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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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An actuator model of ICPF for robotic applications on the basis of physicochemical hypotheses 在物理化学假设的基础上，建立了机器人应用的ICPF作动器模型
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.2000.844784
S. Tadokoro, S. Yamagami, T. Takamori
{"title":"An actuator model of ICPF for robotic applications on the basis of physicochemical hypotheses","authors":"S. Tadokoro, S. Yamagami, T. Takamori","doi":"10.1109/ROBOT.2000.844784","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844784","url":null,"abstract":"The ICPF (ionic conducting polymer gel film) actuator is a new high polymer gel actuator by which revolutionary robotic mechanisms are expected. Actuator models for CAE are essential to the robotic design. However, present black/gray-box models of ICPF cannot express its nonlinear characteristics with enough accuracy. In this paper, a white-box actuator model is proposed on the basis of physicochemical hypotheses on the motion principle which are supported at present. In this model, travel of sodium ions and water molecules in the actuator membrane is modeled. Internal stress is generated by swell and contraction of the gel by water content change, electrostatic force of fixed sulfonic acid groups, and momentum conservation effect. Simulation results show higher accuracy on transient response and nonlinear characteristics in comparison with conventional models.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"7 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":"129852700","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: 117
State identification for planetary rovers: learning and recognition 行星漫游者状态识别:学习与识别
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.2000.844756
O. Aycard, R. Washington
{"title":"State identification for planetary rovers: learning and recognition","authors":"O. Aycard, R. Washington","doi":"10.1109/ROBOT.2000.844756","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844756","url":null,"abstract":"A planetary rover must be able to identify states where it should stop or change its plan. With limited and infrequent communication from ground, the rover must recognize states accurately. However, the sensor data is inherently noisy, so identifying the temporal patterns of data that correspond to interesting or important states becomes a complex problem. We present an approach to state identification using second-order hidden Markov models. Models are trained automatically on a set of labeled training data; the rover uses those models to identify its state from the observed data. The approach is demonstrated on data from a planetary rover platform.","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":"130409027","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: 9
Fully programmable MEMS ciliary actuator arrays for micromanipulation tasks 用于微操作任务的完全可编程MEMS纤毛致动器阵列
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.2000.844746
John W. Suh, R. Darling, K. Böhringer, B. Donald, H. Baltes, G. Kovacs
{"title":"Fully programmable MEMS ciliary actuator arrays for micromanipulation tasks","authors":"John W. Suh, R. Darling, K. Böhringer, B. Donald, H. Baltes, G. Kovacs","doi":"10.1109/ROBOT.2000.844746","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844746","url":null,"abstract":"The first micromachined bimorph organic ciliary array with on-chip CMOS circuitry is presented. This device is composed of an 8/spl times/8 array of cells each having four orthogonally oriented actuators in on overall die-size of 9.4 mm/spl times/9.4 mm. The polyimide based actuators were fabricated directly above the selection and drive circuitry. Selection and activation of actuators in this array shows that integration was successful. The integration of CMOS electronics and MEMS micromechanisms allows the implementation of new task-level micromanipulation strategies. New low-level control algorithms (actuator gaits) were also demonstrated. The array was programmed to perform several kinds of manipulation tasks, including linear translation, diagonal motion, as well as vector field operations such as squeeze field and radial field orienting and centering. Preliminary experiments were also performed using thin silicon dice of about 3 mm/spl times/3 mm/spl times/0.5 mm size as the object being moved.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"1 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":"130409877","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: 24
Study of soft-finger contact mechanics using finite elements analysis and experiments 用有限元分析和实验研究软手指接触力学
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.2000.846351
N. Xydas, M. Bhagavat, I. Kao
{"title":"Study of soft-finger contact mechanics using finite elements analysis and experiments","authors":"N. Xydas, M. Bhagavat, I. Kao","doi":"10.1109/ROBOT.2000.846351","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846351","url":null,"abstract":"Nonlinear finite element analysis is employed to study the soft-finger contact mechanics. Two fingertips of the same material but with different sizes are analyzed. The results are compared with experiments to support the power-law theory proposed by Xydas and Kao (1999). The material properties used in the FEM analysis are based upon uniaxial compression experiments conducted using the actual fingertip material. The coefficient of friction is also experimentally determined and applied in the simulation. Comparisons of numerical as well as experimental radii of contact are offered in conjunction with the power-law theory for soft fingers. The pressure distribution profile at the contact zone, obtained from the finite elements analysis, is plotted and the order of the generalized pressure distribution profile is calculated. Finally, the influence of friction over the contact area is investigated using FEM analysis.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"11 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":"129200455","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: 97
Small radius attainability spheres for driftless nonholonomic systems 无漂非完整系统的小半径可达球
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.2000.844862
I. Dulęba
{"title":"Small radius attainability spheres for driftless nonholonomic systems","authors":"I. Dulęba","doi":"10.1109/ROBOT.2000.844862","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844862","url":null,"abstract":"In this paper a constructive and analytic method is presented to obtain small radius attainability spheres for driftless nonholonomic systems. Sinusoidal controls generating points on spheres are derived from the generalized Campbell-Baker-Hausdorff-Dynkin formula. Nonholonomic spheres are constructed in Hall coordinate frame, thus they are independent of a particular nonholonomic system. Attainability spheres for two-input driftless systems with a three dimensional state space as well as geodesic curves are provided. The usefulness of construction of nonholonomic spheres in nonholonomic motion planning is highlighted.","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":"129209671","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
Online learning of the sensors fuzzy membership functions in autonomous mobile robots 自主移动机器人传感器模糊隶属函数的在线学习
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.2000.845161
H. Hagras, V. Callaghan, M. Colley
{"title":"Online learning of the sensors fuzzy membership functions in autonomous mobile robots","authors":"H. Hagras, V. Callaghan, M. Colley","doi":"10.1109/ROBOT.2000.845161","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845161","url":null,"abstract":"We describe a technique which enables a fuzzy-logic based robot control system to automatically determine the membership functions (MF) of the input sensors online and in a short time interval. There is a necessity for such online self-calibration for fast changing and dynamic environments such as agricultural environments and difficult or inaccessible environments, such as nuclear reactors, underwater and space environments. In these media the robot has to learn the appropriate MF with no human intervention taking into account the difference in sensor characteristics in the different environments and changes in production requirements and repairing or otherwise upgrading robots. So there is a necessity to find a fast converging algorithm that can calibrate the MF online in real time with no need for human intervention or simulation. our work reports on an approach based on the use of a modified genetic algorithm to evolve the fuzzy MF of the individual behaviours. The MF of four behaviours were learnt online in an average time of 4 minutes for each behaviour in an outdoor environment. These learnt behaviours were then co-ordinated and tested in complex and dynamic environments in which the robot gave a very good response.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"1 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":"130586621","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: 29
Fast distance queries with rectangular swept sphere volumes 快速距离查询与矩形扫球体积
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.2000.845311
E. Larsen, S. Gottschalk, M. Lin, Dinesh Manocha
{"title":"Fast distance queries with rectangular swept sphere volumes","authors":"E. Larsen, S. Gottschalk, M. Lin, Dinesh Manocha","doi":"10.1109/ROBOT.2000.845311","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845311","url":null,"abstract":"We present new distance computation algorithms using hierarchies of rectangular swept spheres. Each bounding volume of the tree is described as the Minkowski sum of a rectangle and a sphere, and fits tightly to the underlying geometry. We present accurate and efficient algorithms to build the hierarchies and perform distance queries between the bounding volumes. We also present traversal techniques for accelerating distance queries using coherence and priority directed search. These algorithms have been used to perform proximity queries for applications including virtual prototyping, dynamic simulation, and motion planning on complex models. As compared to earlier algorithms based on bounding volume hierarchies for separation distance and approximate distance computation, our algorithms have achieved significant speedups on many benchmarks.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"62 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":"123853904","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: 298
Motion estimation by iterative 2D features matching in range images 基于迭代二维特征匹配的距离图像运动估计
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.2000.845155
G. Borges, M. Aldon
{"title":"Motion estimation by iterative 2D features matching in range images","authors":"G. Borges, M. Aldon","doi":"10.1109/ROBOT.2000.845155","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845155","url":null,"abstract":"This article describes an iterative algorithm for relative motion estimation from 2D range images. The matching is achieved in the geometric feature domain represented by straight lines and ellipsoidal clusters. Using infinite length straight lines instead of line segments as features, the algorithm attempts to achieve robustness to partial occlusions. The motion estimates and the feature correspondence measures are determined in order to minimize a cost function. The performance of this algorithm was evaluated with experiments carried out in real cluttered indoor environments.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"26 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":"123614469","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: 8
Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation 机器人辅助显微外科手术人机协同力控制的初步实验
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.2000.844120
R. Kumar, P. Berkelman, P. Gupta, A. Barnes, P. Jensen, L. Whitcomb, R. Taylor
{"title":"Preliminary experiments in cooperative human/robot force control for robot assisted microsurgical manipulation","authors":"R. Kumar, P. Berkelman, P. Gupta, A. Barnes, P. Jensen, L. Whitcomb, R. Taylor","doi":"10.1109/ROBOT.2000.844120","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844120","url":null,"abstract":"Reports preliminary experiments with a robot system designed to cooperatively extend a human's ability to perform fine manipulation tasks requiring human judgement, sensory integration and hand-eye coordination. A completed steady-hand robot is reported. A stable force control law is reviewed. Preliminary experiments validate theoretical predictions of stable one-dimensional control of tool-tip forces in contact with both linearly and nonlinearly compliant objects. Preliminary feasibility experiments demonstrate stable one-dimensional robotic augmentation and \"force scaling\" of a human operator's tactile input.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"4 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":"114099570","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: 129
Robust and time-optimal control strategy for coarse/fine dual-stage manipulators 粗/细双级机械臂鲁棒时优控制策略
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.2000.845363
SangJoo Kwon, W. Chung, Y. Youm
{"title":"Robust and time-optimal control strategy for coarse/fine dual-stage manipulators","authors":"SangJoo Kwon, W. Chung, Y. Youm","doi":"10.1109/ROBOT.2000.845363","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845363","url":null,"abstract":"A robust and time optimal control strategy for dual-stage manipulator is presented. The time optimal trajectory for a mass-damper system is determined and given as a reference input to the system. The feedback controller is constructed so that the fine stage tracks the coarse stage errors. The controller is robustly designed as the \"perturbation compensated sliding mode control\" law, which is a combination of sliding mode controller and perturbation observer. In addition, a null motion controller which regulates the fine stage at its neutral position is designed based on the \"dynamic consistency\" and, as a result, the overall dual-stage servo system exhibits robust and time-optimal performance. The inherent merit and performance of the dual-stage system is shown by experiments.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"78 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":"114307433","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: 19
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