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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 new fuzzy adaptive controller using a robust property of fuzzy controller 利用模糊控制器的鲁棒性设计了一种新的模糊自适应控制器
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583241
S. Kim, E. Kim, M. Park
{"title":"A new fuzzy adaptive controller using a robust property of fuzzy controller","authors":"S. Kim, E. Kim, M. Park","doi":"10.1109/IROS.1993.583241","DOIUrl":"https://doi.org/10.1109/IROS.1993.583241","url":null,"abstract":"A fuzzy adaptive controller which is able to solve the problems of classical adaptive controllers and conventional fuzzy adaptive controller is suggested. The architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller is explained. A design procedure which can be carried out mathematically and systematically from the model of an objective system is suggested, and related mathematical theorems and their proofs are also given. The performance of the proposed adaptive control algorithm is analyzed through a DC motor control simulation and experiments on a compliant robot system.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"22 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":"133100702","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
A simple approach for hand-arm coordination 一个简单的方法，手手臂的协调
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583182
W. Paetsch, A. Weigl
{"title":"A simple approach for hand-arm coordination","authors":"W. Paetsch, A. Weigl","doi":"10.1109/IROS.1993.583182","DOIUrl":"https://doi.org/10.1109/IROS.1993.583182","url":null,"abstract":"When integrating a dexterous robot hand into a hand-arm system, one has to coordinate and control the usually redundant system while taking into account the special capabilities of the subsystems \"hand\" and \"arm\". This paper presents a simple approach for hand-arm coordination in Cartesian space which subdivides the object motion into hand and arm portions using only a few easily interpretable parameters. Applying well-known stiffness control approaches for the hand and the arm respectively, the problem of controlling the subsystems appropriately (including force control) is solved. The results of experiments using a system with 15 degrees of freedom are shown and discussed.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"38 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":"117291124","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
Internal dynamics of a wheeled mobile robot 轮式移动机器人的内部动力学
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583753
X. Yun, Y. Yamamoto
{"title":"Internal dynamics of a wheeled mobile robot","authors":"X. Yun, Y. Yamamoto","doi":"10.1109/IROS.1993.583753","DOIUrl":"https://doi.org/10.1109/IROS.1993.583753","url":null,"abstract":"Since the dynamics of a wheeled mobile robot is nonlinear, the feedback linearization technique is commonly used to linearize the input-output map. The input-output linearized system has a nonlinear internal dynamics. In this paper, the internal dynamics of the mobile robot under the look-ahead control is first characterized. The look-ahead control takes the coordinates of a reference point in front of the mobile robot as the output equation. Using a novel Lyapunov function, the stability of the internal dynamics is then analyzed. In particular, it is shown that the internal motion of the mobile robot is asymptotically stable when the reference point is commanded to move forward, whereas the internal motion is unstable when the reference point moves backward. Simulation and experimental results are provided to verify the analysis.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"19 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":"123688182","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
Organizing informations for operative tasks in robot-vision system 机器人视觉系统中操作任务的信息组织
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583880
F. Dermi, O. Kalafate
{"title":"Organizing informations for operative tasks in robot-vision system","authors":"F. Dermi, O. Kalafate","doi":"10.1109/IROS.1993.583880","DOIUrl":"https://doi.org/10.1109/IROS.1993.583880","url":null,"abstract":"The author propose an approach that leads progressively towards a symbolic description by relying on the componential model. They also provide an approach that allows them to construct and to bring to the fore minimal descriptions for the different operations to be carried out by the robot by emphasizing the functional model. In robotics, elaborating a representation of information amounts to outlining tools which will allow this information to be memorized and exactly used by the decision-making system of the robot. It is shown that this can be done by relying jointly on two models for representation and structuration of the information, componential and functional, both of which are presented here.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"187 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":"124747294","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
A relation between resource amount and system performance of the cellular robotic system (CEBOT) 细胞机器人系统(CEBOT)的资源量与系统性能的关系
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583138
Y. Kawauchi, M. Inaba, T. Fukuda
{"title":"A relation between resource amount and system performance of the cellular robotic system (CEBOT)","authors":"Y. Kawauchi, M. Inaba, T. Fukuda","doi":"10.1109/IROS.1993.583138","DOIUrl":"https://doi.org/10.1109/IROS.1993.583138","url":null,"abstract":"The authors have studied the cellular robotic system (CEBOT) with the aim of realizing a self-organizing robotic system. It can be regarded that CEBOT is one of the multi-agents robotic systems studied by many researchers. It is generally considered that one of the features of the multi-agents robot is that the system can carry out many kinds of tasks under various environments due to coordination among many agents. It is assumed that a group of the agents can get higher performance than an ability of single agent. In this paper, the relation between the resource amount, which implies both hardware and software installed into the system, and system performance is discussed. At first, a new concept called function amplification is proposed and defined, the control law of each agent to achieve the function amplification is secondarily discussed. In the last part of this paper, some simulations are reported and discussed to demonstrate the relation between resource amount and system performance.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"63 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":"129320921","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
Position estimation and tracking using optical range data 利用光学距离数据进行位置估计和跟踪
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583929
Stephen Borthwick, Michael Stevens, H. Durrant-Whyte
{"title":"Position estimation and tracking using optical range data","authors":"Stephen Borthwick, Michael Stevens, H. Durrant-Whyte","doi":"10.1109/IROS.1993.583929","DOIUrl":"https://doi.org/10.1109/IROS.1993.583929","url":null,"abstract":"With the use of a scanning optical ranger, a dense map of an environment has been constructed. From this, line segment targets are extracted and matched against an a priori map to obtain observations for an extended Kalman filter. This filter is then able to update predictions of an autonomous guided vehicle's position (made using odometry) in real time, offering high-speed position estimation using inexpensive sensing techniques.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"24 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":"129994399","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
Centipede type multi-legged walking robot 蜈蚣式多足行走机器人
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583169
A. Torige, Motoi Noguchi, Noriaki Ishizawa
{"title":"Centipede type multi-legged walking robot","authors":"A. Torige, Motoi Noguchi, Noriaki Ishizawa","doi":"10.1109/IROS.1993.583169","DOIUrl":"https://doi.org/10.1109/IROS.1993.583169","url":null,"abstract":"The authors propose a centipede type multi-legged walking robot, which has ten legs or over. Since the centipede type walking robot has more legs than other type robots, a centipede type walking robot transports a heavier payload than an other type robot. The walking sequence of this robot is different from conventional multi-legged walking robot that has a half cycle difference between the front and rear neighbor legs. A lateral pair of legs makes a unit, and a unit follows the movement of the front neighbor unit with a quarter delay of the walking cycle. Thus, this robot walks with statically stable condition. This robot also differs from conventional walking robots that have a controller to control movement of whole robot legs. This centipede type walking robot has computers for each pair of legs. These computers control legs and communicate the front and rear neighbor computers. No computer of these computers controls the whole robot. All legs without the head pair of legs follow the movement of the front neighbor legs with quarter walking cycle delay, then the whole robot walks with static stability.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"42 11 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":"130660760","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
Chattering free sliding modes in robotic manipulators control 机械臂控制中的抖振自由滑模
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583745
A. Sabanoviç, K. Jezernik, K. Wada
{"title":"Chattering free sliding modes in robotic manipulators control","authors":"A. Sabanoviç, K. Jezernik, K. Wada","doi":"10.1109/IROS.1993.583745","DOIUrl":"https://doi.org/10.1109/IROS.1993.583745","url":null,"abstract":"Sliding mode control (SMC) of a system which is linear with respect to control and its application to robotic manipulator control system design is presented. The controller is designed to provide sliding mode motion on selected manifolds in the state space. These manifolds are selected as a linear combination of the state coordinates. This selection allows the formulation of the path tracking control, force control, and impedance control problems to be very similar. The control is selected to satisfy selected Lyapunov function and stability criteria.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"14 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":"131844605","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: 56
Selective attention mechanisms in a vision system based on neural networks 基于神经网络的视觉系统的选择性注意机制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583872
M. Rucci, P. Dario
{"title":"Selective attention mechanisms in a vision system based on neural networks","authors":"M. Rucci, P. Dario","doi":"10.1109/IROS.1993.583872","DOIUrl":"https://doi.org/10.1109/IROS.1993.583872","url":null,"abstract":"A system for visual recognition derived from a previously developed theoretical framework on the overall organization of the human visual system is proposed. The system operates dynamically by analyzing different parts of the input scene at variable levels of resolution through an attentional spotlight. A constant amount of information is gathered from the scene and a fixed dimension icon is produced, so that a trade-off occurs between the extension of the examined area and the level of resolution at which data are analyzed. The position of the spotlight and its dimensions are determined on the basis of the evolution of the recognition process. The icon is processed by a bottom-up path composed of a five-layer artificial neural network. The results of this net are analyzed by a planning module which determines if recognition has been achieved, or which action to undertake next. A top-down path, including a set of nets trained by the backpropagation algorithm, evaluates the parameters of the next sampling of information. The application of the system to object recognition with varying viewpoint and range from the camera is investigated.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"7 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":"129213178","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: 6
Determination of displacement and velocity of an object handled by a three-fingered robot hand 确定由三指机械手处理的物体的位移和速度
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583095
Dongmin Kim, H. Krishnan
{"title":"Determination of displacement and velocity of an object handled by a three-fingered robot hand","authors":"Dongmin Kim, H. Krishnan","doi":"10.1109/IROS.1993.583095","DOIUrl":"https://doi.org/10.1109/IROS.1993.583095","url":null,"abstract":"The authors consider the problem of determining the displacement (position and orientation) and the velocity (linear and angular) of a rigid body handled by a three-fingered robot hand with frictional point contact. Direct measurement of configuration and velocity of the grasped object is difficult in practice. It is well known that the displacement of the rigid body is completely specified by the initial and final positions of three noncolinear points fixed on the object. Similarly, the instantaneous velocity of the rigid body can be determined from the linear velocity of three noncolinear points fixed on the body. Previously developed algorithms are computationally involved by the need to compute several trigonometric functions or matrix inverses. The authors present alternate computationally efficient algorithms for determining the displacement and the velocity of an object handled by a three-fingered robot hand.","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":"129260716","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
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