging and robot motion during locomotion. The robot motion is categorized into: The leg swinging motion as an open loop kinematics chain and the robot trunk motion relative to the feet during locomotion as a closed kinematics chain. Algorithms for solving the forward and inverse kinematics problems of these two categories have been developed. A closed kinematics chain algorithms of the whole robot structure is presented. This closed kinematics model is used in off-line animation of the robot motion in different cases and to simulate the stable wave gait in off-line programming. The robot motion by computer graphics is displayed.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"92 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":"127774930","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: 12
The relationship between human grip types and force distribution pattern in grasping 人抓握类型与抓握力分布规律的关系
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620198
S. Shimizu, M. Shimojo, S. Sato, Y. Seki, A. Takahashi, Y. Inukai, M. Yoshioka
{"title":"The relationship between human grip types and force distribution pattern in grasping","authors":"S. Shimizu, M. Shimojo, S. Sato, Y. Seki, A. Takahashi, Y. Inukai, M. Yoshioka","doi":"10.1109/ICAR.1997.620198","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620198","url":null,"abstract":"In the analysis of human grasping motions, classifications of grasping patterns depend largely on personal definitions; no unified view has been reached. The measured quantities in grasping include the posture of the hand, and grasping force and its distribution. Grasping force and its distribution have been little considered. This paper first describes a Sensor Glove MKIII, which measures grasping force and its distribution in human grasping motion. Then the grasping force measured when same objects were grasped using this sensor is shown together with the distribution of the force. Furthermore the usefulness of this sensor was verified by applying the \"Contact Web\" technique to the grasping force and its distribution pattern and taking an example of the classification of grasping reported by Cutkosky (1989). It follows from these facts that the Sensor Glove MKIII may be useful for the analysis of grasping patterns.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"28 3 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":"127978710","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
Real-time simulation of friction in a flexible space manipulator 柔性空间机械臂摩擦力的实时仿真
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620303
P. Breedveld, A.Y. Diepenbroek, T. Van Lunteren
{"title":"Real-time simulation of friction in a flexible space manipulator","authors":"P. Breedveld, A.Y. Diepenbroek, T. Van Lunteren","doi":"10.1109/ICAR.1997.620303","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620303","url":null,"abstract":"This paper describes the development of a real-time simulation model of the European Robot Arm ERA that will be used on the Russian segment of the International Space Station. The simulation model contains a friction model that is not based on the conventional hypothesis that friction is opposite to velocity, but on the new hypothesis that friction tries to stop the system. The conventional hypothesis leads to a strongly non-linear friction model that causes numerical instability. The new hypothesis leads to a new friction model that simulates the effects of the friction accurately in only little computing time.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"104 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":"132064084","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
Flexible piezoelectric micromanipulation robots for a microassembly desktop station 微装配台式工作站柔性压电微操作机器人
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620189
S. Fatikow, J. Zollner, K. Santa, R. Zollner, A. Haag
{"title":"Flexible piezoelectric micromanipulation robots for a microassembly desktop station","authors":"S. Fatikow, J. Zollner, K. Santa, R. Zollner, A. Haag","doi":"10.1109/ICAR.1997.620189","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620189","url":null,"abstract":"The design of a microassembly desktop station is a major challenge for microsystem technology. This paper presents several piezoelectric micromanipulation robots, which have been developed to be used in a microassembly station. These robots are of different design and use different actuation principles so that each robot serves for a specific task. They are capable of travelling over long distances and of manipulating in the range of a few nanometers. Several robots of this kind can be accommodated in a microassembly station and can cooperate and perform microassembly tasks as a team. They can also be used for other operations such as online testing of microelectronic chips or manipulating biological cells.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"42 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":"133320308","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: 9
Six-degree-of-freedom impedance robot control 六自由度阻抗机器人控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620211
B. Siciliano, L. Villani
{"title":"Six-degree-of-freedom impedance robot control","authors":"B. Siciliano, L. Villani","doi":"10.1109/ICAR.1997.620211","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620211","url":null,"abstract":"This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configuration-independent desired impedance. For given contact force and moment, an impedance control scheme is proposed acting on both translational displacement and rotational displacement where end-effector orientation is described using a singularity-free representation in terms of a unitary quaternion. Experimental results on an industrial robot with open control architecture are presented.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"153 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":"131676970","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
Learning gaits for the Stiquito 学习Stiquito的步态
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620196
G. Parker, D. Braun, I. Cyliax
{"title":"Learning gaits for the Stiquito","authors":"G. Parker, D. Braun, I. Cyliax","doi":"10.1109/ICAR.1997.620196","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620196","url":null,"abstract":"It has been shown that the use of cyclic genetic algorithms can be an effective means of gait generation for hexapod robot simulations. They can, with only low-level primitives, produce reasonable gaits in minimal time. In addition, their output requires little in intermediate controller complexity as it is a sequence of these primitives, which can be fed directly into the robot. In this paper, we test the applicability of these algorithms on an actual robot. A model for simulation was produced based on the measured capabilities of the Stiquito robot. This model was trained with the CGA using five random initial populations; gaits quickly evolved for all five. Tests on the actual semi-autonomous robot showed that after 1000 generations gaits comparable to the best designed by human engineers were produced.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"14 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":"115482667","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
A study of operator-induced instabilities in a tactual virtual environment 触觉虚拟环境中算子诱导不稳定性的研究
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620307
P. Taylor, F. Milella
{"title":"A study of operator-induced instabilities in a tactual virtual environment","authors":"P. Taylor, F. Milella","doi":"10.1109/ICAR.1997.620307","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620307","url":null,"abstract":"One of the major outcomes of the EPSRC/British Aerospace supported project \"Enabling Tactile Technology Environments\", was the Reactabot, a three degree of freedom force feedback device which provides tactual/kinaesthetic feedback to an operator via a surrogate object. Systems of this nature exhibit unwanted oscillatory behaviour and eventually instability if the virtual mass is reduced to too low a value, corresponding to raising the loop gain too high. The onset of this behaviour is found to be operator dependent. This paper studies the phenomenon in detail, modelling both the open loop system and human operator in the feedback path. It is shown that the variation between operators, allied with the unwanted but inevitable phase lags in the open loop system, cause the undesirable behaviour and suggestions are made to minimise their effect.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"269 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":"115596817","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
Control strategy for a free-flying space manipulator 自由飞行空间机械臂控制策略
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620253
M. Marchesi, F. Angrilli
{"title":"Control strategy for a free-flying space manipulator","authors":"M. Marchesi, F. Angrilli","doi":"10.1109/ICAR.1997.620253","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620253","url":null,"abstract":"The exploitation of autonomous robot systems will be a key feature in forthcoming space missions. This paper describes the methods used to solve the inverse kinematic problem of a nonredundant robotic arm mounted on a free-floating spacecraft, so that the end-effector follows its positioning path in the least possible distance, with minimal disturbance of spacecraft attitude. A priority sliding control strategy is used, activating and relaxing the nonholonomic constraint due to the conservation of angular momentum, since with only the forces of the joints acting on the system, the attitude of the main body cannot be controlled using a generalized Jacobian approach. The advantages of this strategy are simplicity and rapidity of path planning, with minimal waste of energy for body repositioning. An application to the measurement system of both nonholonomic and holonomic constraints is also presented for such robots. Simulation results are described. Experiments with a planar air-floating model are in progress.","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":"114992998","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: 9
Real-time navigation of a mobile robot using Kohonen's topology conserving neural network 基于Kohonen拓扑守恒神经网络的移动机器人实时导航
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620222
I. J. Nagrath, L. Behera, K. Krishna, K. Rajasekar
{"title":"Real-time navigation of a mobile robot using Kohonen's topology conserving neural network","authors":"I. J. Nagrath, L. Behera, K. Krishna, K. Rajasekar","doi":"10.1109/ICAR.1997.620222","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620222","url":null,"abstract":"This paper proposes a real-time sensor based navigation method using Kohonen's topology conserving network for navigation of a mobile robot in any uncertain environment. The sensory information including target location with respect to current location of the mobile robot, have been discretely conserved using a two dimensional Kohonen lattice. Reinforcement learning based on a stochastic real valued technique have been implemented to compute the action space for this Kohonen lattice. The proposed scheme learns the input and output weight space of the Kohonen lattice which is generalized to any workspace. The effectiveness of the proposed scheme has been established by simulation where the complete domain of the input-space is quantized based on experience on sensory data encountered in real-time. The input-output mapping conserved by the Kohonen lattice during simulation was used to guide a mobile robot in a real-time environment. Successful navigation of the mobile robot without further training confirms the robustness of the proposed scheme.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"12 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":"124642449","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
Disturbance observer based path tracking control of robot manipulator considering torque saturation 基于扰动观测器的考虑转矩饱和的机械臂路径跟踪控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620251
K. Eom, I. Suh, W. Chung
{"title":"Disturbance observer based path tracking control of robot manipulator considering torque saturation","authors":"K. Eom, I. Suh, W. Chung","doi":"10.1109/ICAR.1997.620251","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620251","url":null,"abstract":"In this paper, a path tracking algorithm is proposed to compensate path deviation due to torque bound. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics (SERD) being represented as an n independent double integrator system. For an arbitrary trajectory generated for a given path in Cartesian space, whenever the saturation of any actuators is met, the desired acceleration of the nominal trajectory in Cartesian space is modified online by using SERD. Also an integral action with respect to the difference between the nominal and the modified trajectories is utilized in nonsaturated region of actuators to reduce the path error. To verify the effectiveness of the proposed algorithms, numerical simulations and real experiments are performed for two degrees of freedom SCARA type direct-drive arm.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"22 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":"124867758","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: 108
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