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Proceedings 1992 IEEE International Conference on Robotics and Automation最新文献

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Performance of a six-legged planetary rover: power, positioning, and autonomous walking 六足行星漫游车的性能:动力、定位和自主行走
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220267
E. Krotkov, R. Simmons
{"title":"Performance of a six-legged planetary rover: power, positioning, and autonomous walking","authors":"E. Krotkov, R. Simmons","doi":"10.1109/ROBOT.1992.220267","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220267","url":null,"abstract":"The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115898492","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: 30
A robot learns reaction timing using neural nets combining with physical models 机器人通过神经网络结合物理模型来学习反应时间
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219976
J. Wen
{"title":"A robot learns reaction timing using neural nets combining with physical models","authors":"J. Wen","doi":"10.1109/ROBOT.1992.219976","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219976","url":null,"abstract":"To suit actual situations and to adapt to new environments, robots should learn by experience to perform dynamic analysis of a sequence of pictures. For research on adaptive dynamic analyses, the reaction timing of the robots has been chosen in an important parameter in dynamic analyses. For this purpose, a robot system has been built. The robot returns a ball which rolls to it in a table. An algorithm provided by the vision system, called the ruler, is used to locate the ball in the pictures. Combined with the physical dynamic model of the robot and the ball, a feedforward neural net can improve the reaction timing. The neural net was trained via supervised learning. With correction by the neural net, the reaction timing of the robot has been improved.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134072093","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
Robust force control based on estimation of environment 基于环境估计的鲁棒力控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220160
S. Komada, K. Nomura, M. Ishida, K. Ohnishi, T. Hori
{"title":"Robust force control based on estimation of environment","authors":"S. Komada, K. Nomura, M. Ishida, K. Ohnishi, T. Hori","doi":"10.1109/ROBOT.1992.220160","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220160","url":null,"abstract":"The authors propose robot force control strategies that are robust against disturbance and parameter variation. These strategies are expansions of a disturbance observer which estimates disturbance and parameter variations of motors with a simple computation. Observers are proposed to estimate parameter variations of the environment on which the force is imposed. Since the control system is fixed to a nominal system by the observer, a second derivative of force can be controlled. Force control is introduced using a controller of the second derivative of the force. The force response similar to the force command is realized in spite of the disturbance and the parameter variations of the control object. The effectiveness was confirmed experimentally.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115935141","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: 12
Design and control of an air-bearing supported three degree-of-freedom fine positioner 气浮支承三自由度精密定位器的设计与控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220289
R. Hammer, R. Hollis, C. An, F. Henriks
{"title":"Design and control of an air-bearing supported three degree-of-freedom fine positioner","authors":"R. Hammer, R. Hollis, C. An, F. Henriks","doi":"10.1109/ROBOT.1992.220289","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220289","url":null,"abstract":"The authors discuss design considerations and control issues of a fine-motion device which provides very high performance, precision, and speed (12-g acceleration, 0.2 mu m resolution). Coupled with a standard industrial robot and external sensing, improvements in precision up to two orders of magnitude can be achieved. Software enables it to be operated from a serial port of an IBM PC or PS/2. The moving element of the positioning head can be commanded to move over a +or-1 mm range in x and y, and rotated up to +or-1.75 degrees in theta about the z axis. The device provides variable compliance with compliance set by loop gain in a digital controller. It incorporates a novel three-degree-of-freedom motor, a pair of internal position sensors to enable controlled motion in the plane, and an air bearing to support the moving elements.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"258 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132272741","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
Recovering model consistence for force and velocity measures in robot hybrid control 机器人混合控制中力和速度测度的模型一致性恢复
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220073
C. Manes
{"title":"Recovering model consistence for force and velocity measures in robot hybrid control","authors":"C. Manes","doi":"10.1109/ROBOT.1992.220073","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220073","url":null,"abstract":"Some issues on the problem of filtering force and velocity measures, in hybrid control, for recovering their consistence with an available environment model are discussed. Since measured forces and velocities in practice do not agree exactly with the model, some filtering procedure is required for recovering consistence, before the control phase. The filtering process is addressed as the resolution of an algebraic overdetermined linear system, solvable approximately by means of weighted pseudoinversion. A basic issue is shown to be the choice of the weight matrix that, if properly defined, allows the solution of the theoretical difficulties. Examples clarify the theory.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133619240","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: 19
Neural computation for adaptive gait control of the quadruped over rough terrain 粗糙地形下四足动物自适应步态控制的神经计算
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220048
Byungeui Min, Z. Bien
{"title":"Neural computation for adaptive gait control of the quadruped over rough terrain","authors":"Byungeui Min, Z. Bien","doi":"10.1109/ROBOT.1992.220048","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220048","url":null,"abstract":"An adaptive gait control problem for a quadruped is formalized and an adaptive gait algorithm for eliminating dead-lock positions is proposed. The proposed method is based on the concept of a neural optimization network. The desired footholds are taken as the output variables of the neural circuit, and differential equations which tend to minimize the energy of the network are derived. An efficient method to make the quadruped statically stable is addressed. Several conditions for satisfying the geometric limits of reachable volumes are introduced. The maximum stride which can be transversed in the current configuration is calculated. The algorithm is applicable to both even and rough terrain without gait transitions.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122070394","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
Planning optimal grasps 规划最优把握
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.219918
C. Ferrari, J. Canny
{"title":"Planning optimal grasps","authors":"C. Ferrari, J. Canny","doi":"10.1109/ROBOT.1992.219918","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.219918","url":null,"abstract":"The authors address the problem of planning optimal grasps. Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed. Their formalization using various metrics on a space of generalized forces is detailed. The geometric interpretation of the two criteria leads to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw is described.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122089080","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: 969
Frictional lag and stick-slip 摩擦滞后和粘滑
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220147
B. Armstrong-Hélouvry
{"title":"Frictional lag and stick-slip","authors":"B. Armstrong-Hélouvry","doi":"10.1109/ROBOT.1992.220147","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220147","url":null,"abstract":"Dimensional and perturbation analyses are applied to the problem of stick-slip encountered during the motion of machines with nonlinear low-velocity friction. The friction model studied incorporates kinetic, viscous and Stribeck friction with frictional lag. Through dimensional analysis an exact model of the nonlinear system can be formed in four parameters rather than nine, greatly facilitating study and explicitly revealing the interaction of parameters. By converting the system of differential equations into a set of integrations, the perturbation technique makes approximate analysis possible where only numerical techniques had been available before. The analysis predicts the onset of stick-slip as a function of plant and controller parameters. These results are compared with experimental data.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121087754","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: 18
Conceptual graph-based synthesis of robotic assembly operations 基于概念图的机器人装配操作综合
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220103
A. Kapitanovsky, O. Maimon
{"title":"Conceptual graph-based synthesis of robotic assembly operations","authors":"A. Kapitanovsky, O. Maimon","doi":"10.1109/ROBOT.1992.220103","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220103","url":null,"abstract":"A method for robot program synthesis is developed. The conceptual graph-based approach is proposed for the development of a robot programming support system. The system provides a means toward automated conversion of a user's request expressed in natural language to the appropriate conceptual model of the required task. This approximate model of the dynamically changing real world of robotic assembly incorporates the information necessary for understanding, planning, and sensory-guided performance of the required robotic task. The overall framework of the system is defined, and the authors present the first phase of an assembly program synthesis: request specification, planning of valid assembly sequences, and required resources determination. A case study illustrates the approach on a large family of multi-axisymmetric components.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116245081","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
Dynamic modelling and friction compensated control of a robot manipulator joint 机器人机械手关节动力学建模与摩擦补偿控制
Proceedings 1992 IEEE International Conference on Robotics and Automation Pub Date : 1992-05-12 DOI: 10.1109/ROBOT.1992.220150
S. Gomes, J. Chretien
{"title":"Dynamic modelling and friction compensated control of a robot manipulator joint","authors":"S. Gomes, J. Chretien","doi":"10.1109/ROBOT.1992.220150","DOIUrl":"https://doi.org/10.1109/ROBOT.1992.220150","url":null,"abstract":"The authors describe a dynamic modeling of a robot joint drive, based on experimental results. The friction model is a function of angular position and velocity. This model was used for the design of mechanisms to compensate for internal disturbances. Two friction compensation mechanisms were tested experimentally: one for the position-dependent part and another for the velocity-dependent part. The velocity-dependent friction torque component was written in a different form. This made possible an analysis of closed-loop poles behavior, that can be useful in the elaboration of gain scheduling control laws.<<ETX>>","PeriodicalId":307394,"journal":{"name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","volume":"635 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116411025","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
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