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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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Ultrasonic echo simulator for mobile robots 移动机器人超声回波模拟器
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583272
F. Tsuzuki, K. Sasaki
{"title":"Ultrasonic echo simulator for mobile robots","authors":"F. Tsuzuki, K. Sasaki","doi":"10.1109/IROS.1993.583272","DOIUrl":"https://doi.org/10.1109/IROS.1993.583272","url":null,"abstract":"This paper introduces an environment modeling tool for ultrasonic echo generation based on the theory of solid modeling. The utilization of ultrasonic sensors in mobile robots for the purpose of navigation and obstacle avoidance when a mobile robot is moving along a desired path is discussed. Until now the ring configuration, in which many ultrasonic sensors are used, has given good results. The ring configuration is easy to operate but it is not compact, so a more compact ultrasonic sensor system with a sensor coupled to a stepping motor has been simulated and built. The sensor must have intelligence to know in which direction it must send out a wave in order to receive one echo from the environment. By using the simulation it is possible to test rules that provide intelligence to the sensor, making it an effective active sensor.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"324 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":"127571019","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
Estimating ALV position in mountainous area 山区ALV位置估算
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583930
S. Suh, Jae-Kwan Kang, W. Jee, M. Jung, Kwang-Soo Kim
{"title":"Estimating ALV position in mountainous area","authors":"S. Suh, Jae-Kwan Kang, W. Jee, M. Jung, Kwang-Soo Kim","doi":"10.1109/IROS.1993.583930","DOIUrl":"https://doi.org/10.1109/IROS.1993.583930","url":null,"abstract":"A method of position estimation for an ALV (autonomous land vehicle) using features of the skyline is presented. The skyline from the vision system is assumed given and is compared with a computer map, called the CAD-MAP. The algorithm consists of identifying the peak points in the camera skyline, computing the ALV position for the identified peak points, and searching for the corresponding peak point in the CAD-MAP. Heuristics for computational efficiency and solution accuracy are also included in the algorithm. To test the validity and effectiveness of the algorithm, numerous simulations were performed and analyzed.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"195 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":"127319413","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
Stabilization of the shape of space multibody structure with free joints 具有自由关节的空间多体结构的形状稳定
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583919
Yoshihiko Nakamura, R. Iwamoto
{"title":"Stabilization of the shape of space multibody structure with free joints","authors":"Yoshihiko Nakamura, R. Iwamoto","doi":"10.1109/IROS.1993.583919","DOIUrl":"https://doi.org/10.1109/IROS.1993.583919","url":null,"abstract":"As a large-scale space structure, the authors propose a space multibody structure that consists of many relatively small bodies mutually connected by passive joints. They assume that one of the bodies is equipped with an orientation-control device, such as control momentum wheels. Being free from elasticity-induced vibration is an advantage of the structure. The authors analyze the dynamics of nonholonomic behavior of the structure and propose a control scheme to stabilize its shape.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"1997 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":"116684865","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
A decision theoretic approach to real-time obstacle avoidance for a mobile robot 移动机器人实时避障的决策理论方法
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583825
Huosheng Hu, M. Brady, P. P. Smith
{"title":"A decision theoretic approach to real-time obstacle avoidance for a mobile robot","authors":"Huosheng Hu, M. Brady, P. P. Smith","doi":"10.1109/IROS.1993.583825","DOIUrl":"https://doi.org/10.1109/IROS.1993.583825","url":null,"abstract":"Investigates how a car-like mobile robot handles unexpected static obstacles while following an optimal path planned by the global path planner. To find an optimal solution of the problem, the obstacle avoidance problem is formulated as a decision theoretic approach. The optimal decision rule we seek is to minimize the Bayes risk by trading off between deliberative maneuver and the alternatives. Real-time implementation is emphasized in order to provide a framework for real-world applications.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"21 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":"117047237","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
Intelligent manipulation of sliding operations with parallel two-fingered grippers 智能操纵滑动操作与平行双指抓手
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583851
H. Terasaki, T. Hasegawa
{"title":"Intelligent manipulation of sliding operations with parallel two-fingered grippers","authors":"H. Terasaki, T. Hasegawa","doi":"10.1109/IROS.1993.583851","DOIUrl":"https://doi.org/10.1109/IROS.1993.583851","url":null,"abstract":"The authors describe a motion planning system for sliding operations with a parallel two-fingered gripper used to escape from a situation where an object cannot be grasped. First they describe the problems of escaping from a situation where an object cannot be grasped and the actions to solve them. Then they propose a new method for planning manipulator motions for these actions using sliding operations based on geometrical information about the environments. The results of the method and its validity are shown.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"48 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":"132498342","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
An articulated multi-vehicle robot for inspection and testing of pipeline interiors 用于管道内部检查和测试的铰接式多车机器人
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583154
S. Fujiwara, R. Kanehara, T. Okada, T. Sanemori
{"title":"An articulated multi-vehicle robot for inspection and testing of pipeline interiors","authors":"S. Fujiwara, R. Kanehara, T. Okada, T. Sanemori","doi":"10.1109/IROS.1993.583154","DOIUrl":"https://doi.org/10.1109/IROS.1993.583154","url":null,"abstract":"The authors describe the construction of an articulated multi-vehicle robot for inspection and testing of pipeline interiors. The robot is capable of traveling inside pipes of radius 520-800 mm diameter over a distance 150 m. Output pressure versus extension characteristics of the two-stage air cylinder, reduction of the wave reflection in a wheel-type ultrasonic probe, an umbilical cable assembly housing optical fibers, air tubes and electric cables are key elements of the robot. The articulated robot was tested in the laboratory to evaluate and the scanning performance. The results of the non-destructive test of a weld bead to the longitudinal direction show that the robot can pick up surrounding color images and transmit them to the ground station's monitor with high precision.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"61 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":"132557459","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
A design concept for legged robots derived from the walking stick insect 有腿机器人的设计概念来源于手杖虫
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583166
H. Weidemann, F. Pfeiffer, J. Eltze
{"title":"A design concept for legged robots derived from the walking stick insect","authors":"H. Weidemann, F. Pfeiffer, J. Eltze","doi":"10.1109/IROS.1993.583166","DOIUrl":"https://doi.org/10.1109/IROS.1993.583166","url":null,"abstract":"The authors present a study of the geometrical aspects, the inverse and direct dynamics and the control design for a six-legged walking machine. They take special regard to the design and control concepts used by nature in six-legged insects, which walk and climb very efficiently over arbitrary irregular surfaces.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"73 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":"134106256","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
Towards task-directed coordinated manipulation 朝向任务导向的协调操作
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583852
A. Back, D. Rus
{"title":"Towards task-directed coordinated manipulation","authors":"A. Back, D. Rus","doi":"10.1109/IROS.1993.583852","DOIUrl":"https://doi.org/10.1109/IROS.1993.583852","url":null,"abstract":"The authors analyze the feasibility of the finger tracking paradigm for multi-finger manipulation introduced by D. Rus (1992) and relate it to task-directed programming issues. By using the geometry of singularities that arise in solving the instantaneous motion problem they are able to characterize regions of feasibility associated with an initial grasp and quantify how much reorientation is possible starting from this grasp. This results in a provably correct global strategy for reorientation.","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":"133437312","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
Outdoor landmark recognition using fractal based vision and neural networks 基于分形视觉和神经网络的室外地标识别
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583175
R. Luo, H. Potlapalli, D. Hislop
{"title":"Outdoor landmark recognition using fractal based vision and neural networks","authors":"R. Luo, H. Potlapalli, D. Hislop","doi":"10.1109/IROS.1993.583175","DOIUrl":"https://doi.org/10.1109/IROS.1993.583175","url":null,"abstract":"A new approach using fractal based vision is presented to solve the problem of mobile robot navigation in outdoor environments. Mobile robots rely on landmarks such as mile markers and street signs for information on global position and local traffic conditions. Due to the motion of the robot, the location, size and orientation of the landmarks are varying. Also, other objects in the scene might partially occlude the landmark. Thus, a robust recognition system is required to recognize the landmarks that may be distorted by a combination of these effects. A new fractal model called incremental fractional Brownian motion (BM) model, is developed to locate these landmarks. A new neural network architecture, reconfigurable neural network (RNN), is developed to recognize the landmarks. The fractal model is shown to be invariant to changes in intensity of incident light. The landmark candidate regions detected by the ifBM model are analyzed by the RNN. New learning rules based on update normalization are developed to decrease learning time and increase system stability. The network also has the ability to learn new patterns with minimal retraining time. The network is tested with images of actual street signs that were distorted by scale changes, rotations and occlusions.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"20 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":"121057481","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
Development of model-based remote maintenance robot system. I. Outline of the robot system 基于模型的远程维修机器人系统的开发。一、机器人系统概述
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI: 10.1109/IROS.1993.583372
Hirokazu Sato, T. Yoshimi, Yukio Asari, K. Tatsuno, Kuniji Asano
{"title":"Development of model-based remote maintenance robot system. I. Outline of the robot system","authors":"Hirokazu Sato, T. Yoshimi, Yukio Asari, K. Tatsuno, Kuniji Asano","doi":"10.1109/IROS.1993.583372","DOIUrl":"https://doi.org/10.1109/IROS.1993.583372","url":null,"abstract":"Describes the outline of a model-based remote maintenance robot system for nuclear facilities such as nuclear power plants and nuclear fusion reactors. This robot system aims at autonomously carrying out maintenance tasks which the operator directs by task-level commands, for example, \"set flange\" and \"set valve\". This robot system is composed of a device for measuring the position of the object to be handled, a task planner which generates the robot control program from the task-level command, and an arm controller which moves the arm under either position or stiffness control according to the generated program. In experiments, the robot system carried out the insertion of a bolt and the setting of a nut on a flange.","PeriodicalId":299306,"journal":{"name":"Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)","volume":"2 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":"129073349","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
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