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

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Real-time grasping of unknown objects based on computer vision 基于计算机视觉的未知物体实时抓取
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620201
P. Sanz, A.P. del Pohil, J. Iñesta
{"title":"Real-time grasping of unknown objects based on computer vision","authors":"P. Sanz, A.P. del Pohil, J. Iñesta","doi":"10.1109/ICAR.1997.620201","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620201","url":null,"abstract":"We present an integrated system for vision-guided grasping in the real world. By using very limited resources-a standard personal computer and a robot-mounted camera-an inexpensive robot arm stably grasps unknown planar objects in real time by using visual perception and a standard parallel-jaw gripper. In a simple, yet powerful fashion our system integrates computer vision, grasping and vision-guided control. Novel techniques are presented to solve the involved problems under the imposed resource constraints: namely, for information reduction in image processing, strategies for grasp determination and vision-guided control for grasp execution. Particularly, a novel technique called curvature-symmetry fusion is used to help in efficient grasp determination. The system provides the user with a quantitative measure of the degree of stability of the planned grasp. Experimental results are provided. The imposed resource constraints makes it suitable for short-term applications in the real world, such as service or medical.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"25 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":"128007802","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
A stable visual servo controller for camera-in-hand robotic systems 用于手持摄像机机器人系统的稳定视觉伺服控制器
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620171
R. Kelly, R. Carelli, O. Nasisi, B. Kuchen, F. Reyes
{"title":"A stable visual servo controller for camera-in-hand robotic systems","authors":"R. Kelly, R. Carelli, O. Nasisi, B. Kuchen, F. Reyes","doi":"10.1109/ICAR.1997.620171","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620171","url":null,"abstract":"In this paper we present a new visual servo controller for camera-in-hand robotic systems. We provide a Lyapunov stability analysis including the full nonlinear robot dynamics into the overall closed-loop system. Besides the closed-loop stability property, the control system obviates the use of the inverse kinematics and inverse Jacobian. Experiments on a two degrees of freedom robot manipulator are presented to illustrate the controller performance.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"37 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":"132552191","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 motion capture and mimic system for motion controls 用于运动控制的动作捕捉和模拟系统
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620229
Wonsu Choi, Joongsun Yoon
{"title":"A motion capture and mimic system for motion controls","authors":"Wonsu Choi, Joongsun Yoon","doi":"10.1109/ICAR.1997.620229","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620229","url":null,"abstract":"A general procedure for a motion capture and mimic system has been delineated. Utilizing sensors operated in the magnetic fields, complicated and optimized movements are easily digitized to analyze and reproduce. The system described consists of a motion capture module, a motion visualization module, a motion plan module, a motion mimic module, and a GUI module. Design concepts of the system are modular, open, and user friendly to ensure the overall system performance. Custom-built and/or off-the-shelf modules are easily integrated into the system. With modifications, this procedure can be applied to complicated motion controls. This procedure is implemented to a pole balancing control. A neural controller based on this control scheme utilizing human motions can easily evolve from a small amount of learning data.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"16 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":"132564096","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: 0
A new algorithmic framework for robot dynamics analysis with application to space robots dynamics simulation 一种新的机器人动力学分析算法框架及其在空间机器人动力学仿真中的应用
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620273
A. Fijany, A. Bejczy
{"title":"A new algorithmic framework for robot dynamics analysis with application to space robots dynamics simulation","authors":"A. Fijany, A. Bejczy","doi":"10.1109/ICAR.1997.620273","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620273","url":null,"abstract":"An algorithm for fast serial and parallel dynamics simulation of space robots as characterized by serial chain systems with a floating base is presented. This algorithm is derived by using an algorithmic framework based on a new Schur complement factorization of the inverse of mass matrix, M/sup -1/. The algorithm leads to optimal serial and parallel computation for the problem, that is, an O(N) serial computation and an O(Log N) parallel computation by using O(N) processors.","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":"132931115","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
Redundancy and fault-tolerance in grasping and manipulation by multifingered hands 多指手抓握操作中的冗余与容错
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620202
Luya Li, William, Gruver, Tiehua Zhang
{"title":"Redundancy and fault-tolerance in grasping and manipulation by multifingered hands","authors":"Luya Li, William, Gruver, Tiehua Zhang","doi":"10.1109/ICAR.1997.620202","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620202","url":null,"abstract":"This paper treats grasping and manipulation of objects by articulated, multifingered hands. We discuss how to use redundancy to improve the performance of hand-object systems and compensate for potential task failures. We analyze the kinematics for manipulation. Definitions of redundancy based on a minimum-case measure are presented and an optimization method for redundancy control is proposed. Strategies for optimal fault-tolerant control are introduced to accomplish tasks using finger reconfiguration and joint torque redistribution.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"23 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":"134494869","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 hybrid approach to supervising multiple co-operant autonomous mobile robots 多协作自主移动机器人的混合监督方法
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620233
D. Barnes, R. Aylett, A. Coddington, R. Ghanea-Hercock
{"title":"A hybrid approach to supervising multiple co-operant autonomous mobile robots","authors":"D. Barnes, R. Aylett, A. Coddington, R. Ghanea-Hercock","doi":"10.1109/ICAR.1997.620233","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620233","url":null,"abstract":"UK Robotics Ltd. have for some time been working in the area of multiple co-operant autonomous mobile robots. While there are a number of applications in the nuclear, chemical and off-shore industries that would benefit from such technology, the required science and engineering is only just beginning to be realised. The key issues are firstly, how to control the interaction of these robots with themselves and their environment? and secondly, how to interact with this group of robots from the point of view of an operator? What has emerged is a novel hybrid architecture that contains a reflective planning agent which is capable of translating high level operator goals into low level behaviour missions that can be executed by multiple autonomous robots. Two real robots have been used as part of our studies and this paper details our hybrid approach and the results obtained so far.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"24 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":"134498597","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
General mathematical model of multiple manipulators: cooperative compliant manipulation on dynamical environments 多机械臂的通用数学模型:动态环境下的协同柔顺操作
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620226
M. Vukobratovic, A. Tuneski
{"title":"General mathematical model of multiple manipulators: cooperative compliant manipulation on dynamical environments","authors":"M. Vukobratovic, A. Tuneski","doi":"10.1109/ICAR.1997.620226","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620226","url":null,"abstract":"The general mathematical model of multiple rigid robot manipulators performing cooperative work on a single dynamical object of which the motion is constrained by a dynamical environment is presented. The coordinated robots have to simultaneously move the object along a predetermined known trajectory on the constraint environment, exert a prespecified contact force on the environment, and keep the value of the internal force between a certain minimum and maximum. The manipulator dynamics, the object dynamics and the environment dynamics are taken into consideration, together with the contact conditions between robots and object and between object and environment.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"161 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":"114407070","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
Passive compliance of flexible link robots. II. Analysis and application 柔性连杆机器人的被动柔度。2分析与应用
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620185
Wei Wang, R. Loh, Marcelo H ANG Jr
{"title":"Passive compliance of flexible link robots. II. Analysis and application","authors":"Wei Wang, R. Loh, Marcelo H ANG Jr","doi":"10.1109/ICAR.1997.620185","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620185","url":null,"abstract":"Compliance of a robot is an important factor which often determines its application. This paper reviews the importance of passive compliance and shows the expression of passive compliance in terms of the compliance/stiffness matrix at the manipulator's end-effector. Properties of compliance/stiffness matrices are discussed. The end-effector compliances from the compliance offered by the limbs are explored as functions of joint configurations. Some computational results for the end-effector compliance of the SCARA- and PUMA-type robots are presented. An application example is provided to show the usefulness of passive compliance in automation.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"5 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":"115487423","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
Dexterity enhancement for surgical and industrial applications 提高手术和工业应用的灵活性
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620153
S. Charles
{"title":"Dexterity enhancement for surgical and industrial applications","authors":"S. Charles","doi":"10.1109/ICAR.1997.620153","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620153","url":null,"abstract":"Summary form only given. Robotic technology is classically defined as pre-programmed and autonomous. Most robots are anthropomorphic in form. The term teleoperation implies remote manipulation. We coined the term \"dexterity enhancements\" to indicate the intent of a new class of technologies developed to augment the precision manipulation capabilities of the human operator. Dexterity enhancement systems can be used at the same site or for remote operation. The actual manipulators need not be anthropomorphic, but must have greater positioning and force control accuracy than the human operator can produce. Dexterity enhancements concepts include position and force downscaling; position, velocity, acceleration, and force limits; tremor filtering; gravity compensation (decreasing fatigue and enhancing precision). Applications in surgery and industry, including offline for training and research, are presented.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"243 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":"124678311","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: 0
Symmetric damping bilateral control for parallel manipulators 并联机器人的对称阻尼双边控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620213
P. Huynh, Y. Nakamura, T. Arai, T. Tanikawa, N. Koyachi
{"title":"Symmetric damping bilateral control for parallel manipulators","authors":"P. Huynh, Y. Nakamura, T. Arai, T. Tanikawa, N. Koyachi","doi":"10.1109/ICAR.1997.620213","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620213","url":null,"abstract":"A symmetric damping bilateral master-slave control scheme is proposed in order to enable the stable contact between the slave manipulator end-effector and the rigid environment. In the conventional force reflecting position control method, control loops in master and slave sides are connected to each other in series and that causes unstable motion when the slave manipulator contacts with rigid objects. The new method has more stable dynamic characteristic, since lag time of the control loop is smaller due to the symmetric structure of the system. The master-slave system consists of two isomorphic parallel manipulators. Good features with parallel manipulator also improve the system stability. The stability of the proposed control method including the simple operator and object dynamics is analysed by using the Hurwitz stability criterion and then compared with the conventional controller. Metal-to-metal contact and peg-in-hole experiments show practical and wide applicability of the control method.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"117 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":"124248439","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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