Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)最新文献_第2页

A ZPET-repetitive speed controller for ultrasonic motors 一种用于超声波电机的zpet重复速度控制器

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.2000.845301

H. Rodríguez, José Luis Pons Rovira, Ramón Ceres Ruíz

引用次数: 10

Developing a web-enabled equipment driver for semiconductor equipment communications 开发用于半导体设备通信的网络设备驱动程序

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.2000.846355

F. Cheng, Meng-Tsang Lin, R. Lee

{"title":"Developing a web-enabled equipment driver for semiconductor equipment communications","authors":"F. Cheng, Meng-Tsang Lin, R. Lee","doi":"10.1109/ROBOT.2000.846355","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846355","url":null,"abstract":"Equipment communications is essential for semiconductor manufacturing automation. Equipment managers generally function to communicate between the manufacturing execution system (MES) and equipment. To achieve generality and reusability, our previous work developed a generic equipment manager (GEMG). The rules governing the GEMG were divided into three independent portions: system/framework rules, business rules, and equipment rules. These rules were implemented in the MES interface, controller application (CA), and equipment driver (ED) modules, separately. Among them, equipment rules in the ED modules are equipment-dependent. Connecting a different machine to the GEMG requires modifying the associated ED accordingly, which is a difficult task. To solve this problem, this study proposes a web-enabled equipment driver (WED) that uses mobile object technology. Initially, a mobile object model with a Java applet, namely WED, is developed. WED is constructed on the equipment (server) side. Then, the equipment manager (client) downloads WED via a web browser. This process does not need to modify the ED. Subsequently, the equipment manager can communicate with the equipment by either the Java socket technology using the HSMS standard or the object web technology through the CORBA or DCOM protocols using the OBEM standard. This proposed scheme has been successfully implemented. Illustrative examples reveal that the proposed mobile object model and WED establish a novel, efficient, and versatile scheme for semiconductor equipment communications.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"06 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":"130711805","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

Toward biomorphic control using custom aVLSI CPG chips 使用定制的aVLSI CPG芯片实现生物形态控制

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.2000.844103

M. Lewis, R. Etienne-Cummings, A. Cohen, M. Hartmann

引用次数: 76

Characteristics of an ultrasonic motor capable of generating a multi-degrees of freedom motion 能够产生多自由度运动的超声电机的特性

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.2000.845302

K. Takemura, T. Maeno

引用次数: 29

Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger 通过检测弹性手指曲面上的粘/滑分布来控制抓取力

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.2000.845338

T. Maeno, Shinichi Hiromitsu, T. Kawai

引用次数: 90

An anthropomorphic head-eye robot expressing emotions based on equations of emotion 基于情感方程表达情感的拟人化头眼机器人

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.2000.846361

A. Takanishi, Kensuke Sato, Kunio Segawa, H. Takanobu, H. Miwa

{"title":"An anthropomorphic head-eye robot expressing emotions based on equations of emotion","authors":"A. Takanishi, Kensuke Sato, Kunio Segawa, H. Takanobu, H. Miwa","doi":"10.1109/ROBOT.2000.846361","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846361","url":null,"abstract":"The authors have been developing anthropomorphic head-eye robots, in order to elucidate the human vision system from an engineering point of view, and to develop a new head mechanism and function for a humanoid robot having the ability to communicate naturally with a human. We developed an anthropomorphic head-eye robot \"WE-3R III\" (Waseda Eye No.3 Refined III) having auditory sensation, cutaneous sensation and a facial expression mechanism with eyes, eyelids, eyebrows, lips, a jaw and a neck. It is said that the human cutaneous sensations include contact, pressure, cold, warmth and pain, so a tactile sensor and a temperature sensor were mounted on the robot. For the tactile sensor, we adopted a force sensing resistor. We think that the difference in touching methods such as 'push', 'stroke' and 'hit' have an effect on emotion, therefore we developed the method for recognizing those differences, and installed it in the robot. By improving and rebuilding the artificial psychological model of WE-3RII using a new concept-equations of emotion-in a 3D mental space, we realized expression of the mental state affected by various stimuli with WE-3R III.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"63 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":"124201512","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: 25

A novel visual servoing with stereo cameras using QR decomposition and disturbance observer 基于QR分解和扰动观测器的立体摄像机视觉伺服

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.2000.846443

Joon-Soo Lee, I. Suh, Bum-Jae You, Sang-Rok Oh

引用次数: 2

Environment delay in haptic systems 触觉系统中的环境延迟

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.2000.846392

B. Miller, J. Colgate, R. Freeman

引用次数: 34

A stability analysis of walking robots based on leg-end supporting moments 基于腿端支撑力矩的步行机器人稳定性分析

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.2000.846457

Debao Zhou, H. Low, T. Zielińska

{"title":"A stability analysis of walking robots based on leg-end supporting moments","authors":"Debao Zhou, H. Low, T. Zielińska","doi":"10.1109/ROBOT.2000.846457","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846457","url":null,"abstract":"An essential consideration in the development of any motion planning method for a multilegged vehicle is to maintain stability during walking. We propose a leg-end supporting moment (LSM) method, to measure the stability margin of walking robots. The LSM is defined as the product of the force acting on a supporting leg and the distance between the supporting leg and the opposite edge of the support polygon. These forces and distances can be obtained online from the internal robot sensors. The stability margin evaluated by the LSM method, expressed as LSM/sub m/, is defined as the quotient of the leg-end supporting moment over the weight of the robot. If the LSM/sub m/ is greater than zero, the robot is in stable state. Otherwise the robot will be in marginally stable state or will lose its stability. The simulation results show that the LSM method is suitable for the stability analysis in cases with and without external forces acting on the body. The method is not only effective for flat terrain, but also for uneven terrain. These characteristics enable the LSM method to measure the stability margin of a walking robot in the case of drilling, dragging and manipulating, also in the case when the robot is used in forestry.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"3 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":"130095004","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

Remote coordinated controls in multiple telerobot cooperation 多机器人协作中的远程协调控制

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.2000.845146

N. Chong, T. Kotoku, K. Ohba, K. Komoriya, N. Matsuhira, K. Tanie

{"title":"Remote coordinated controls in multiple telerobot cooperation","authors":"N. Chong, T. Kotoku, K. Ohba, K. Komoriya, N. Matsuhira, K. Tanie","doi":"10.1109/ROBOT.2000.845146","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845146","url":null,"abstract":"Various coordinated control schemes are explored in the multi-operator-multi-robot (MOMR) tele-collaborative system through a network with time delay. Multi-robot cooperation has rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because it would have a significant advantage over a single robot in such cases. Thus, time-delayed control of a multi-robot system is expected to play an important role in remote operations, too. However, the effect of time-delay would pose a more difficult problem to the MOMR teleoperation systems and seriously affect their performance. In this work, first, we have built an experimental system to investigate the remote cooperation in MOMR teleoperation. Then, different coordinated control methods are proposed to cope with the collision, arising from the time delay over the network. To verify the validity of the proposed schemes, we have carried out various experiments on a planar block arrangement by two slave arms employing graphic simulators and a LAN subject to a significant communication delay.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"15 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":"122314470","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: 75