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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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Fluid models and hybrid automata in manufacturing 制造业中的流体模型和混合自动机
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.2000.846427
F. Balduzzi
{"title":"Fluid models and hybrid automata in manufacturing","authors":"F. Balduzzi","doi":"10.1109/ROBOT.2000.846427","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846427","url":null,"abstract":"In this paper we discuss a hybrid formulation for the modeling and control of automated manufacturing systems within a framework that distinguishes two levels of aggregation. At the lower level the discrete flows of parts are approximated by first-order fluid models. At the higher level a finite automaton represents the transitions of the system through a sequence of admissible macro-states at the occurrence of the macro-events. We describe both levels with a single formalism by a hybrid automaton and we approach the safety verifcation of the system requirements by addressing the reachability problem in terms of the timing information associated with the verification problem.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"20 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":"114592374","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: 4
Modeling and throughput prediction for flexible parts feeders 柔性零件送料机的建模与产量预测
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.2000.844053
M. Branicky, G. C. Causey, R. Quinn
{"title":"Modeling and throughput prediction for flexible parts feeders","authors":"M. Branicky, G. C. Causey, R. Quinn","doi":"10.1109/ROBOT.2000.844053","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844053","url":null,"abstract":"We illustrate a methodology for modeling and analyzing flexible feeders using generalized semi-Markov process (GSMP) models. Working through the simple case consisting of a single part being fed on a flexible feeder, we show how the throughput of the system may be obtained by both GSMP simulation and analytical techniques for GSMP models. Further, we demonstrate the predictive capability of such models. This is accomplished by generating and validating a model of the system feeding three distinct part types (at the same time) and then modifying the model to allow other feeding scenarios to be predicted. These scenarios include the effect of feeding the parts in a specific order, the effect of using a robot with different speed capabilities, and the effect of using a different-sized presentation conveyor. We validate the predictions with physical testing.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"2 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":"122121507","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: 7
Variable structure systems approach to friction estimation and compensation 变结构系统摩擦估计与补偿方法
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.2000.845283
Q. Ha, A. Bonchis, D. Rye, H. Durrant-Whyte
{"title":"Variable structure systems approach to friction estimation and compensation","authors":"Q. Ha, A. Bonchis, D. Rye, H. Durrant-Whyte","doi":"10.1109/ROBOT.2000.845283","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845283","url":null,"abstract":"Compensating for friction is considered in the paper using the variable structure systems approach. First, variable structure-based observers are developed for friction estimation in mechanical systems with or without information of velocity. The estimates are then used for a model-based feedforward compensation for friction. For a non-model based approach, a robust sliding mode controller can also be used to cancel the influence of friction. Sigmoidal functions are used in lieu of signum functions to reduce chattering. Simulation results verify the validity of the proposed technique to compensate for friction of both static and dynamic models.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"40 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":"116747147","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: 39
A comparison of four fast vision based object recognition methods for programming by demonstration applications 通过实例比较了四种基于快速视觉的目标识别方法
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.2000.844866
M. Ehrenmann, Despina Ambela, P. Steinhaus, R. Dillmann
{"title":"A comparison of four fast vision based object recognition methods for programming by demonstration applications","authors":"M. Ehrenmann, Despina Ambela, P. Steinhaus, R. Dillmann","doi":"10.1109/ROBOT.2000.844866","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844866","url":null,"abstract":"Service robots require interactive programming interfaces that allow users without programming experience to easily instruct the robots. Systems following the programming-by-demonstration (PbD) paradigm are getting closer to this goal. Visual observation of the user and environment is one important aspect for reasoning about goals and actions. With respect to the automatic generation of adaptive programs, a PbD-System should detect, classify and determine the pose of manipulable objects in a fast and stable way. This paper presents a comparison of four established methods proposing a new object classification approach that combines these methods. This gives a means for setting up a world model of a manipulations scene automatically and initializes active contour parameters in order to trade motions of these objects.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"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":"129618627","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: 26
Reinforcement learning with fuzzy evaluative feedback for a biped robot 基于模糊评价反馈的两足机器人强化学习
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.2000.845328
Changjiu Zhou, Qingchun Meng
{"title":"Reinforcement learning with fuzzy evaluative feedback for a biped robot","authors":"Changjiu Zhou, Qingchun Meng","doi":"10.1109/ROBOT.2000.845328","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845328","url":null,"abstract":"Proposes a fuzzy reinforcement learning algorithm for biped gait synthesis. It is based on a modified GARIC (generalized approximate reasoning for intelligent control) architecture that can accept fuzzy evaluative feedback rather than a numerical one. The proposed gait synthesizer forms the initial gait from intuitive balancing knowledge, and it is then trained by the fuzzy reinforcement learning algorithm that uses a fuzzy critical signal to evaluate the degree of success for the biped dynamic walking by means of the zero moment point. The performance and applicability of the proposed method are illustrated through biped simulation.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"86 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":"128499527","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: 36
Determination of the carriage stroke of 6-PSS parallel manipulators having the specific orientation capability in a prescribed workspace 在规定的工作空间中具有特定定向能力的6-PSS并联机械臂的架程确定
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.2000.846383
Tian Huang, B. Jiang, D. Whitehouse
{"title":"Determination of the carriage stroke of 6-PSS parallel manipulators having the specific orientation capability in a prescribed workspace","authors":"Tian Huang, B. Jiang, D. Whitehouse","doi":"10.1109/ROBOT.2000.846383","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846383","url":null,"abstract":"In this paper, an effective approach to determine the carriage stroke of 6-PSS parallel manipulator is presented. The analytical expression of the position workspace boundary is formulated using differential geometry. This allows the closed form solution to the carriage stroke necessary to generate a cylindrical prescribed workspace to be determined.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"68 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":"129026951","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
Behavior coordination and its modification on brachiation-type mobile robot 臂式移动机器人的行为协调及其修正
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.2000.845352
Y. Hasegawa, Yoshikuni Ito, T. Fukuda
{"title":"Behavior coordination and its modification on brachiation-type mobile robot","authors":"Y. Hasegawa, Yoshikuni Ito, T. Fukuda","doi":"10.1109/ROBOT.2000.845352","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845352","url":null,"abstract":"Proposes an adaptation method for a behavior-based locomotion robot. Utilization of a behavior-based controller makes the controller designing process easier and shorter, because the designer can deal with behavior controllers for simple behaviors independently, and after that can coordinate those behavior controllers in order for a robot to achieve the objective complex behavior. Some problems are still remaining. One is how to adjust the total behavior when the target task or environment is changed. We propose the method to adjust the behavior coordinator against some changes. This method adjusts the activation level of each behavior controller for the changes in fewer trials. It is applied to real brachiation robot control. The brachiation robot has a redundant mechanism to locomote from branch to branch like a long-armed ape.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"24 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":"129276758","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: 21
Intelligent soft contact surface technology with MEMS in robotic and human augmented systems 基于MEMS的智能软接触面技术在机器人和人体增强系统中的应用
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.2000.844738
G. Wang, I. Kao
{"title":"Intelligent soft contact surface technology with MEMS in robotic and human augmented systems","authors":"G. Wang, I. Kao","doi":"10.1109/ROBOT.2000.844738","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844738","url":null,"abstract":"This paper presents the framework of the smart anthropomorphic contact surface technology (SACST) based upon robotics theories, to employ MEMS devices in a distributed system, and to integrate the sensory information for feedback control to import intelligence. The technology can be applied to empower intelligence to the design of seats, beds, wheelchair, shoes, and artificial skin for robot arms. SACST utilizes the soft contact model, which subsumes the Hertzian contact model (Hertz, 1882), normal force and pressure distribution at the contact interface, friction limit surface, and stiffness of contact to dynamically reshape the surface through embedded MEMS transducer systems in real time. Such designs can also implement dynamic functions such as massage or tilting of contact surfaces. We will present the ongoing development in SACST and the associated scientific principles. In the end, the framework will be able to free up users from lower level tasks in order that they can concentrate on higher level tasks.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"42 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":"124711524","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
Bordered matrix for singularity robust inverse kinematics: a methodological aspect 奇异鲁棒逆运动学的边界矩阵:一个方法学方面
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.2000.846485
Jerome Foret, M. Xie, J. Fontaine
{"title":"Bordered matrix for singularity robust inverse kinematics: a methodological aspect","authors":"Jerome Foret, M. Xie, J. Fontaine","doi":"10.1109/ROBOT.2000.846485","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846485","url":null,"abstract":"In this article we propose a methodology to smoothly control manipulators when passing through singular configurations. Properties of bordered matrix and their inverse are discussed by means of their ability to properly condition the Jacobian of the system and insure smoothness in the velocity and/or acceleration profile. The efficiency of the algorithm is comparable to that of the singular robust inverse when the singular value decomposition is used Simulation results are discussed at the end of the article.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"23 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":"129478927","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: 4
High speed visual servoing of a 6 DOF manipulator using MIMO predictive control 基于MIMO预测控制的六自由度机械臂高速视觉伺服
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.2000.845316
J. Gangloff, M. Mathelin
{"title":"High speed visual servoing of a 6 DOF manipulator using MIMO predictive control","authors":"J. Gangloff, M. Mathelin","doi":"10.1109/ROBOT.2000.845316","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845316","url":null,"abstract":"This paper presents a novel approach to model and control high speed 6 DOF visual servo loops. The modelling and control strategy takes into account the dynamics of a velocity controlled 6 DOF manipulator as well as a simplified model of the camera and acquisition system in order to increase the bandwidth of the servo loop. multi-input multi-output (MIMO) generalized predictive control (GPC) is used to optimally control the visual loop with respect to the proposed dynamic model. The visual sensor used in the experiments is a high speed camera that allows to acquire 120 noninterlaced images per second. With this camera, we achieve a sampling frequency of 120 Hz for the visual loop. Experimental results on a 6 DOF industrial robot are presented that validate the proposed model. They show drastic improvement of the loop performance with respect to more classical control strategies like PID type control.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"156 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":"129681645","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: 27
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