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

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Dynamic transition simulation of a walking anthropomorphic robot 拟人行走机器人动态过渡仿真
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677299
O. Bruneau, F. Ouezdou, Pierre-Brice Wieber
{"title":"Dynamic transition simulation of a walking anthropomorphic robot","authors":"O. Bruneau, F. Ouezdou, Pierre-Brice Wieber","doi":"10.1109/ROBOT.1998.677299","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677299","url":null,"abstract":"This paper deals with an approach to carry out the transitions of a walking robot. A set of elementary transformations is proposed to modify the locomotion parameters allowing one to obtain various kinds of walks. Some simulation results are given.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"62 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":"126205369","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
Navigation systems for increasing the autonomy and security of mobile bases for disabled people 增加残疾人移动基地自主性和安全性的导航系统
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.676440
S. Fioretti, T. Leo, S. Longhi
{"title":"Navigation systems for increasing the autonomy and security of mobile bases for disabled people","authors":"S. Fioretti, T. Leo, S. Longhi","doi":"10.1109/ROBOT.1998.676440","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.676440","url":null,"abstract":"A navigation module for technological aids for the disabled user is presented. Usability and acceptability criteria are considered in the design of this module. Different levels of autonomy for the navigation module are considered for allowing an active interaction of the user with the technological aids. A standardized protocol for the integration of input-output devices for robotic assisted systems is also used. The navigation module is tested on an powered wheelchair and an autonomous mobile base. The sonar sensors are used for online detection of possible obstacle collisions. The reliability of sonar readings is increased by the use of a probabilistic map of the environment to support the decisions on obstacle detection.","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":"128171309","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: 10
Basic study on a magnetic measurement for balance utilizing a spherical vessel 球形容器磁平衡测量的基础研究
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680637
T. Okada, K. Kimura, N. Mimura
{"title":"Basic study on a magnetic measurement for balance utilizing a spherical vessel","authors":"T. Okada, K. Kimura, N. Mimura","doi":"10.1109/ROBOT.1998.680637","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680637","url":null,"abstract":"Proposes a magnetic measurement principle to develop a balance sensor. Basically, the sensor is composed of a spherical vessel sealing a certain amount of liquid, a mushroom-shaped float and a permanent magnet. The circular plated magnet is fixed on the root of the float stem. As the liquid moves in the vessel, the float changes the position of the magnet. And the Hall effect devices located around the vessel sense the change of balance with the aid of a signal processor. The density of the Hall effect devices and the algorithm for determining the direction of the resultant acceleration are considered. Also, the results of experiments for magnet's position and the angle of balance are shown. The proposed method is effective in detecting all directions of the resultant acceleration of motion and gravity with uniform resolution, since the sensor has no rotation axes.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"94 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":"125246307","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
Adaptive motion generation with exploring behavior for service robots 基于行为探索的服务机器人自适应运动生成
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.676317
J. Ota, H. V. D. Loos, L. Leifer
{"title":"Adaptive motion generation with exploring behavior for service robots","authors":"J. Ota, H. V. D. Loos, L. Leifer","doi":"10.1109/ROBOT.1998.676317","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.676317","url":null,"abstract":"The authors develop an interface system for service robots. In order to assure adaptability to lightly structured environments and easy programming of new tasks, we propose an automatic adaptive motion generation methodology and introduce it in the context of an interface system for an assistive rehabilitation robot. The implementation of the robot interface system using VRML and Java shows the effectiveness of the proposed method.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"9 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":"121946040","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
Fuzzy-logic dynamics modeling of robot manipulators 机器人操纵臂的模糊逻辑动力学建模
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680719
M. Emami, A. Goldenberg, I. Türksen
{"title":"Fuzzy-logic dynamics modeling of robot manipulators","authors":"M. Emami, A. Goldenberg, I. Türksen","doi":"10.1109/ROBOT.1998.680719","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680719","url":null,"abstract":"A systemic approach of fuzzy-logic modeling from the system input-output data is applied to modeling dynamics behavior of a four degree-of-freedom robot manipulator. The output of the fuzzy model is compared with the experimental data and with that of an analytical simulation. The simplicity of the fuzzy model and its improved accuracy is significant.","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":"129996508","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
Dimensional analysis and selective distortion in scaled bilateral telemanipulation 尺度双侧遥操作的量纲分析与选择性畸变
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677379
M. Goldfarb
{"title":"Dimensional analysis and selective distortion in scaled bilateral telemanipulation","authors":"M. Goldfarb","doi":"10.1109/ROBOT.1998.677379","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677379","url":null,"abstract":"This paper addresses the issue of dynamic similarity and intensive property invariance in scaled bilateral manipulation, and offers a design methodology based on these considerations. Dimensional analysis methods are utilized to form the basis of a constrained optimization problem that enables selection of a force scaling factor that minimizes the intensive distortion of the environment. The proposed formulation is applicable to any physical environment, including those that are nonlinear and contain multiple degrees of freedom. Furthermore, the formulation does not require an exact environmental model, provided the parameters that influence the environment are known. The proposed techniques are particularly relevant to bilateral manipulation of a microscopic environment (i.e., macro-micro bilateral manipulation), since such environments are difficult to model exactly and are largely influenced by nonlinear effects.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"276 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":"134537192","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: 47
Real time hand-eye system: interaction with moving objects 实时手眼系统:与移动物体交互
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677403
D. E. Okhotsimsky, A. K. Platonov, I. Belousov, A. Boguslavsky, S. Emelianov, V. Sazonov, S. Sokolov
{"title":"Real time hand-eye system: interaction with moving objects","authors":"D. E. Okhotsimsky, A. K. Platonov, I. Belousov, A. Boguslavsky, S. Emelianov, V. Sazonov, S. Sokolov","doi":"10.1109/ROBOT.1998.677403","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677403","url":null,"abstract":"The paper presents the results in controlling the robot manipulator handling the moving object of various types. Two series of experiments were carried out using the rod swinging on the bifilar suspension, and the tennis balls swinging as spherical pendulums. The main part of the experiments with the rod was devoted to finding efficient ways for its fast and reliable capturing. The experiments with the ball were focused on modifying the motion of the ball in such a way for its orbit has the desirable parameters. In particular, the ball was directed to reach the motionless target placed inside the working space, or perform a rendezvous with another ball having an independent free motion. The TV camera supplied the computer with the visual data of the scene. The dynamical models of the motion of the objects were used for statistical processing the visual data and determining the parameters of the motion. These parameters were used for controlling the robot.","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":"134091474","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: 10
Computation of kinetostatic performances of robot manipulators with polytopes 多面体机器人机械臂的动静态性能计算
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680928
R. Finotello, T. Grasso, G. Rossi, A. Terribile
{"title":"Computation of kinetostatic performances of robot manipulators with polytopes","authors":"R. Finotello, T. Grasso, G. Rossi, A. Terribile","doi":"10.1109/ROBOT.1998.680928","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680928","url":null,"abstract":"The kinetostatic analysis of manipulator performances at the end effector (EE) has traditionally been based on the computation of the so-called manipulability ellipsoids rather than on polytopes which are more accurate a representation. A reason why polytopes have received less attention is their being less tractable from a computational viewpoint. This paper presents an effective computation tool based on polytopes, with separation between translational and rotational analyses. This eliminates the ambiguity inherent in the conventional rototranslational formulation. Examples of application of this tool to the kinetostatic performance analysis of a redundant arm are finally provided, with numerical results.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"67 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":"131474038","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: 42
Acquiring mobile robot behaviors by learning trajectory velocities with multiple FAM matrices 利用多FAM矩阵学习轨迹速度获取移动机器人行为
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677049
K. Ward, A. Zelinsky
{"title":"Acquiring mobile robot behaviors by learning trajectory velocities with multiple FAM matrices","authors":"K. Ward, A. Zelinsky","doi":"10.1109/ROBOT.1998.677049","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677049","url":null,"abstract":"We describe an unsupervised robot learning method which is based on the robot learning a mapping between sensors and trajectory velocities. This enables the robot to acquire object avoidance, wall following and goal seeking behaviors simultaneously without incurring the credit assignment problem. To improve the robot's perception and behaviors we provide the robot with 7 fuzzy associative matrices (FAMs) so that sensors can be mapped to each trajectory independently. We provide results demonstrating how a mobile robot equipped with 16 sonar sensors is able to achieve improved perception and behaviors by using 7 FAMs to map sensors to trajectories.","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":"131854575","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
Physical agent for sensored, networked and thinking space 感知、网络和思考空间的物理代理
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677089
Joo-Ho Lee, G. Appenzeller, H. Hashimoto
{"title":"Physical agent for sensored, networked and thinking space","authors":"Joo-Ho Lee, G. Appenzeller, H. Hashimoto","doi":"10.1109/ROBOT.1998.677089","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677089","url":null,"abstract":"A new concept for constructing an intelligent mobile system is proposed. We describe reasons for the necessity of a new architecture for mobile systems in intelligent spaces. The intelligent spaces are room or area that are equipped with sensors, network and computers. The intelligent spaces are expected to be authentic future environment. If environment gets intelligence, it is not a distinct part of an intelligent mobile system any more and also the mobile system becomes a physical agent of the intelligent space. In this paper, we do some experiments to show what are possible for a mobile robot in an intelligent space.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"9 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":"132986184","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: 38
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