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

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Tracking adaptive impedance robot control with visual feedback 视觉反馈跟踪自适应阻抗机器人控制
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680609
V. Mut, O. Nasisi, R. Carelli, B. Kuchen
{"title":"Tracking adaptive impedance robot control with visual feedback","authors":"V. Mut, O. Nasisi, R. Carelli, B. Kuchen","doi":"10.1109/ROBOT.1998.680609","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680609","url":null,"abstract":"We propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full nonlinear robot dynamics. Robot parameters adjustment is introduced to reduce the sensuality of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the image coordinate system. Simulations are carried out to evaluate the controller performance.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"46 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":"115053983","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
Teleoperation system via computer network for dynamic environment 动态环境下的计算机网络远程操作系统
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680988
J. Kikuchi, K. Takeo, K. Kosuge
{"title":"Teleoperation system via computer network for dynamic environment","authors":"J. Kikuchi, K. Takeo, K. Kosuge","doi":"10.1109/ROBOT.1998.680988","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680988","url":null,"abstract":"A teleoperation system in a dynamic environment with varying communication time delay is proposed, which consists of three subsystems; a bilateral teleoperation subsystem, a visual information subsystem, and an environment predictive display subsystem. The bilateral teleoperation subsystem is stabilized using the virtual time delay method. The visual information subsystem transfers the visual information in the remote site to the operator's site using the computer network. The environment predictive display subsystem estimates the behaviour of the environment and gives the predicted behaviour to the operator. An experimental system is developed and several experiments illustrate the effectiveness of the proposed system.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"231 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":"122370075","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: 54
Motion planning with uncertainty 不确定性运动规划
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677044
Hong Zhang, Vijay R. Kumar, J. Ostrowski
{"title":"Motion planning with uncertainty","authors":"Hong Zhang, Vijay R. Kumar, J. Ostrowski","doi":"10.1109/ROBOT.1998.677044","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677044","url":null,"abstract":"We present a general framework for motion planning of robots in the presence of obstacles and other robots. We use variational calculus and optimization to find optimal open loop and closed loop plans in the presence of uncertainty. The plans are based on world models with set-valued uncertainty associated with the positions and shape of the obstacles. The open loop plans are generated by an efficient method that allows successive refinements of a nominal motion plan and accommodates finer levels of granularity as additional information becomes available. The closed loop plans are control policies that are based on given sensor models. The optimal plan is a control policy that performs the best in the worst-case situation. We discuss how the open loop and closed loop plans can be viewed as optimal strategies in the framework of two-person, zero-sum, non-cooperative games.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"83 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":"114294457","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: 78
Airship dynamic modeling for autonomous operation 飞艇自主操作动力学建模
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680973
S. Gomes, J. Ramos
{"title":"Airship dynamic modeling for autonomous operation","authors":"S. Gomes, J. Ramos","doi":"10.1109/ROBOT.1998.680973","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680973","url":null,"abstract":"We present a comprehensive description of the physical principles of robotic airship operation, along with their dynamic model in a form suited for controller design and computer simulation. Based on the dynamic model, airship response modes are analyzed and control challenges are pointed out. The present work provides a starting point for robotics and control researchers interested in utilizing airships as robotic aerial vehicles.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"13 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":"114385603","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: 239
Design and development of a legged robot research platform JROB-1 腿式机器人研究平台jrob1的设计与开发
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.676343
S. Kagami, M. Kabasawa, K. Okada, Takeshi Matsuki, Y. Matsumoto, A. Konno, M. Inaba, H. Inoue
{"title":"Design and development of a legged robot research platform JROB-1","authors":"S. Kagami, M. Kabasawa, K. Okada, Takeshi Matsuki, Y. Matsumoto, A. Konno, M. Inaba, H. Inoue","doi":"10.1109/ROBOT.1998.676343","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.676343","url":null,"abstract":"A legged robot \"JROB-1\" is developed for a robotics research platform as a result of inter-university research program on intelligent robotics supported by the Ministry of Education Grant-in-Aid for Scientific Research on Priority Areas in Japan. The JROB-1 features: 1) self-contained, 2) RT-Linux running on PG/AT processes vision and sensor processing, motion planning and control, 3) connected to a network via radio Ethernet as to utilize networked resources, 4) Fujitsu color tracking vision board and Hitachi general purpose vision processing board, 5) all parts are commercially available, and 6) it is extensible with respect to sensor, sensor processing hardware and software. JROB-1 is expected to be a common testbed for experiment and intelligent robotics research by integrating perception and motion.","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":"129412169","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: 21
A multi-loop robust navigation architecture for mobile robots 移动机器人的多回路鲁棒导航体系结构
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677213
José Castro, Vítor M. F. Santos, M. Ribeiro
{"title":"A multi-loop robust navigation architecture for mobile robots","authors":"José Castro, Vítor M. F. Santos, M. Ribeiro","doi":"10.1109/ROBOT.1998.677213","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677213","url":null,"abstract":"Describes a multi-loop, modular navigation architecture for mobile robots whose structure allows the execution of most types of navigation tasks in a highly robust manner. The modularity allows the clear separation of functions according to their complexity and priority. We propose a clear separation between local and global navigation in such a way that both can run independently, but an adequate alternation/competition between them allows accomplishment of trajectory execution including avoidance of unknown obstacles. The multi-loop nature of the architecture ensures adequate stability at different levels yielding safe navigation and accomplishment of higher level tasks. Examples may range from goal reaching in some point of the environment to a 3D-environment mapping application, as this is the case in this work.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"122 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":"129497552","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: 19
Development of a distributed actuation device consisting of soft gel actuator elements 由软凝胶作动元件组成的分布式作动装置的研制
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680640
S. Tadokoro, S. Fuji, M. Fushimi, R. Kanno, Tetsuya Kimura, T. Takamori, K. Oguro
{"title":"Development of a distributed actuation device consisting of soft gel actuator elements","authors":"S. Tadokoro, S. Fuji, M. Fushimi, R. Kanno, Tetsuya Kimura, T. Takamori, K. Oguro","doi":"10.1109/ROBOT.1998.680640","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680640","url":null,"abstract":"It is desirable that soft objects like organs are manipulated by soft actuation devices. This paper presents a newly developed device using a large number of actuator elements made of a soft gel material, which applies a distributed driving force on objects. The material used in the device is an ionic conducting polymer gel film and the structure of the elements is elliptical friction drive. Experimental results showed that an object placed on such a device could move at a speed of 0.62 mm/sec. This paper refers also to fundamental experiments and a concept for a more efficient drive.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"3 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":"129809084","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: 56
Self-organizing collective robots with morphogenesis in a vertical plane 形态发生在垂直平面上的自组织集体机器人
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680616
K. Hosokawa, Takehito Tsujimori, T. Fujii, H. Kaetsu, H. Asama, Y. Kuroda, I. Endo
{"title":"Self-organizing collective robots with morphogenesis in a vertical plane","authors":"K. Hosokawa, Takehito Tsujimori, T. Fujii, H. Kaetsu, H. Asama, Y. Kuroda, I. Endo","doi":"10.1109/ROBOT.1998.680616","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680616","url":null,"abstract":"This paper presents a novel concept of self-organizing collective robots with morphogenesis in a vertical plane. It is potentially applicable to autonomous mobile robots. For physical reconfiguration of a swarm of robots against gravity, new types of mechanisms and control strategies are proposed and demonstrated. Prototype robots have been fabricated in order to confirm the basic feasibility of the mechanisms. Each robot is composed of a body and a pair of arms. The body can be regarded as a cube with edge length of 90 mm, and is equipped with permanent magnets for bonding with another robot. The arms change the bonding configuration by rotating and sliding motions. As for the control strategies, we proposed the algorithms which can locally generate specific global formations of robots, with minimum interactions between neighboring robots. The overall scheme is similar to cellular automata. The control algorithms proposed have been tested by simulations.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"76 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":"128379883","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: 160
Path planner for nonholonomic mobile robot with fast replanning procedure 具有快速重规划程序的非完整移动机器人路径规划器
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.681024
L. Podsędkowski
{"title":"Path planner for nonholonomic mobile robot with fast replanning procedure","authors":"L. Podsędkowski","doi":"10.1109/ROBOT.1998.681024","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.681024","url":null,"abstract":"This paper presents a new method of the path planning for robots with nonholonomic constraints in a partially known workspace. The method has been discussed for the car like robot with the three dimensional configuration space. The algorithm of the presented method is based on a A* graph searching with nodes placed in discretised configuration space. The graph generation process is driven by a heuristic cost which is found with the aid of a cost propagation procedure. This accelerates the searching without losing the optimality. The method presented is equipped with procedures of fast path replanning which is especially important for cases with partially known workspaces.","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":"129146942","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: 31
"Where are you driving to?" Heading direction for a mobile robot from optical flow “你要开车去哪儿?”从光流看移动机器人的前进方向
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677368
A. Dev, B. Kröse, F. Groen
{"title":"\"Where are you driving to?\" Heading direction for a mobile robot from optical flow","authors":"A. Dev, B. Kröse, F. Groen","doi":"10.1109/ROBOT.1998.677368","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677368","url":null,"abstract":"If a camera moves on a straight line, the optic flow field is a diverging vector field, of which the singularity is called \"focus of expansion\" (FOE). An object which is seen in this FOE is located on the future path of the camera. If the camera is also rotating, the future path is no longer a point in the image domain, but a line. All objects which are on the future path (and thus will cause collisions) are projected on this line. However, the reverse is not necessary true - not all points on the line are collision points. In this paper we derive how the optic flow can be used to compute which points in the image are projections of collision points.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"98 6 Pt 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":"129841097","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
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