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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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On the use of robotics for melt-blowing to form shaped/molded fabric structures 关于使用机器人熔喷成型/模压织物结构
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.2000.844821
Raoul Farer, E. Grant, T. Ghosh, A. Seyam, Gordon K. Lee
{"title":"On the use of robotics for melt-blowing to form shaped/molded fabric structures","authors":"Raoul Farer, E. Grant, T. Ghosh, A. Seyam, Gordon K. Lee","doi":"10.1109/ROBOT.2000.844821","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844821","url":null,"abstract":"This paper presents an overview of research on the production of nonwoven and tailored 3D structures for protective garments (such as those worn by fire fighters) using robotics and meltblown technology. In particular, the integration of robotics and a small-scale melt-blowing unit is discussed. This paper develops the framework and general motivation for the overall study and describes in detail the novel 3D-fiber application system developed using a seven-degree of freedom system. This system will be used with control algorithms developed at the NCRC to improve uniformity of the shaped fabric structure.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"38 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":"133441243","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
Feature extraction for autonomous navigation using an active sonar head 主动声纳头自主导航特征提取
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.2000.845327
E. Araujo, R. Grupen
{"title":"Feature extraction for autonomous navigation using an active sonar head","authors":"E. Araujo, R. Grupen","doi":"10.1109/ROBOT.2000.845327","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845327","url":null,"abstract":"A critical problem in sensory interpretation is the derivation of the right mapping between sensor signals and properties of the world. In this regard, the method proposed uses active sensing to acquire environmental features for reliable navigation in indoor environments. The features utilized are lines, corners, and edges extracted from common indoor room features such as walls, room corners and room edges, respectively. These features are abundant in indoor environments and allow for closed-form location estimates from time-of-flight sonar information. Subsequently, a multiple hypothesis testing procedure is utilized to accurately localize and identify those features. Experiments using a new active sonar system, implemented using a 3 DOF binaural sonar head, shows that the system is able to correctly localize and identify indoor environmental features, and that active sensing strategies based on sensor reconfiguration makes the process of feature extraction more accurate.","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":"132698637","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: 11
Multi-agent architecture for distributed monitoring in flexible manufacturing systems (FMS) 柔性制造系统(FMS)分布式监控的多智能体体系结构
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.2000.846389
D. Ouelhadj, C. Hanachi, B. Bouzouia
{"title":"Multi-agent architecture for distributed monitoring in flexible manufacturing systems (FMS)","authors":"D. Ouelhadj, C. Hanachi, B. Bouzouia","doi":"10.1109/ROBOT.2000.846389","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846389","url":null,"abstract":"This paper describes an intelligent distributed monitoring architecture for flexible manufacturing systems (FMS) based on the multi-agent paradigm. The proposed approach models the FMS by a society of cognitive agents, which monitor a set of heterogeneous resources. These agents have sufficient knowledge for the decision-making and they co-operate together in order to achieve the FMS monitoring functions. The originality of this approach resides in the total distribution of the monitoring functions over the agents and the co-operation of these agents by the contract net protocol for the real-time supervision. These characteristics improve flexibility, extensibility, real-time running, autonomy, fast reaction to faults, and development cost. Experimental results developed in simulation show the feasibility and the potentialities of the proposed multi-agent architecture for distributed monitoring where concepts such us flexibility, co-ordination, reactivity and integration are involved.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"16 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":"128841467","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: 43
Gauss' principle and the dynamics of redundant and constrained manipulators 高斯原理与冗余约束机械臂动力学
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.2000.846414
H. Bruyninckx, O. Khatib
{"title":"Gauss' principle and the dynamics of redundant and constrained manipulators","authors":"H. Bruyninckx, O. Khatib","doi":"10.1109/ROBOT.2000.846414","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846414","url":null,"abstract":"This paper uses Gauss' principle of least constraint to derive the \"natural\" dynamic equations for redundant manipulators. This approach is the fastest way to the result that the operational space inertia matrix of the manipulator is the natural weighting matrix for the projection used in solving the redundancy problem. Force-controlled robots form a special case of redundant robots, such that the results can be applied straightforwardly to solve the long-standing problem of the \"non-invariance\" of the selection matrices in the hybrid force/position control paradigm.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"206 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":"134483315","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: 90
Self-calibration using the linear projective reconstruction 使用线性投影重建的自校准
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.2000.844161
J. Ha, Jin-Young Yang, Kuk-jin Yoon, In-So Kweon
{"title":"Self-calibration using the linear projective reconstruction","authors":"J. Ha, Jin-Young Yang, Kuk-jin Yoon, In-So Kweon","doi":"10.1109/ROBOT.2000.844161","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844161","url":null,"abstract":"Self-calibration algorithms that use only the information in the image have been actively researched. However, most algorithms require bundle adjustment in the projective reconstruction or in the nonlinear minimization. We propose a practical self-calibration algorithm that only requires a linear projective reconstruction. We overcome the sensitivity of the algorithm due to image noises by adding another constraint on the principal point. Also, we propose a variant of linear auto-calibration algorithm which uses the similar assumption of the work of Pollefeys et al. (1998), based on the property of the absolute quadric. Experimental results using real and synthetic images demonstrate the feasibility of the proposed algorithm.","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":"127420557","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: 3
Designing motion guides for ergonomic collaborative manipulation 设计人体工程学协同操作的运动指南
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.2000.846437
K. Lynch, Caizhen Liu
{"title":"Designing motion guides for ergonomic collaborative manipulation","authors":"K. Lynch, Caizhen Liu","doi":"10.1109/ROBOT.2000.846437","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846437","url":null,"abstract":"Manual materials handling of heavy loads is a common cause of low back disorders. The manual manipulation of a heavy load may be made more comfortable by constraining the load to move along a guide. If the load is constrained the human operator can provide forces in directions that are comfortable while the frictionless guide directs the motion of the load to the goal configuration. We study the design of such motion guides for ergonomic materials handling. We formulate the problem and provide some example guides for planar manipulation. The motion guides may be implemented by fixed rail systems or by programmable constraint machines (cobots).","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"332 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":"115227800","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
TerminatorBot: a robot with dual-use arms for manipulation and locomotion TerminatorBot:一种双臂两用的机器人，用于操作和移动
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.2000.844040
R. Voyles
{"title":"TerminatorBot: a robot with dual-use arms for manipulation and locomotion","authors":"R. Voyles","doi":"10.1109/ROBOT.2000.844040","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844040","url":null,"abstract":"A novel, miniature robot designed to use its two arms for both manipulation and locomotion is described. Intended for military and civilian surveillance and search-and-rescue applications, the robot must be small, rugged, and lightweight, hence the desire for dual-use. The robot consists of two, three-degree-of-freedom arms that can stow completely inside the 75 mm diameter cylindrical body for ballistic deployment. This paper describes the mechanism and design motivation as well as two novel locomotion gaits and a third conventional gait.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"27 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":"115573201","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: 47
Design of active/passive hybrid compliance in the frequency domain-shaping dynamic compliance of humanoid shoulder mechanism 仿人肩关节机构主被动混合柔度频域整形动力学柔度设计
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.2000.846362
M. Okada, Yoshihiko Nakamura, S. Hoshino
{"title":"Design of active/passive hybrid compliance in the frequency domain-shaping dynamic compliance of humanoid shoulder mechanism","authors":"M. Okada, Yoshihiko Nakamura, S. Hoshino","doi":"10.1109/ROBOT.2000.846362","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846362","url":null,"abstract":"Design and control of mechanical compliance would be one of the most important technical foci in making humanoid robots really interactive with humans. For task execution and safety insurance the issue must be discussed and offers useful and realistic solutions. We propose a theoretical design principle of mechanical compliance. Passive compliance implies a mechanically embedded compliance in drive systems and is reliable but not tunable in nature, while active compliance is a controlled compliance and, therefore, widely tunable, but less reliable specially in the high frequency domain. The basic idea of the paper is to use active compliance in the lower frequency domain and to rely on passive compliance in the higher frequency. H/sub /spl infin// control theory based on systems identification allows a systematic method to design the hybrid compliance in frequency domain. The proposed design is applied to the shoulder mechanism of a humanoid torso robot. Its implementation and experiments are to be shown with successful results.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"137 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":"115789625","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
Automated CAD-guided automobile part dimensional inspection 自动cad引导的汽车零件尺寸检测
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.2000.844755
W. Sheng, N. Xi, Mumin Song, Yifan Chen, J. Rankin
{"title":"Automated CAD-guided automobile part dimensional inspection","authors":"W. Sheng, N. Xi, Mumin Song, Yifan Chen, J. Rankin","doi":"10.1109/ROBOT.2000.844755","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844755","url":null,"abstract":"Structured light is one of the well-known methods in part dimensional inspection that have been successfully employed in various applications in the past decades. In this method, the positioning of the camera is very critical, which affects the accuracy and efficiency of the whole inspection system. Here we develop a CAD-guided camera positioning system to aid the 3-D part inspection. The geometric information in the CAD model of the inspected part and the camera model are used to plan camera configurations that satisfy certain task constraints. The overall system we propose can be applied to the 3-D inspection of parts with free-form surfaces, such as automobile door panels. Experiments on different parts show satisfying results.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"368 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":"114861464","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: 28
A reconfigurable parts feeder with an array of pins 带引脚阵列的可重构零件馈线
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.2000.844052
S. Blind, Christopher C. McCullough, Srinivas Akella, J. Ponce
{"title":"A reconfigurable parts feeder with an array of pins","authors":"S. Blind, Christopher C. McCullough, Srinivas Akella, J. Ponce","doi":"10.1109/ROBOT.2000.844052","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844052","url":null,"abstract":"This paper presents a simple parts feeder consisting of a grid of retractable pins on a vertical plate to manipulate polygonal parts. This reconfigurable \"Pachinko machine\" is intended as a parts feeding device for flexible assembly. A part dropped on this device may come to rest on the actuated pins, or bounce out or fall through. We can control the set of equilibrium part configurations by selecting the set of actuated pins. The objective is to automatically compute sequences of pin actuation that bring the part to a goal configuration without predicting the exact object motion between equilibria. Our approach is based on the construction of the capture region of each part equilibrium. Reorienting a part reduces to building a directed graph whose nodes consist of equilibria and whose area link pairs of nodes such that the first equilibrium lies in the capture region of the second one, and then exploring this graph to find paths from initial to goal states. We have implemented an algorithm to generate the capture regions and these paths, and have conducted experiments on a prototype Pachinko machine.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"44 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":"114556603","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: 16
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