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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 novel approach for motion planning 运动规划的一种新方法
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583193
Huixin. Cheng, Heng-Da Cheng
{"title":"A novel approach for motion planning","authors":"Huixin. Cheng, Heng-Da Cheng","doi":"10.1109/IROS.1993.583193","DOIUrl":"https://doi.org/10.1109/IROS.1993.583193","url":null,"abstract":"The feasible map approach (FMA) to certain motion planning problems in robotics is introduced. This approach is based on the use of a feasible map representation of a configuration space. When a feasible map is constructed, the topology of a configuration space is derived by shrink transformation. Path planning is done at two levels: first, to find a feasible path in a feasible map, and second, to transform the feasible path in the feasible map into the configuration space. When a feasible map is obtained, the feasible path can be obtained according to any starting and desired configurations, at once. A detailed FMA is given on a sphere world and the performance of the proposed algorithm is demonstrated by experiments. The results indicate that the FMA is efficient, useful and widely applicable.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"5 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":"132920331","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
Sensory and a priori information integration for object pointing in interactive robot operation 交互式机器人操作中物体指向的感官与先验信息集成
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583131
T. Hamada, K. Kamejima
{"title":"Sensory and a priori information integration for object pointing in interactive robot operation","authors":"T. Hamada, K. Kamejima","doi":"10.1109/IROS.1993.583131","DOIUrl":"https://doi.org/10.1109/IROS.1993.583131","url":null,"abstract":"An information integration method is presented that combines sensed environmental data with a priori information to control object pointing in interactive robot operation. To identify the target object from the environmental image, a cooperative processing mechanism is introduced. This mechanism uses a distributed cooperative system for location-posture analysis of the object pattern and structural analysis of the object shape. The heterogeneous sensory information thus obtained is merged consistently and integrated in the instance frame of the work space model. The proposed method is experimentally verified using a prototype system.","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":"133706052","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
Decision-theoretic selection of reasoning scheme for an autonomous robot under resource constraints 资源约束下自主机器人推理方案的决策理论选择
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583822
T. Sawaragi, O. Katai, S. Iwai
{"title":"Decision-theoretic selection of reasoning scheme for an autonomous robot under resource constraints","authors":"T. Sawaragi, O. Katai, S. Iwai","doi":"10.1109/IROS.1993.583822","DOIUrl":"https://doi.org/10.1109/IROS.1993.583822","url":null,"abstract":"Investigates a formally rigorous technique based on decision-theoretic principles that address the problem of bounding the amount of reasoning cost under resource constraints and uncertainty. The authors derive a set of optimal decision policies that may be used to decide which reasoning scheme to use and where it should be used. The decision model, which is represented by an influence diagram, takes into account all sources of uncertainty and risk preferences in order to derive the optimal decision policy by deliberating on the trade-off between the value of the information that is potentially available and the computational cost. By developing such a metalevel decision model, the authors construct an intelligent agent that is embedded in the environment and can behave in a sophisticated fashion with minimal environmental interactions. The authors apply such an agent architecture to an autonomous mobile robot with limited sensing and actuating capabilities, and present the simulated behaviors which are supervised by their proposed model.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"2 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131840326","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
Damping control with consideration of dynamics of environment 考虑环境动力学的阻尼控制
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583841
H. Wada, T. Fukuda, K. Kosuge, F. Arai, Keigo Watanabe
{"title":"Damping control with consideration of dynamics of environment","authors":"H. Wada, T. Fukuda, K. Kosuge, F. Arai, Keigo Watanabe","doi":"10.1109/IROS.1993.583841","DOIUrl":"https://doi.org/10.1109/IROS.1993.583841","url":null,"abstract":"Most of the explicit force control algorithms published so far assume the switching of the control law from position control to force control when a transition occurs from a free motion to a constrained motion, but the ideal switching of the control law is impossible for a rapid transition. Implicit force control algorithms, such as stiffness control, damping control, impedance control, etc., can be applied to both free motion and constrained motion without switching the control law. However, precise force control is difficult, especially with nonrigid environments. The authors propose an alternative force control algorithm for nonrigid environments based on damping control, so that the transition occurs naturally. They model a damping control system with environmental dynamics and design a predictive control algorithm so that the force is precisely controlled when the motion of the robot is constrained. The proposed method is applied to a manipulator with one degree of freedom, and experimental results illustrate the validity of the method.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"23 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":"133371605","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 generalized motion/force planning strategy for multifingered hands using both rolling and sliding contacts 使用滚动和滑动接触的多指手的广义运动/力规划策略
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583088
N. Chong, Donghoon Choi, I. Suh
{"title":"A generalized motion/force planning strategy for multifingered hands using both rolling and sliding contacts","authors":"N. Chong, Donghoon Choi, I. Suh","doi":"10.1109/IROS.1993.583088","DOIUrl":"https://doi.org/10.1109/IROS.1993.583088","url":null,"abstract":"A generalized algorithm for the motion/force planning of the multifingered hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertip and the object at the contact point. Specifically, a nonlinear optimization problem is firstly formulated and solved to find joint velocities and contact forces to impart a desired motion to the object at each time step. Then, the relative velocity at the contact point is found by calculating the velocity of the fingertip and the object at the contact point. Finally, time derivatives of the surface variables and the contact angle of the fingertip and the object at the current time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by using the robotic hand manipulating a circular cylinder with three fingers each of which has four joints.","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":"115705398","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
Force-based reasoning for assembly planning and subassembly stability analysis 基于力的装配规划推理与子装配稳定性分析
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583850
Sukhan Lee, Chunsik Yi, Fu-Chung Wang
{"title":"Force-based reasoning for assembly planning and subassembly stability analysis","authors":"Sukhan Lee, Chunsik Yi, Fu-Chung Wang","doi":"10.1109/IROS.1993.583850","DOIUrl":"https://doi.org/10.1109/IROS.1993.583850","url":null,"abstract":"Force-based reasoning, for identifying a cluster of parts that can be decomposed naturally by the applied force, plays an important role in selecting feasible subassemblies and analyzing subassembly stability in assembly planning. This is because force-based reasoning provides a new set of constraints which are distinctive from those from geometric reasoning. Such constraints not only enhance the planning efficiency but also allows stability analysis in terms of subassembly deformation due to the mating forces. Specifically, force-based reasoning can be applied during subassembly identification to eliminate unstable subassemblies that are deformable during the mating operation.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"9 s11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114178265","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
Application of systemic mechanisms in living beings to robot systems design 生物系统机制在机器人系统设计中的应用
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583100
M. Okuma, I. Todo
{"title":"Application of systemic mechanisms in living beings to robot systems design","authors":"M. Okuma, I. Todo","doi":"10.1109/IROS.1993.583100","DOIUrl":"https://doi.org/10.1109/IROS.1993.583100","url":null,"abstract":"Thanks to breakthrough by science for comprehensive understanding of systems, several principles of systemic mechanisms have been revealed. Expected applications of living mechanisms through the principles are proposed to create new ideas for engineering of robot systems. Among them, restricted emergent process can provide systems with flexibility, while elaboration in selection of context for interpretation can simplify information processing i.e., intelligence. In the former process, there emerges a qualitative difference of physical structures through discrete conversion from a slight difference of input. Combining these two processes, an assembly method of blocks for diversified structures in shape has been developed, in which intelligence is simplified by utilizing for the context information accumulated in the structure being assembled. It might contribute to miniaturization of robots by saving space for intelligence, as well as basic research on principles of systemic characteristics and visualization of numeric series. Referring to vulnerability, a multiple scene survey method is proposed to find serious risks for the systems in advance.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"34 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":"114726435","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
Development of a model-based remote maintenance robot system. II. Environment measuring methods 基于模型的远程维修机器人系统的开发。2环境测量方法
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583374
Hirokazu Sato, Yukio Asari, T. Yoshimi, K. Tatsuno, Kuniji Asano
{"title":"Development of a model-based remote maintenance robot system. II. Environment measuring methods","authors":"Hirokazu Sato, Yukio Asari, T. Yoshimi, K. Tatsuno, Kuniji Asano","doi":"10.1109/IROS.1993.583374","DOIUrl":"https://doi.org/10.1109/IROS.1993.583374","url":null,"abstract":"For part I, see ibid., pp.1225-1230. The authors are developing a model-based remote maintenance robot system which autonomously carried out maintenance tasks in nuclear facilities, for example nuclear power plants and nuclear fusion reactors. Two measurements methods for the robot system are described: one is a laser range finder, and the other is a groping method for the target tasks of inserting a bolt and setting a nut. In the groping method, an arm with a bolt gropes on the flange surface, and a rapid change in the force signal is detected when the bolt tip comes across a hole. Position measurements are made by the joint angles in groping. Therefore, it has the same merit as direct teaching in industrial robots. The robot system has carried out inserting a bolt and setting a nut on a flange by using these methods.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"117 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":"117297193","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
Estimating fractal dimension of natural terrain from irregularly spaced data 从不规则间距数据估计自然地形的分形维数
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583781
K. Arakawa, E. Krotkov
{"title":"Estimating fractal dimension of natural terrain from irregularly spaced data","authors":"K. Arakawa, E. Krotkov","doi":"10.1109/IROS.1993.583781","DOIUrl":"https://doi.org/10.1109/IROS.1993.583781","url":null,"abstract":"The authors propose a method to estimate terrain roughness directly from the depth information. They estimate the fractal dimension of terrain using the fractal Brownian function approach. For experiments with real data, they extend the approach to accommodate irreguarly sampled elevation data supplied by a scanning laser rangefinder. Applying this extended method to noisy range imagery of natural terrain (sand and rocks), the authors find that the resulting estimates of fractal dimension correlate closely to human perception of the roughness of the terrain, showing that the fractal dimension of the sensed point set is a practical and effective measure of the roughness of natural terrain.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"71 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":"115894085","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
The sequential framework for developing motion planners for many degree of freedom manipulators: Experimental results 开发多自由度机械臂运动规划器的顺序框架:实验结果
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583853
K. Gupta, Xinyu Zhu
{"title":"The sequential framework for developing motion planners for many degree of freedom manipulators: Experimental results","authors":"K. Gupta, Xinyu Zhu","doi":"10.1109/IROS.1993.583853","DOIUrl":"https://doi.org/10.1109/IROS.1993.583853","url":null,"abstract":"A sequential framework that allows planners for manipulator arms with many degrees of freedom to be developed is addressed. The essence of this framework is to exploit the serial structure of manipulator arms and decompose the n-dimensional problem of planning collision-free motions for an n-link manipulator into a sequency of smaller m-dimensional subproblems, each of which corresponds to planning the motion of a subgroup of m-1 links. Extensive experimental results within the sequential framework are presented for a variety of manipulators. A main goal of these simulations (1) to show the effectiveness of the sequential approach with the backtracking mechanism, and (2) to quantify the improvement of the backtracking mechanism and the trade-off between the number of backtrackings and the execution time of the planner. The experiments show that the sequential framework with the backtracking mechanism is quite efficient for manipulator arms with many degrees of freedom.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"27 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":"123595996","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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