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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)最新文献

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Planning Paths for a Flexible Surface Patch 规划柔性曲面贴片的路径
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-20 DOI: 10.1109/ROBOT.1998.676243
Christopher Holleman, L. Kavraki, J. Warren
{"title":"Planning Paths for a Flexible Surface Patch","authors":"Christopher Holleman, L. Kavraki, J. Warren","doi":"10.1109/ROBOT.1998.676243","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.676243","url":null,"abstract":"This paper presents a probabilistic planner capable of finding paths for a flexible surface patch. The planner is based on the probabilistic roadmap approach to path planning while the surface patch is modeled as a low degree Bezier surface. We assume that we are dealing with an elastic part and define an approximate energy model for the part. The energy function penalizes excessive shear and bending of the part and we assume that low-energy configurations correspond to reversible elastic deformations of the part. The planner captures the connectivity of a space by building a roadmap, a network of simple paths connecting configurations selected in the space using randomized techniques. We report on the implementation of our planner and show experimental results with examples where the surface patch is required to move through a small hole in its workspace. Our work is a first step towards considering the physical properties of parts when planning paths.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"143 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132859174","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: 52
A collision model for rigid and deformable bodies 刚体和可变形体的碰撞模型
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677215
A. Joukhadar, A. Deguet, C. Laugier
{"title":"A collision model for rigid and deformable bodies","authors":"A. Joukhadar, A. Deguet, C. Laugier","doi":"10.1109/ROBOT.1998.677215","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677215","url":null,"abstract":"We describe models and algorithms designed to produce efficient and physically consistent dynamic simulations. These models and algorithms have been implemented in a unique framework, modeling both deformations and contacts through visco-elastic relations. Since this model of interaction (known as \"penalty based\") is much debated, we present it in detail. The \"penalty\" based model is said to have two major drawbacks: the difficulty in determining viscoelastic parameters, and in choosing the computation time step. We present a solution for both problems based on physical concepts. Finally, we show results comparing real data, \"impulse\" based simulation and \"penalty\" based simulation.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123170621","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: 25
Curvature in force/position control 力/位置控制中的曲率
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677421
J. M. Selig
{"title":"Curvature in force/position control","authors":"J. M. Selig","doi":"10.1109/ROBOT.1998.677421","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677421","url":null,"abstract":"If a rigid body is subject to a set of holonomic constraints then the set of allowed positions and orientations comprise a subspace in the group of rigid body motions. Consideration of the geometry of these constraint subspaces leads us to consider their second fundamental form. This allows us to predict the constraint forces and torques generated by a constrained motion. The result has implications for the control of robots that have constrained end-effectors. A slight modification is proposed to the standard methods of shared control and hybrid control. Effectively this modification accounts for the curvature of the constraint space. Finally, the situation where the constraints are in the form of a physical surface in space is considered. In particular some comments are made regarding the problem of measuring the curvature of the surface using a robot.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114643847","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
Fast evaluation of geometric constraints for bending sequence planning 弯曲序列规划几何约束的快速评估
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680706
M. Inui, H. Terakado
{"title":"Fast evaluation of geometric constraints for bending sequence planning","authors":"M. Inui, H. Terakado","doi":"10.1109/ROBOT.1998.680706","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680706","url":null,"abstract":"In the sheet metal part manufacturing, bending is the most commonly used to realize sufficient rigidity and to obtain a part of desired shape to perform a certain function. Feasible bending sequences of a sheet metal part can be determined by successively applying bending simulations to the geometric model of a blank. Unfortunately, this simulation based method is computationally expensive because enormous search-space must be explored if complex parts with many bending lines are given. Complex parts usually have rather small number of feasible bending sequences because other sequences cause self interferences or interferences with tools in the bending operations. Based on this characteristic of the sheet metal part, we develop a new method to accelerate the simulation based bending sequence planning. This method reduces the computation cost by efficiently detecting the interferences in the early stage of the search process. In the bending sequence planning, the same geometric computations for the interference detection are repeated many times. This redundancy is eliminated by saving and reusing the previous computation results. The proposed method is implemented and an experimental bending sequencing program is demonstrated.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116973133","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 simple, space-time-symmetric collision avoidance method for autonomous vehicles 一种简单的、时空对称的自动驾驶汽车避碰方法
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680911
Kenichi Matsumoto, M. Rude
{"title":"A simple, space-time-symmetric collision avoidance method for autonomous vehicles","authors":"Kenichi Matsumoto, M. Rude","doi":"10.1109/ROBOT.1998.680911","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680911","url":null,"abstract":"This paper summarizes a previously developed space-time avoidance method, which applies to autonomous vehicles with temporal uncertainty, and which eliminates a collision threat by shifting vehicle's trajectory laterally as well as temporally. The shift parameters are obtained from simple geometric operations in metric 3D space-time. Though safe and simple, this method lacks efficiency for systems with little temporal uncertainty: the achieved planar collision distance is sometimes much larger than required. Therefore, this paper further proposes a specific, efficient solution for the case of 2 vehicles meeting without temporal uncertainty. Experimental results are presented in which the vehicles collide, or avoid each other mainly laterally or temporally, and by a mixture of both, depending on the choice of the time scaling factor.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127357737","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 high speed 3D radar scanner for automation 一种用于自动化的高速三维雷达扫描仪
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680461
S. Boehmke, J. Bares, E. Mutschler, N. K. Lay
{"title":"A high speed 3D radar scanner for automation","authors":"S. Boehmke, J. Bares, E. Mutschler, N. K. Lay","doi":"10.1109/ROBOT.1998.680461","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680461","url":null,"abstract":"A high speed three dimensional radar scanner capable of providing the high resolution range maps necessary for outdoor mobile robotic vehicles is described in this paper. Unlike traditional laser rangefinder based scanners, this sensor is intended to operate in real world environments plagued with dust, fog, and rain. The 94 GHz pulsed time-of-flight radar system has a peak repetition rate of 250 kHz, a 23 cm beam focused at 8m with an effective 1/spl deg/ divergence, and a 180/spl deg//spl times/360/spl deg/ scanned field of view. DSP processing of the range data provides a reduced data rate while taking full advantage of the higher firing rate to improve accuracy and sensitivity to specular and poorly reflective targets.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124903088","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
Minimum-deflection grasps and fixtures 最小偏转夹具和夹具
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680951
Q. Lin, J. Burdick, E. Rimon
{"title":"Minimum-deflection grasps and fixtures","authors":"Q. Lin, J. Burdick, E. Rimon","doi":"10.1109/ROBOT.1998.680951","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680951","url":null,"abstract":"This paper presents an approach to planning compliant grasps and fixtures in which the object exhibits minimal deflection under external disturbances. The approach, which applies to general two- and three-dimensional grasps and fixtures represented by any quasi-rigid compliance model, employs a quality measure that characterises the grasped or fixtured object's worst-case deflection caused by disturbing wrenches lying in the unit wrench ball. To ensure well-defined notions of deflection and wrench balls, frame-invariant rigid body velocity and wrench norms are used. As illustrated by its application to fixtures of polygonal objects, our minimum-deflection approach can be effectively applied to planning grasps and fixtures where deflection significantly influences performance.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125935544","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
Docking control of holonomic omnidirectional vehicles with applications to a hybrid wheelchair/bed system 完整全向车辆的对接控制及其在轮椅/床混合动力系统中的应用
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.676442
S. Mascaro, H. Asada
{"title":"Docking control of holonomic omnidirectional vehicles with applications to a hybrid wheelchair/bed system","authors":"S. Mascaro, H. Asada","doi":"10.1109/ROBOT.1998.676442","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.676442","url":null,"abstract":"A method for docking a vehicle with a fixture is developed and applied to a hybrid wheelchair/bed system. A powered wheelchair is docked to a bed portion and reconfigured to a flat stationary bed so that the bedridden person does not have to change seating when transferring between the chair and bed. A holonomic omnidirectional vehicle with a ball wheel mechanism is used for the wheelchair. The high maneuverability and holonomic nature of the vehicle allow the wheelchair to be docked precisely with a fixture. An instrumented bumper is developed to detect contacts with the fixture and ensure rider comfort. Using sensor information from the bumpers, the contact state of the vehicle is recognized at all times. Moreover, the orientation of the fixture is estimated from the contact information, and using a framework of discrete event control, the vehicle is aligned and guided towards the fixture despite large misalignments. A prototype system was designed and tested. The vehicle was successfully docked to the bed despite a small clearance ratio as well as large lateral and angular initial misalignments.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123458872","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: 16
Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2 人共生类人移动操纵系统设计与控制:Hadaly-2
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677287
T. Morita, K. Shibuya, S. Sugano
{"title":"Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2","authors":"T. Morita, K. Shibuya, S. Sugano","doi":"10.1109/ROBOT.1998.677287","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677287","url":null,"abstract":"The objective of this study is to investigate design and control strategies for realizing human-robot symbiosis, and to develop a human symbiotic humanoid robot, Hadaly-2, which can communicate and collaborate with human. In this paper, mechanism design methodologies, specifications, and control strategies of a mobile manipulation system of the Hadaly-2 will be described. First, mechanism design concepts of the manipulation system for the human symbiotic robot are proposed. Next, two force controlled anthropomorphic manipulators (WAM-10R, and L) and a body-vehicle mechanism are developed in consideration of the design concepts. Then, the communication and collaboration abilities of Hadaly-2 are evaluated by means of several behaviors, such as gesture motion, shaking hands with human, and block carrying tasks. From the results of evaluation experiments, it is confirmed that the Hadaly-2 can realize efficient interaction and collaboration with human.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"361 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123552720","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: 50
Automatic path planning for coordinate measuring machines 坐标测量机的自动路径规划
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677098
A. Limaiem, H. Elmaraghy
{"title":"Automatic path planning for coordinate measuring machines","authors":"A. Limaiem, H. Elmaraghy","doi":"10.1109/ROBOT.1998.677098","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677098","url":null,"abstract":"This paper describes the path planning module of a computer-aided tactile inspection planning (CATIP) system. The path planner is based on Dijkistra's shortest path algorithm combined with collision detection routines. The working space is dicretized into a regular grid of nodes. The workpiece, the objects in the environment and the probe are automatically approximated by a set of cartesian boxes generated from their octree representation. Optimization and robustness are the main issues considered in this work, and the use of heuristics is completely avoided. The results are demonstrated using an example.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125510104","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
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