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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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BERRA: a research architecture for service robots 贝拉:服务机器人的研究架构
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.2000.845168
M. Lindström, Anders Orebäck, H. Christensen
{"title":"BERRA: a research architecture for service robots","authors":"M. Lindström, Anders Orebäck, H. Christensen","doi":"10.1109/ROBOT.2000.845168","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845168","url":null,"abstract":"The architecture for a mobile service robot is discussed. The paper covers aspects related to overall design and implementation. The robot architecture is of the hybrid deliberative/reactive behavioral type. The strategy is selection where planning is viewed as configuration. The architecture can be divided into three layers, one for deliberation, one for task execution, and one reactive layer. Scalability and a high degree of flexibility have been primary design goals, making it easy to reconfigure the system. The system has been built in an object oriented fashion. An application of the architecture has been tested in a significant number of missions in our lab, where one room has been setup as an ordinary living room.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"329 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":"124301498","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: 103
Application of a nonlinear adaptive controller to a 6 DOF parallel manipulator 非线性自适应控制器在6自由度并联机械臂中的应用
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.2000.844877
M. Honegger, R. Brega, G. Schweitzer
{"title":"Application of a nonlinear adaptive controller to a 6 DOF parallel manipulator","authors":"M. Honegger, R. Brega, G. Schweitzer","doi":"10.1109/ROBOT.2000.844877","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844877","url":null,"abstract":"Nonlinear adaptive control schemes for robotic manipulators or new types of high speed machine tools with nonlinear dynamics are well suited to keep the tracking errors low, even at high speeds. Their application however requires fast microprocessors and an operating system that allows implementing the control algorithms as hard real-time tasks. The paper presents the implementation of a nonlinear model-based manipulator controller with adaptation algorithms on a new generation real-time operating system (RTOS) called XOberon. This RTOS goes beyond the established concepts, like interruptor priority-driven scheduling, bringing in new programming paradigms, such as deadline-driven scheduling. The superiority of this controller when applied to a fast 6 DOF parallel manipulator is finally shown by comparing its tracking performance with the one obtained using conventional linear controllers.","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":"125471558","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: 102
Autonomous underwater simultaneous localisation and map building 自主水下同步定位和地图建设
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.2000.844855
Stefan B. Williams, P. Newman, G. Dissanayake, H. Durrant-Whyte
{"title":"Autonomous underwater simultaneous localisation and map building","authors":"Stefan B. Williams, P. Newman, G. Dissanayake, H. Durrant-Whyte","doi":"10.1109/ROBOT.2000.844855","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844855","url":null,"abstract":"We present results of the application of a simultaneous localisation and map building (SLAM) algorithm to estimate the motion of a submersible vehicle. Scans obtained from an on-board sonar are processed to extract stable point features in the environment. These point features are then used to build up a map of the environment while simultaneously providing estimates of the vehicle location. Results are shown from deployment in a swimming pool at the University of Sydney as well as from field trials in a natural environment along Sydney's coast. This work represents the first instance of a deployable underwater implementation of the SLAM algorithm.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"31 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":"125716639","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: 152
Experiments on capturing a floating object by two flexible manipulators 两个柔性机械手捕获漂浮物的实验
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.2000.844101
M. Yamano, A. Konno, M. Uchiyama
{"title":"Experiments on capturing a floating object by two flexible manipulators","authors":"M. Yamano, A. Konno, M. Uchiyama","doi":"10.1109/ROBOT.2000.844101","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844101","url":null,"abstract":"This paper discusses a way of capturing a floating object by two flexible manipulators. We propose a capturing procedure using hybrid position/force control and vibration suppression control. The procedure is established so that two hands reach the object simultaneously and grasp the object exerting the desired forces/moments. The hands approach the object measuring the positions/orientations of the object and grasp it measuring the exerted forces/moments in the procedure. The effectiveness of our method is shown in experiments using two 3D manipulators, each of which has two flexible links and seven joints.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"30 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":"125726323","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
Advances in orbital robotics 轨道机器人技术的进展
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.2000.844163
G. Hirzinger, B. Brunner, R. Lampariello, K. Landzettel, J. Schott, B. Steinmetz
{"title":"Advances in orbital robotics","authors":"G. Hirzinger, B. Brunner, R. Lampariello, K. Landzettel, J. Schott, B. Steinmetz","doi":"10.1109/ROBOT.2000.844163","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844163","url":null,"abstract":"Outlines the situation in orbital space robotics with special reference to what DLR (German Aerospace Center) has contributed to the field. After our ROTEX experiment, the first remotely controlled space robot inside the space shuttle, the Japanese ETS VII has now been the first remotely controlled free-flying space robot. We had the opportunity to control this arm from the ground, too, including the use of the robot arm as a satellite attitude controller. It is outlined how it is now time to take the next steps towards operational ground-controlled space robot systems, presumably first on the International Space Station, but later on as free flying robonauts assisting or even replacing extra vehicular activities.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"12 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":"125779416","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: 40
Nonholonomic motion planning for mobile manipulators 移动机械臂的非完整运动规划
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.2000.844767
H. Tanner, K. Kyriakopoulos
{"title":"Nonholonomic motion planning for mobile manipulators","authors":"H. Tanner, K. Kyriakopoulos","doi":"10.1109/ROBOT.2000.844767","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844767","url":null,"abstract":"A nonholonomic motion planner for mobile manipulators moving in cluttered environments is presented. The approach is based on a discontinuous feedback law under the influence of a special potential field. Convergence is shown via Lyapunov's direct method. Utilizing redundancy, the methodology allows the system to perform secondary, configuration dependent, objectives such as singularity avoidance. It introduces an efficient feedback scheme for real time navigation of nonholonomic systems.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"18 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":"122051476","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: 122
Advanced torque control of robot manipulators driven by AC induction motors 交流感应电机驱动机器人机械手的高级转矩控制
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.2000.845282
Dong Sun, J. Mills
{"title":"Advanced torque control of robot manipulators driven by AC induction motors","authors":"Dong Sun, J. Mills","doi":"10.1109/ROBOT.2000.845282","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845282","url":null,"abstract":"A control architecture called \"advanced torque control\" is developed for robot manipulators driven by induction motors. The motor is regarded as a torque source, and a desired torque signal is designed based on the desired position trajectory. A commanded input to the torque loop is further developed to cause the torque to track the designed torque signal, utilizing a torque feedforward plus a PI-type torque feedback control. The method utilizes partial knowledge of the electromechanical dynamic model of the induction motor. Both position and current signals are controlled in the generation of the input to the torque loop. Experimental results conducted on a commercial AC induction servo system demonstrates that this method exhibits good motion performance.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"45 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":"127905653","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
The toppling graph: designing pin sequences for part feeding 倾覆图:设计零件送料引脚顺序
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.2000.844051
Zhang Tao, Gordon Smith, Robert-Paul Berretty, M. Overmars, Ken Goldberg
{"title":"The toppling graph: designing pin sequences for part feeding","authors":"Zhang Tao, Gordon Smith, Robert-Paul Berretty, M. Overmars, Ken Goldberg","doi":"10.1109/ROBOT.2000.844051","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844051","url":null,"abstract":"We consider a sensorless approach to feeding parts on a conveyor belt using pins (rigid barriers) to topple parts into desired orientations. Given the 2D projection of an n-sided convex polyhedral part, its center of mass, and coefficients of friction, we give an O(n/sup 2/) algorithm to compute the \"toppling graph\", a new data structure that represents the mechanics of toppling, including rolling and jamming. The toppling graph can be used to identify critical pin heights that permit toppling. We compare pin heights predicted by the graph with physical experiments, and give a complete O(n/sup 3n/) algorithm for designing pin sequences.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"49 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":"115912011","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: 17
Coordinated trajectory following for mobile manipulation 移动操作的协调轨迹跟踪
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.2000.845268
M. Egerstedt, Xiaoming Hu
{"title":"Coordinated trajectory following for mobile manipulation","authors":"M. Egerstedt, Xiaoming Hu","doi":"10.1109/ROBOT.2000.845268","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845268","url":null,"abstract":"A platform independent control approach for mobile manipulation and coordinated trajectory following is proposed and analyzed. Given a path for the gripper to follow, another path is planned for the base in such a way that it is feasible with respect to manipulability. The base and the end-effector then follow their respective reference trajectories according to proven stable, error-feedback control algorithms, while the base is placed in such a way that the end-effector trajectory always is within reach for the manipulator.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"605 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":"132081984","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: 42
Distributed robot helpers handling a single object in cooperation with a human 分布式机器人助手与人类合作处理单个对象
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.2000.844097
Y. Hirata, K. Kosuge
{"title":"Distributed robot helpers handling a single object in cooperation with a human","authors":"Y. Hirata, K. Kosuge","doi":"10.1109/ROBOT.2000.844097","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844097","url":null,"abstract":"In this paper, we propose distributed robot helpers (DR helpers) and a decentralized control algorithm for them to transport a single object in cooperation with a human/humans. The DR helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each robot is controlled as if it has a caster-like mechanism. The adaptive dual caster action is proposed to improve the maneuverability of the system. Multiple DR helpers could transport a single object in cooperation with a human based on the operator's intentional force/moment. Experiments using multiple DR helpers will illustrate the validity of the proposed control system.","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":"130280260","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: 76
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