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

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Efficient estimation of the extremal articular forces of a parallel manipulator in a translation workspace 平移工作空间中并联机械臂末端关节力的有效估计
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680606
J. Merlet
{"title":"Efficient estimation of the extremal articular forces of a parallel manipulator in a translation workspace","authors":"J. Merlet","doi":"10.1109/ROBOT.1998.680606","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680606","url":null,"abstract":"We consider a classical Gough platform with extensible legs whose platform is submitted to a given load. This load induces forces in the linear actuators of the legs, these forces being dependent upon the posture of the platform, and we determine the extremal values of the articular forces when the platform is translating in a given 3D workspace (the orientation of the platform is assumed to be constant). We describe an efficient algorithm which enable one to compute the extremal forces more efficiently than a discretisation method.","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":"126789545","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: 23
ROLLMOBS, a new universal wheel concept ROLLMOBS，一个新的通用车轮概念
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680516
L. Ferrière, B. Raucent
{"title":"ROLLMOBS, a new universal wheel concept","authors":"L. Ferrière, B. Raucent","doi":"10.1109/ROBOT.1998.680516","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680516","url":null,"abstract":"This paper presents a new family of omnidirectional and holonomic vehicles or, in short, omnimobile robots. The robot can perform simultaneously longitudinal, translational and rotational motions, providing full mobility. The concept is based on the original combination of a sphere driven by a classical universal wheel. The sphere in contact with the ground provides the robot high performances (load capacity, maximum surmountable bump height) and smooth motion (no vibrations). The universal wheel tread is not a tyre but consist on several freely rotating rollers that allow free motion of the sphere in the plane orthogonal to the roller axis.","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":"129035678","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
Route representation for mobile robot navigation by omnidirectional route panorama Fourier transformation 基于全向全景傅里叶变换的移动机器人导航路径表示
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677273
Yasushi Yagi, Syuji Fujimura, M. Yachida
{"title":"Route representation for mobile robot navigation by omnidirectional route panorama Fourier transformation","authors":"Yasushi Yagi, Syuji Fujimura, M. Yachida","doi":"10.1109/ROBOT.1998.677273","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677273","url":null,"abstract":"Described here is a route navigation method for a mobile robot with an omnidirectional image sensor. The route is memorized by a series of two dimensional Fourier power spectra of consecutive omnidirectional images at the horizon while the robot moves to the goal position. While the robot is navigating to the goal point, it is controlled by comparing the principal axis of inertia of its current position with that of the memorized Fourier power spectrum.","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":"130648635","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: 51
Automated singulating system for transfer of live broilers 活肉鸡转移用自动模拟系统
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680956
Kok-Meng Lee, R. Gogate, R. Carey
{"title":"Automated singulating system for transfer of live broilers","authors":"Kok-Meng Lee, R. Gogate, R. Carey","doi":"10.1109/ROBOT.1998.680956","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680956","url":null,"abstract":"This paper addresses the problems of automating the process of transferring live broilers (meat chickens) from a conveyor to a moving shackle line. Specifically, we focus on establishing the criteria for designing for an automated system for singulating and orienting the birds for subsequent transferring to a moving shackle line. Since both the mechanical forces and the bird's natural reflexes contribute to the overall dynamics as the bird passes through the singulator, an experimental prototype singulator has been developed to facilitate the study of bird's natural reflexes to mechanical singulation. The system has been experimentally demonstrated and evaluated with live birds at the Gold Kist research farm and at a poultry-processing plant in Georgia. It is expected that the results will provide significant insights to the design and control of future mechanical singulators.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"4 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":"130667917","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: 14
Generalized local Voronoi diagram of visible region 可见区域的广义局部Voronoi图
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.676424
R. Mahkovic, Tomaz Slivnik
{"title":"Generalized local Voronoi diagram of visible region","authors":"R. Mahkovic, Tomaz Slivnik","doi":"10.1109/ROBOT.1998.676424","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.676424","url":null,"abstract":"A circular robot in unknown environment, populated by non-overlapping obstacles is considered. The robot is equipped with a discrete scanner e.g. laser range scanner. We present a method for local construction of a one-dimensional structure, similar to the generalized Voronoi diagram. We call this structure a generalized local Voronoi diagram (GLVD). GLVD is constructed from scan points of the visible region around the robot. We showed that GLVD partly matches, within the tolerances determined by the uncertainties of the scan points, the generalized Voronoi diagram generated by the free-form obstacles. The existence of a function, which groups the scan points into appropriate clusters, is required. The typical results of the experiments, conducted in the laboratory using SICK's laser range scanner PLS200, are presented.","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":"123862451","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
Adaptive learning control of robotic systems with model uncertainties 具有模型不确定性的机器人系统自适应学习控制
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677436
Dong Sun, J. Mills
{"title":"Adaptive learning control of robotic systems with model uncertainties","authors":"Dong Sun, J. Mills","doi":"10.1109/ROBOT.1998.677436","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677436","url":null,"abstract":"An adaptive-learning (AL) control scheme is developed for control of robotic systems with model uncertainties. When robots perform repetitive tasks, their operations are decomposed into two modes: the single operational mode and the repetitive operational mode. In the single operational mode, the control is a learning based adaptive control where the parameters of the system are updated by using the information of the previous operation. In the repetitive operational mode, the control is a model-based iterative learning control. The advantage of the AL scheme lies in the ability to improve the transient performance at a high rate of learning convergence as robots repeat their operations. Experimental and simulation results ascertain the effectiveness of the AL scheme in controlling a single and multiple robots with model uncertainties.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"74 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":"123213228","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
Adjustable manipulability of closed-chain mechanisms through joint freezing and joint unactuation 通过关节冻结和关节脱动来调节闭链机构的可操纵性
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680738
Sungbok Kim
{"title":"Adjustable manipulability of closed-chain mechanisms through joint freezing and joint unactuation","authors":"Sungbok Kim","doi":"10.1109/ROBOT.1998.680738","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680738","url":null,"abstract":"This paper presents the adjustment of the manipulability of a closed-chain mechanism using joint freezing/releasing and joint unactuation/actuation, leading to the improved task adaptability. A closed-chain mechanism under consideration consists of multiple redundant subchains and individual joints can be put into frozen, actuated or unactuated mode, as needed. First, the joint freezing and joint unactuation allowed for a closed-chain mechanism are examined, which limits the possible combinations of joint modes. Second, the kinematics of a closed-chain mechanism is formulated, taking into account joint freezing and joint unactuation. Third, the manipulability ellipsoids of a closed-chain mechanism with/without joint freezing and/or joint unactuation are defined and compared. Finally, the wide range of the manipulability of a closed-chain mechanism due to the changes of joint modes is exemplified.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"25 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":"114197535","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: 8
Integrating dependent sensory data 整合相关感官数据
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680994
Albert C. S. Chung, Helen C. Shen
{"title":"Integrating dependent sensory data","authors":"Albert C. S. Chung, Helen C. Shen","doi":"10.1109/ROBOT.1998.680994","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680994","url":null,"abstract":"In sensory data fusion and integration consideration, sensor independence is a common assumption. We demonstrate the impact of including dependent information in the sensory data combination process. The team consensus approach based on information entropy can improve the measurement accuracy remarkably. The major benefits of the approach are: (a) the simple linear combination of the weighted initial local estimates for each sensor; and (b) the low order bivariate likelihood functions which can be represented easily. A comparison of the team consensus approach with the Bayesian approach is presented.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"45 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":"121490949","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
Building integrated mobile robots for soccer competition 打造一体化移动足球比赛机器人
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680736
Wei-Min Shen, Jafar Adibi, Rogelio Adobbati, Bonghan Cho, Ali Erdem, H. Moradi, B. Salemi, S. Tejada
{"title":"Building integrated mobile robots for soccer competition","authors":"Wei-Min Shen, Jafar Adibi, Rogelio Adobbati, Bonghan Cho, Ali Erdem, H. Moradi, B. Salemi, S. Tejada","doi":"10.1109/ROBOT.1998.680736","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680736","url":null,"abstract":"Robot soccer competition provides an excellent opportunity for robotics research. In particular, robot players in a soccer game must perform real-time visual recognition, navigate in a dynamic field, track moving objects, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other to accomplish tasks that are beyond individual's capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). Furthermore, all these capabilities must be integrated into a single and complete system. To build such integrated robots, we should use different approaches from those employed in separate research disciplines. This paper describes our experience (problems and solutions) in this aspect for building soccer robots. Our robots share the same general architecture and basic hardware, but they have integrated abilities to play different roles and utilize different strategies in their behavior. Our philosophy in building these robots is to use the least possible sophistication to make them as robust as possible. In RoboCup97, our Dreamteam robots performed well (scored 8 of 9 goals of all teams in the league) and won the world championship in the middle-sized robot league.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"41 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":"114812290","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: 29
Positioning a coarse-calibrated camera with respect to an unknown object by 2D 1/2 visual servoing 用2D 1/2视觉伺服技术对未知物体进行粗标定相机定位
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677293
E. Malis, F. Chaumette, S. Boudet
{"title":"Positioning a coarse-calibrated camera with respect to an unknown object by 2D 1/2 visual servoing","authors":"E. Malis, F. Chaumette, S. Boudet","doi":"10.1109/ROBOT.1998.677293","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677293","url":null,"abstract":"In this paper we propose a new vision-based robot control approach halfway between the classical position-based and image-based visual servoings. It allows to avoid their respective disadvantages. The homography between some planar feature points extracted from two images (corresponding to the current and desired camera poses) is computed at each iteration. Then, an approximate partial-pose, where the translational term is known only up to a scale factor, is deduced, from which can be designed a closed-loop control law controlling the six camera DOF. Contrarily to the position-based visual servoing, our scheme does not need any geometric 3D model of the object. Furthermore and contrarily to the image-based visual servoing, our approach ensures the convergence of the control law in all the task space.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"176 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":"124335930","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
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