Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)最新文献

Fusion of omni-directional sonar and omni-directional vision for environment recognition of mobile robots 全向声纳与全向视觉融合用于移动机器人环境识别

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.845343

T. Yata, A. Ohya, S. Yuta

引用次数: 14

Human symbiotic robot design based on division and unification of functional requirements 基于功能需求划分与统一的人机共生机器人设计

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.846359

T. Morita, H. Iwata, S. Sugano

引用次数: 38

Mouth opening and closing training with 6-DOF parallel robot 六自由度并联机器人的开闭训练

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.844791

H. Takanobu, T. Maruyama, A. Takanishi, K. Ohtsuki, M. Ohnishi

引用次数: 60

Bayesian estimation and Kalman filtering: a unified framework for mobile robot localization 贝叶斯估计和卡尔曼滤波:移动机器人定位的统一框架

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.846481

S. Roumeliotis, G. Bekey

{"title":"Bayesian estimation and Kalman filtering: a unified framework for mobile robot localization","authors":"S. Roumeliotis, G. Bekey","doi":"10.1109/ROBOT.2000.846481","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846481","url":null,"abstract":"Decision and estimation theory are closely related topics in applied probability. In this paper, Bayesian hypothesis testing is combined with Kalman filtering to merge two different approaches to map-based mobile robot localization; namely Markov localization and pose tracking. A robot carries proprioceptive sensors that monitor its motion and allow it to estimate its trajectory as it moves away from a known location. A single Kalman filter is used for tracking the pose displacements of the robot between different areas. The robot is also equipped with exteroceptive sensors that seek for landmarks in the environment. Simple feature extraction algorithms process the incoming signals and suggest potential corresponding locations on the map. Bayesian hypothesis testing is applied in order to combine the continuous Kalman filter displacement estimates with the discrete landmark pose measurement events. Within this framework, also known as multiple hypothesis tracking, multimodal probability distribution functions can be represented and this inherent limitation of the Kalman filter is overcome.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127944877","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: 198

Fault detection and identification in a mobile robot using multiple model estimation and neural network 基于多模型估计和神经网络的移动机器人故障检测与识别

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.846370

P. Goel, Göksel Dedeoglu, S. Roumeliotis, G. Sukhatme

引用次数: 164

Determining feasible contact states of pairs of spatial polyhedra 空间多面体对可行接触状态的确定

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.844793

Barry B. Goeree, E. Fasse, M. Marefat

引用次数: 13

Interactive motion planning using hardware-accelerated computation of generalized Voronoi diagrams 使用硬件加速计算广义Voronoi图的交互式运动规划

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.846473

K. E. Hoff, T. Culver, J. Keyser, M. Lin, Dinesh Manocha

引用次数: 110

Disassembly modeling, planning and application: a review 拆卸建模、规划与应用综述

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.846354

Ying Tang, Mengchu Zhou, E. Zussman, R. Caudill

引用次数: 78

Disturbance observer-based robust control for underwater robotic systems with passive joints 基于扰动观测器的水下被动关节机器人系统鲁棒控制

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.844852

G. Chung, K. Eom, B. Yi, I. Suh, Sang-Rok Oh, Young-Jo Cho

{"title":"Disturbance observer-based robust control for underwater robotic systems with passive joints","authors":"G. Chung, K. Eom, B. Yi, I. Suh, Sang-Rok Oh, Young-Jo Cho","doi":"10.1109/ROBOT.2000.844852","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844852","url":null,"abstract":"Underwater robotic vehicles (URV) have been employed for mobility, and robot manipulators attached to the underwater vehicle play the role of manipulation. URV motions are determined by inherent dynamic couplings between active and passive joints. Furthermore, the control problem becomes complex since there should be considered many hydrodynamic terms as well as intrinsic model uncertainties. To cope with these difficulties, we propose a disturbance observer-based robust control algorithm for underwater manipulators with passive joints. The proposed control algorithm is able to treat an underactuated system as a pseudo-active system in which passive joints are eliminated. Also, to realize a robust control method, a nonlinear feedback disturbance observer is applied to each active joint. A four-jointed underwater robotic system with one passive joint is considered as an illustrative example. Through simulation, it is shown that the proposed control algorithm has good position tracking performances even in the presence of several external disturbances and model uncertainties.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128450384","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

A system for analyzing automatic assembly and disassembly operations 一种分析自动装配和拆卸操作的系统

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI: 10.1109/ROBOT.2000.845307

S. Mok, Chi-haur Wu, Der-Tsai Lee

引用次数: 11