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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)最新文献

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A navigation strategy for cooperative multiple mobile robots 协作多移动机器人的导航策略
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583110
Karansher Singh, K. Fujimura
{"title":"A navigation strategy for cooperative multiple mobile robots","authors":"Karansher Singh, K. Fujimura","doi":"10.1109/IROS.1993.583110","DOIUrl":"https://doi.org/10.1109/IROS.1993.583110","url":null,"abstract":"The problem of navigation of cooperative multiple heterogeneous mobile robots is investigated. The mobile robots vary in size and their capabilities in terms of speeds to navigate through the region and sensor ranges to acquire information about the region. The robots are assumed to have sufficient memory to store the map and to be able to communicate with each other. An algorithm is presented for plane sweep by cooperative multiple mobile robots. The authors' approach makes use of an occupancy grid and the robots sensors are to sweep all pixels of the grid. The algorithm is discussed in detail and its feasibility is demonstrated by simulation results for the case of two cooperating mobile robots.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126464054","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
Developing telerobotic systems using virtual reality concepts 利用虚拟现实概念开发远程机器人系统
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583122
M. Trivedi, Chuxin Chen
{"title":"Developing telerobotic systems using virtual reality concepts","authors":"M. Trivedi, Chuxin Chen","doi":"10.1109/IROS.1993.583122","DOIUrl":"https://doi.org/10.1109/IROS.1993.583122","url":null,"abstract":"The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operator is an essential element of the integrated system and is provided with various powerful displays (for both visual and nonvisual information) for telepresence and interactive controls for teleoperation. Thus, the operator stationed in the safe and virtual work environment, is able to cooperate with the robotic system in accomplishing an assigned task. The team has been investigating various problems associated with the use of virtual-reality based concepts in robot control and system development for the past several years. Some of the main ideas which underlie the investigations are, multiple sensory based operation, transparency between real and virtual mode operation, integrating sensing and task planning in simulation, and reliance on extensive and systematic experimental evaluation. The systems developed are useful for both off-online and online operation.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126207831","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
Study of the dynamic behavior of RALPHY RALPHY的动态特性研究
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583875
C. Villard, P. Gorce, J. Fontaine
{"title":"Study of the dynamic behavior of RALPHY","authors":"C. Villard, P. Gorce, J. Fontaine","doi":"10.1109/IROS.1993.583875","DOIUrl":"https://doi.org/10.1109/IROS.1993.583875","url":null,"abstract":"The authors propose a control/command scheme for the quadruped robot RALPHY (French acronym for legged robot with pneumatic actuators) which takes into account both dynamical and real time aspects as well as theoretical and practical approaches. They decompose the dynamic model for the whole robot into two parts in order to distribute hierarchically the tasks to be realized as much as possible. In this architecture, the lowest level (leg level) is assigned to command the leg movements through a leg inverse dynamic model computation. At an upper level (coordinator level), the control of the platform is handled by the leg-to-platform interaction model computation. The behavior of the robot is simulated.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128100310","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
A formulation for task based design of robot manipulators 一种基于任务的机器人操作手设计公式
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583948
Jin-Oh Kim, P. Khosla
{"title":"A formulation for task based design of robot manipulators","authors":"Jin-Oh Kim, P. Khosla","doi":"10.1109/IROS.1993.583948","DOIUrl":"https://doi.org/10.1109/IROS.1993.583948","url":null,"abstract":"The authors discuss how to design a manipulator from a given task. While the ultimate goal is to design all kinematic and dynamic parameters of a manipulator, they consider only kinematic parameters. Optimal design of a manipulator even for a simple task is difficult because it involves a complex task description and constraints on possible manipulators and many design variables that lead to a combinatorial explosion. For the example of designing a space shuttle tile servicing robot, they introduce a formulation of a given task and manipulator constraints.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121738151","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: 35
An approach to disassembly problems in robotics 机器人拆卸问题的一种方法
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583139
P. Dario, M. Rucci
{"title":"An approach to disassembly problems in robotics","authors":"P. Dario, M. Rucci","doi":"10.1109/IROS.1993.583139","DOIUrl":"https://doi.org/10.1109/IROS.1993.583139","url":null,"abstract":"The authors present motivations for the long term research program on the various aspects of disassembly undertaken in their laboratory, and outline a theoretical framework for approaching disassembly problems. An application is described which is derived from such a framework in the context of a specific case-study of disassembly.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132224583","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
Fine motion control by making actuators sensible 通过使致动器敏感来精细运动控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583276
H. Zhu, C. Teo, G. Hong, A. Poo
{"title":"Fine motion control by making actuators sensible","authors":"H. Zhu, C. Teo, G. Hong, A. Poo","doi":"10.1109/IROS.1993.583276","DOIUrl":"https://doi.org/10.1109/IROS.1993.583276","url":null,"abstract":"The nonlinear and cross-coupled dynamics of motor-manipulator systems is studied, and a control strategy is developed for achieving ease of controller design and high control performance. By using the algorithm developed in this paper, not only can the highly complicated motor-manipulator dynamics be effectively controlled, but the motors are also made \"sensible\" for sensing and compensating for the uncertain dynamics acting at manipulator joints. Furthermore, as a significant result, the modeling difficulty and control complexity of the manipulator dynamics can be significantly reduced.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132563266","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
A continuum approach to hyper-redundant manipulator dynamics 超冗余机械臂动力学的连续体方法
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583307
G. Chirikjian
{"title":"A continuum approach to hyper-redundant manipulator dynamics","authors":"G. Chirikjian","doi":"10.1109/IROS.1993.583307","DOIUrl":"https://doi.org/10.1109/IROS.1993.583307","url":null,"abstract":"Hyper-redundant, or snakelike, manipulators have a very large number of actuatable degrees of freedom. This paper develops an efficient formulation of approximate hyper-redundant manipulator dynamics. The most efficient methods for representing manipulator dynamics in the literature require serial computations proportional to the number of degrees of freedom and are not fully parallelizable. For hyper-redundant manipulators, which may have tens, hundreds, or thousands of actuators, these formulations preclude real time implementation. This paper therefore looks at the mechanics of hyper-redundant manipulators from the point of view of an approximation to an infinite degree-of-freedom problem. The dynamics for this infinite dimensional case is developed. The approximate dynamics of actual hyper-redundant manipulators is then reduced to a problem which is O(1) in the number of serial computations, i.e., the algorithm is O(n) in the total number of computations, but these computations are completely parallelizable. Applications to practical computed torque control schemes are demonstrated.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"155 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134013630","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
Reorientation of a structure in space using a three link manipulator 使用三连杆机械臂在空间中重新定位结构
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583917
R. Mukherjee
{"title":"Reorientation of a structure in space using a three link manipulator","authors":"R. Mukherjee","doi":"10.1109/IROS.1993.583917","DOIUrl":"https://doi.org/10.1109/IROS.1993.583917","url":null,"abstract":"Proposes to control the attitude of space structures using a serial three-link PUMA-type manipulator that can be mounted on the space structure. This unconventional method of attitude control exploits the nonholonomic nature of the constraints that arise due to the conservation of angular momentum. The author adopts a surface integral approach for manipulator motion planning that will reorient the space structure in any desired way. The salient features of the algorithm are (a) it is possible to mathematically prove the controllability of the system, (b) the motion of the manipulator can be planned amidst additional constraints like joint limits of the manipulator, and (c) the algorithm can be easily extended to flexible space structures.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134241130","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: 5
Identifying relational error recovery/online plans utilizing fuzzy logic techniques and semantic networks 利用模糊逻辑技术和语义网络识别关系错误恢复/在线计划
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583871
J. Farah, R. Kelley
{"title":"Identifying relational error recovery/online plans utilizing fuzzy logic techniques and semantic networks","authors":"J. Farah, R. Kelley","doi":"10.1109/IROS.1993.583871","DOIUrl":"https://doi.org/10.1109/IROS.1993.583871","url":null,"abstract":"The potential for the use of fuzzy logic in the assignment of fuzzy weights to the existing relational links of the Primitive Structure Database is explored. The assignment of these weights is crucial to establishing robust error recovery and a competent online planning scheme as the weights provide a mechanism whereby the extent of the strength of a relation can be established. Through the appropriate defuzzification of the combined weights in the path of a single plan or multiple plans, a more realistic expectation of the potential success of a particular plan can be extracted than can be expected if the assigned weights were initially crisp numbers. The defuzzified weighting can then be used to hierarchically structure several different plans with differing potentials for success. This hierarchy permits alternative plans to be made available should a plan with the highest potential for success rating field. In addition, a limiting agent (threshold) established through the defuzzification of the relational weights can be used to limit the number of potential plans that will be examined.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130852820","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
Inverse dynamics calculation method of power wheeled mobile manipulators 动力轮式移动机械臂逆动力学计算方法
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583161
M. Minami, H. Tomikawa, N. Fujiwara, K. Kanbara
{"title":"Inverse dynamics calculation method of power wheeled mobile manipulators","authors":"M. Minami, H. Tomikawa, N. Fujiwara, K. Kanbara","doi":"10.1109/IROS.1993.583161","DOIUrl":"https://doi.org/10.1109/IROS.1993.583161","url":null,"abstract":"A manipulator which is able to move freely is more effective than one fixed on a floor. If the manipulator could operate while it is traveling, the time and energy efficiency could be increased further. Equations of motion for such a mobile manipulator have interference terms. As a result of the motions disturbing each other, the hand of the manipulator can not be controlled to the reference position and orientation in the work frame. The authors propose to remove the interferences using the Newton-Euler technique and present simulation results showing that the method is effective.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132726626","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: 2
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