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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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1 ms column parallel vision system and its application of high speed target tracking 1ms列并行视觉系统及其高速目标跟踪应用
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.2000.844126
Y. Nakabo, M. Ishikawa, H. Toyoda, S. Mizuno
{"title":"1 ms column parallel vision system and its application of high speed target tracking","authors":"Y. Nakabo, M. Ishikawa, H. Toyoda, S. Mizuno","doi":"10.1109/ROBOT.2000.844126","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844126","url":null,"abstract":"We have developed a 1 ms vision system, to provide a much faster frame rate than that of the conventional systems. Our 1 ms vision system has a 128/spl times/128 PD array and an all parallel processor array connected to each other in a column parallel architecture, so that the bottleneck of an image transfer is solved. 1 ms visual feedback has been realized in this system, in which the image feature value is extracted in 1 ms cycle-time for visual servoing. We have also developed a high speed active vision system (AVS)-II. Finally, we provide a detail discussion on our 1 ms vision system and its performance through some experiments.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"34 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":"125157797","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: 169
Towards robust sensor-based maneuvers for a car-like vehicle 面向基于传感器的稳健机动车辆
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.2000.845318
F. Large, S. Sekhavat, C. Laugier, E. Gauthier
{"title":"Towards robust sensor-based maneuvers for a car-like vehicle","authors":"F. Large, S. Sekhavat, C. Laugier, E. Gauthier","doi":"10.1109/ROBOT.2000.845318","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845318","url":null,"abstract":"This paper presents a novel control architecture for a car-like vehicle moving in a dynamic and partially known environment. The key idea is to plan and carry out sensor-based maneuvers. The paper focuses on the reactive part of the architecture that features control experts, i.e., parametrized control programs adapted to a specific maneuver and capable to react in real-time to unforeseen events. This paper aims to show why and how we made use of artificial neural network to improve the performance of our control architecture. Simulation and experimental results obtained with an automatic car are presented to illustrate the advantages of our approach.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"68 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":"123257511","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
Vision-guided autonomous stair climbing 视觉引导的自主爬楼梯
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.2000.844863
Y. Xiong, L. Matthies
{"title":"Vision-guided autonomous stair climbing","authors":"Y. Xiong, L. Matthies","doi":"10.1109/ROBOT.2000.844863","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844863","url":null,"abstract":"The Tactical Mobile Robot (TMR) program calls for autonomous mobility in an urban environment. Among all man-made structures which pose as barriers for a mobile robot stairs are the most obvious and ubiquitous structure an autonomous urban robot needs to be able to handle. The Urban II chassis by IS Robotics provides a mechanically simple and elegant way to enable the stair-climbing capability. This paper addresses the issue of using computer vision techniques to control the vehicle automatically when climbing stairs. The algorithm is based in detecting stair edges from a monocular sequence. It is shown that the position and orientation of the stair edges can be used to compute the 3D orientation and position of the vehicle relative to the stairs. Robust examination of those parameters is the key to reliable performance. A combination of techniques such as medium filtering, histogram peak finding, outlier rejection and weighted average are shown to be effective in practice. At the end, we briefly explain our work-in-progress in automatic corner-turning in climbing multiple flights of stairs.","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":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125332540","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
Visual tracking using dynamic transition in groups of affine transformed templates 在一组仿射变换模板中使用动态过渡的视觉跟踪
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.2000.846336
Ken Ito, S. Sakane
{"title":"Visual tracking using dynamic transition in groups of affine transformed templates","authors":"Ken Ito, S. Sakane","doi":"10.1109/ROBOT.2000.846336","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846336","url":null,"abstract":"This paper presents a view-based visual tracking system. View-based systems are more general than the other approaches which require analysis of 2D image features and matching with 3D models. For the image correlation, we use a visual tracking hardware based on a block matching algorithm. One problem of the block matching is how to cope with changes of the template's appearance in the 3D environment. Consequently, the system generates affine transformed templates corresponding to various orientations of the target image plane. We use geodesic domes not only for uniform distribution of the 3D orientations of the template image plane, but also for dynamic transition in groups of the candidate templates for the next search step. Experimental results demonstrate the usefulness of the proposed system.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"52 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":"126961863","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
A formalism for the composition of concurrent robot behaviors 机器人并发行为组合的一种形式化方法
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.2000.845244
E. Klavins, D. Koditschek
{"title":"A formalism for the composition of concurrent robot behaviors","authors":"E. Klavins, D. Koditschek","doi":"10.1109/ROBOT.2000.845244","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845244","url":null,"abstract":"We introduce tools which help one to compose concurrent, hybrid control programs for a class of distributed robotic systems, assuming a palette of controllers for individual tasks is already constructed. These tools, which combine the backchaining of continuous robot behaviors with Petri nets, expand on successful work in sequential composition of robot behaviors. We apply these ideas to the design and verification of a robotic bucket brigade and to simple, distributed assembly tasks as found in automated factories.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"28 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":"115519766","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: 46
Passive velocity field control of biped walking robot 双足步行机器人的被动速度场控制
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.2000.846492
M. Yamakita, F. Asano, K. Furuta
{"title":"Passive velocity field control of biped walking robot","authors":"M. Yamakita, F. Asano, K. Furuta","doi":"10.1109/ROBOT.2000.846492","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846492","url":null,"abstract":"The study of bipedal walking in the framework of humanoid robot is a recent active research area. In this paper, we apply passive velocity field control to the control of a biped walking robot which walks on the level ground by actuators. Using this method, we can change the walking speed easily by modifying a virtual energy. The validity of the proposed method is demonstrated by numerical simulations.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"28 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":"115989883","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
Robust damping control of wheeled mobile robots 轮式移动机器人的鲁棒阻尼控制
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.2000.846471
Sheng Lin, A. Goldenberg
{"title":"Robust damping control of wheeled mobile robots","authors":"Sheng Lin, A. Goldenberg","doi":"10.1109/ROBOT.2000.846471","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846471","url":null,"abstract":"In this paper, a novel robust damping control scheme is proposed for the tracking control of wheeled mobile robots in the presence of unknown dynamics and bounded disturbances. The knowledge of the bounds of uncertainties is not required. Global uniform boundedness of all tracking errors is guaranteed. The controller has a fairly simple structure and can be easily implemented. Simulation results illustrate the effectiveness of the proposed theory.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"181 6 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":"116417015","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: 15
A new redundancy-based iterative scheme for avoiding joint limits. Application to visual servoing 一种新的基于冗余的避免联合限制的迭代算法。应用于视觉伺服
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.2000.844844
F. Chaumette, É. Marchand
{"title":"A new redundancy-based iterative scheme for avoiding joint limits. Application to visual servoing","authors":"F. Chaumette, É. Marchand","doi":"10.1109/ROBOT.2000.844844","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844844","url":null,"abstract":"We propose in this paper new redundancy-based solutions to avoid robot joint limits of a manipulator. We use a control scheme based on the task function approach. We first recall the classical gradient projection approach and we then present a far more efficient method that relies on the iterative computation of motion that does not affect the task achievement and ensures the avoidance problem. We apply this new method in a visual servoing application and we demonstrate on various real experiments the validity of the approach.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"159 2 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":"116547654","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: 55
Biomechanical modeling of the small intestine as required for the design and operation of a robotic endoscope 设计和操作机器人内窥镜所需的小肠生物力学模型
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.2000.844825
H. D. Hoeg, A. B. Slatkin, J. Burdick, W. Grundfest
{"title":"Biomechanical modeling of the small intestine as required for the design and operation of a robotic endoscope","authors":"H. D. Hoeg, A. B. Slatkin, J. Burdick, W. Grundfest","doi":"10.1109/ROBOT.2000.844825","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844825","url":null,"abstract":"This paper discusses biomechanical issues that are related to the locomotion of a robotic endoscope in the human small intestine. The robot propels itself by pushing against the intestinal walls, much like a pipe crawler. However, the small intestine is not a rigid pipe; and locomotion in it is further complicated by the fact that the bowel is susceptible to damage. With the goal of engineering a safe and reliable machine, the biomechanical properties of the small bowel are studied and related to the mechanics of robotic endoscope locomotion through the small intestine.","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":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114397380","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: 107
Multi-cameras visual servoing 多摄像头视觉伺服
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.2000.845153
E. Malis, F. Chaumette, S. Boudet
{"title":"Multi-cameras visual servoing","authors":"E. Malis, F. Chaumette, S. Boudet","doi":"10.1109/ROBOT.2000.845153","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845153","url":null,"abstract":"In this paper, the classical visual servoing techniques have been extended to the use of several cameras observing different parts of an object. The multi-camera visual servoing has been designed as a part of the task function approach. The particular choice of the task function allows one to simplify the design of the control law and the stability analysis. A positioning task on a cumbersome object has been realized using 2D and 2 1/2 D visual servoings with two cameras, mounted on a manipulator robot, and observing two different parts of the object.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"32 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":"114572922","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: 54
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