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

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Wing transmission for a micromechanical flying insect 微型机械飞虫的翅膀传动
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844811
R. Fearing, K. Chiang, M. Dickinson, D. L. Pick, M. Sitti, Joseph Yan
{"title":"Wing transmission for a micromechanical flying insect","authors":"R. Fearing, K. Chiang, M. Dickinson, D. L. Pick, M. Sitti, Joseph Yan","doi":"10.1109/ROBOT.2000.844811","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844811","url":null,"abstract":"Flapping wings provide unmatched manoeuvrability for flying microrobots. Recent advances in modelling insect aerodynamics show that adequate wing rotation at the end of the stroke is essential for generating adequate flight forces. We developed a thorax structure using four bar frames combined with an extensible fan-fold wing to provide adequate wing stroke and rotation. Flow measurements on a scale model of the beating wing show promising aerodynamics. Calculations using a simple resonant mechanical circuit model show that piezoelectric actuators can generate sufficient power, force and stroke to drive the wings at 150 Hz.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116032852","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: 287
Kinematic graspability of a 2D multifingered hand 二维多指手的运动可抓性
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.845291
Y. Guan, Hong Zhang
{"title":"Kinematic graspability of a 2D multifingered hand","authors":"Y. Guan, Hong Zhang","doi":"10.1109/ROBOT.2000.845291","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845291","url":null,"abstract":"We describe a solution to the problem of determining the kinematic feasibility of a dextrous hand to grasp a given object at a desired configuration in the two dimensional space. We refer to this problem as kinematic graspability. The kinematic configuration of a grasp is defined in terms of a set of contact pairs between the topological features of the hand and the object. We derive the sufficient conditions in order for the hand to make the desired contact and avoid collision. These conditions are then formulated as a constrained nonlinear global optimization problem, whose solution yields a definitive answer to kinematic graspability for a grasp configuration. Numerical examples are provided to illustrate the method.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116355518","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
A telerobot control system for accident response 事故响应遥控机器人控制系统
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844888
Robert J. Anderson, D. L. Shirey, W. D. Morse
{"title":"A telerobot control system for accident response","authors":"Robert J. Anderson, D. L. Shirey, W. D. Morse","doi":"10.1109/ROBOT.2000.844888","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844888","url":null,"abstract":"The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. A modular telerobot control architecture called SMART (Sandia's Modular Architecture for Robotic and Teleoperation) was previously applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements seven different behavior modes. The paper describes the integration of SMART into the ARMMS system.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123423743","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
Motion planning for dynamic eel-like robots 动态类鳗鱼机器人的运动规划
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844840
K. McIsaac, J. Ostrowski
{"title":"Motion planning for dynamic eel-like robots","authors":"K. McIsaac, J. Ostrowski","doi":"10.1109/ROBOT.2000.844840","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844840","url":null,"abstract":"We investigate basic issues of motion planning for a class of dynamic mobile robots, focusing on eel-like swimming robots. A primary characteristic of this class of robots is that drift plays a significant role in the generation of motion. We build on previous work (1999) in which we explored generic gait patterns that could be used to drive an eel-like robot. We make an analogy with kinematic car-like robots to develop a nominal path from an initial state to a goal state, and then develop feedback algorithms to perform trajectory tracking around this nominal path. We also address the central issues that arise when using cyclic gaits as the basis for control strategies.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123622213","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: 41
Analysis and synthesis of human motion from external measurements 从外部测量中分析和合成人体运动
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.845357
B. Dariush, H. Hemami, M. Parnianpour
{"title":"Analysis and synthesis of human motion from external measurements","authors":"B. Dariush, H. Hemami, M. Parnianpour","doi":"10.1109/ROBOT.2000.845357","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845357","url":null,"abstract":"The structures observed in humans are being progressively applied to the theoretical approaches developed in robotics. To gain insight to the intricate mechanism of human motion, researchers sometimes use imaging technology to record the trajectories of humans performing various tasks. From these observations, they are able to estimate the forces and moments at each joint by an inverse dynamics computation. This problem is conceptually simple; however, in practice, the inverse solution requires the calculation of higher order derivatives of experimental observations contaminated by noise. The errors due to differentiation results in erroneous joint force and moment calculations. This paper provide a control theoretic framework for analyzing human motion which avoids derivative computations. The method is also suitable for synthesis of stable controllers for robotic and 'biorobic' applications which require tracking a desired reference trajectory under different loading conditions.","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":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123628272","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
Object-oriented graphical specification and seamless design procedure for manufacturing cell control software development 面向对象图形化说明和无缝设计程序的制造单元控制软件开发
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844089
S. Kanai, T. Kishinami, Toyoaki Tomura
{"title":"Object-oriented graphical specification and seamless design procedure for manufacturing cell control software development","authors":"S. Kanai, T. Kishinami, Toyoaki Tomura","doi":"10.1109/ROBOT.2000.844089","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844089","url":null,"abstract":"A seamless design methodology for developing manufacturing cell control software is proposed. The methodology is based both on the graphical specification and on the systematic design procedure of its conversion to the control code. The graphical specification describes the component configuration of the cell and the activity sequence on which the devices should act. An object diagram and an activity-control-condition diagram are introduced for this purpose. The systematic design procedure specifies a clearly-defined conversion from the initial graphical specification to the cell control software code. The conversion consists of three processes: refinement, translation and information. A diagram editor has also been developed to help the programmer carry out this design procedure. Finally, the functionality of the control software generated by using the proposed methodology is validated through co-simulation with a Petri net simulator.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122108875","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
About friction in walking machines 关于行走机器的摩擦
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.846349
F. Pfeiffer, Thomas Roßmann
{"title":"About friction in walking machines","authors":"F. Pfeiffer, Thomas Roßmann","doi":"10.1109/ROBOT.2000.846349","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846349","url":null,"abstract":"In realizing walking machines friction plays an important role which cannot be neglected. Friction will be generated in contacts of the feet with the ground and in drives including gears. Friction influences the power budget and thus the selection of motors, and it influences significantly the control concepts. The paper gives a general description of friction and a walking machine example.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124104901","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
Using haptic vector fields for animation motion control 使用触觉矢量场进行动画运动控制
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.845256
B. Donald, Frederick V. Henle
{"title":"Using haptic vector fields for animation motion control","authors":"B. Donald, Frederick V. Henle","doi":"10.1109/ROBOT.2000.845256","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845256","url":null,"abstract":"We are developing paradigms and algorithms for browsing and editing families of animation using a haptic force-feedback device called a Phantom. These techniques may be generalized to navigation of any high degree-of-freedom system from a lower degree-of-freedom control space, with applications to telerobotics and simulation of virtual humans. We believe that modeling the animation configuration space coupled with the highly interactive nature of the haptic device provides one with useful and intuitive means of control. We have implemented our ideas in a system for the manipulation of animation motion capture data; in particular, anthropomorphic figures with 57 degrees of freedom are controlled by the user in real time. We treat trajectories, which encode animation, as first-class objects; haptic manipulation of these trajectories results in change to the animation. We have several haptic editing modes in which these trajectories are either haptically deformed or performed by the user with expressive control subject to dynamic haptic constraints.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124613166","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: 34
Evolution-based virtual training in extracting fuzzy knowledge for deburring tasks 基于进化的虚拟训练在去毛刺任务模糊知识提取中的应用
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.845332
S. Su, T. Horng, K. Young
{"title":"Evolution-based virtual training in extracting fuzzy knowledge for deburring tasks","authors":"S. Su, T. Horng, K. Young","doi":"10.1109/ROBOT.2000.845332","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845332","url":null,"abstract":"In this research, the problems of how to teach a robot to execute skilled operations are studied. Human workers usually accumulate his experience after executing the same task repetitively. In the process of training, the worker must find ways of adjusting his/her execution. In our system, the parameters for the impedance control scheme are used as the targets for adjustment. After mass amount of training, the worker is supposed to be able to execute deburring tasks successfully. This is because the worker might have gotten some knowledge about tuning the parameters required in the impedance control scheme. Thus, the rules for adjusting the parameters in impedance control are the operational skills to be identified. In this research, a training scheme, called the evolution-based virtual training scheme, is proposed in extracting knowledge for robotic deburring tasks. In this approach, an evolution strategy is employed for searching for the best set of fuzzy rules. This learning scheme has been successfully applied in adjusting the parameters of impedance controllers required in deburring operations. In general, the results of deburring are much more satisfactory when compared with those in previous research. When executing a deburring task, the robot simulator can find its optimal adjusting rules for parameters after several generations of evolution.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129448108","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
Editing dynamic properties of captured human motion 编辑捕获的人体运动的动态属性
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844129
Zoran Popovic
{"title":"Editing dynamic properties of captured human motion","authors":"Zoran Popovic","doi":"10.1109/ROBOT.2000.844129","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844129","url":null,"abstract":"In contrast to most physically based animation techniques that synthesize human motion from scratch, we take the approach of motion transformation as the underlying paradigm for generating computer animation. In doing so we combine the expressive richness of an input animation sequence with the controllability of space-time optimization to create a wide range of realistic character animation. The space-time dynamics formulation also allows editing of intuitive, high-level motion concepts such as the time and placement of footprints, length and mass of various extremities number of body joints and gravity. Our algorithm is well suited for the reuse of highly-detailed captured motion animation. We report application of our algorithm on two such sequences: human run and human jump. As a result, both of these sequences produced a wide range of realistic motions. We show by DOF comparison how closely the resulting motion matches the reality.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129468028","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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