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2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)最新文献

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Dynamic preshaping for a robot driven by a single wire 单线驱动机器人的动态预成型
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241742
M. Higashimori, M. Kaneko, M. Ishikawa
{"title":"Dynamic preshaping for a robot driven by a single wire","authors":"M. Higashimori, M. Kaneko, M. Ishikawa","doi":"10.1109/ROBOT.2003.1241742","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241742","url":null,"abstract":"Dynamic preshaping is important for high speed capturing robot to catch a moving object successfully. This paper discusses dynamic preshaping for a capturing robot driven by a single wire. To control the finger posture while approaching an object, there are three essential factors, wiring, spring distribution among joints, and mass distribution in each finger link. Giving the final link posture of finger, mass distribution, and tension with respect to time, we explore hoe to determine both the wiring and the spring distribution. We first show how to find them under a quasi-static motion, where all dynamic effects are neglected. We further explore an approach to find them under a dynamic motion where the tension increases fast enough.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125308583","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
Trail-laying robots for robust terrain coverage 铺路机器人的强大的地形覆盖
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241576
Jonas Svennebring, Sven Koenig
{"title":"Trail-laying robots for robust terrain coverage","authors":"Jonas Svennebring, Sven Koenig","doi":"10.1109/ROBOT.2003.1241576","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241576","url":null,"abstract":"Robotics researchers have studied robots that can follow the trails laid by other robots. We, on the other hand, study robots that leave trails in the terrain to cover closed terrain once or repeatedly. How to design such ant robots has so far been studied only theoretically for gross robot simplifications. In this paper, we describe for the first time how to build physical ant robots that cover terrain. We show that a modified version of node counting can model the behavior of the ant robots and report on first experiments that we performed to understand their behavior better. These experiments confirm that our ant robots indeed cover terrain robustly even if the trails are of uneven quality, the ant robots are moved without realizing this, or some trails are destroyed. Finally, we report the results of a large-scale experiment where ten simulated ant robots covered a factory floor of 25 by 25 meters repeatedly over 85 hours without any ant robots getting stuck.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126636706","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
Biped walking pattern generation by using preview control of zero-moment point 基于零力矩点预览控制的两足行走模式生成
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241826
S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa
{"title":"Biped walking pattern generation by using preview control of zero-moment point","authors":"S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa","doi":"10.1109/ROBOT.2003.1241826","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241826","url":null,"abstract":"We introduce a new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design of a ZMP tracking servo controller. It is shown that we can realize such controller by adopting the preview control theory that uses the future reference. It is also shown that a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model. The effectiveness of the proposed method is demonstrated by a simulation of walking on spiral stairs.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115180700","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: 2189
Nanotube devices fabricated in a nano laboratory 纳米实验室制造的纳米管器件
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242152
Lixin Dong, F. Arai, M. Nakajima, Pou Liu, Toshio Fukuda
{"title":"Nanotube devices fabricated in a nano laboratory","authors":"Lixin Dong, F. Arai, M. Nakajima, Pou Liu, Toshio Fukuda","doi":"10.1109/ROBOT.2003.1242152","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242152","url":null,"abstract":"A nano laboratory-a prototype nano manufacturing system-is presented, which is composed with a nanorobotic manipulation system with 4 units and 16 degrees-of-freedom (DOFs), a nano fabrication system based on electron-beam-induced deposition (EBID) with an internal or external precursor evaporation reservoir equipped with a thermal field emission electron source or a nanotube cold cathode, and a real-time observation and measurement system based on a field emission scanning electron microscope (FESEM) equipped with 3-4 conventional atomic force microscope (AFM) cantilevers, piezoresistive levers or nanotube probes. Nanotube devices including a mass flow sensor, a linear bearing, and nanotube scissors are fabricated in the nano laboratory.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115539479","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
Exponential control law for a multi-degree of freedom mobile robot 多自由度移动机器人的指数控制律
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241645
G. Ramírez, S. Zeghloul
{"title":"Exponential control law for a multi-degree of freedom mobile robot","authors":"G. Ramírez, S. Zeghloul","doi":"10.1109/ROBOT.2003.1241645","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241645","url":null,"abstract":"In this paper, we describe the development of a nonlinear exponential control law for a multi-degree of freedom (MDOF) wheeled mobile robot. These vehicles have many advantages over the more classical 2-DOF mobile robots. Indeed, the MDOF vehicles can negotiate tight turns easily and are able to travel sideways. Nevertheless, the MDOF robots are over constrained systems, which are difficult to control. By this reason, MDOF robots are limited to simple applications, like following a guide-wire. In order to obtain an autonomous behavior, we propose the use of a nonlinear control law, which exponentially leads the robot to a desired position with a given orientation. A new set of error variables is defined in order to propose the control vector. This control vector makes the final configuration globally exponentially stable. Results of simulation, which illustrate the effectiveness of the control, are also included.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116111658","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 thermally actuated polymer micro robotic gripper for manipulation of biological cells 一种用于操纵生物细胞的热驱动聚合物微型机器人夹具
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241610
Ho-yin Chan, W. Li
{"title":"A thermally actuated polymer micro robotic gripper for manipulation of biological cells","authors":"Ho-yin Chan, W. Li","doi":"10.1109/ROBOT.2003.1241610","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241610","url":null,"abstract":"The development of a novel polymer-based micro robotic gripper that can be actuated in a liquid medium is presented in this paper. The basic structure for the gripper is a trimorph thermal actuator with a platinum metal heater encapsulated by poly-para-xylene C (parylene C) polymer layers. Due to the large difference of thermal expansion coefficients of the different layers, the actuator can be actuated with much large deflection than conventional MEMS actuators. We have developed actuators operating in liquid environment (e.g., DI water) with only 3 V at /spl sim/33 mA input to achieve full deflection (90/spl deg/ change of tip direction). The actuators were also observed to response to 3 Hz square wave input in water with no visible delay. The temperature of the actuators at full deflection was estimated to be about 60/spl deg/C, which is much lower than the typical requirement of >100/spl deg/C to actuate other conventional MEMS actuators. Actuators with dimensions of /spl sim/2 mm/spl times/100/spl mu/m/spl times/0.6/spl mu/m were used to capture Danio rerio follicles (/spl sim/800/spl mu/m average cell diameter) in water. The design, fabrication process, and experimental results for these actuators are presented in this paper.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116463293","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: 92
Implementation of a path planner to improve the usability of a robot dedicated to severely disabled people 实现一个路径规划器，以提高专用于严重残疾人的机器人的可用性
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242215
M. Mokhtari, B. Abdulrazak, R. Rodríguez, B. Grandjean
{"title":"Implementation of a path planner to improve the usability of a robot dedicated to severely disabled people","authors":"M. Mokhtari, B. Abdulrazak, R. Rodríguez, B. Grandjean","doi":"10.1109/ROBOT.2003.1242215","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242215","url":null,"abstract":"The design of robot dedicated to person with disabilities necessitate users implication in all steps of product development: design solution, prototyping the system, choice of users interfaces, and testing it with users in real conditions. However, before any design of any system, it is necessary to understand and meet the needs of the disabled users. In this paper, we describe our research activity on the integration of a robotic arm in the environment of disabled people who have lost the abilities to use their proper arms to perform daily living tasks and who are able to use an adapted robot to compensate, even partly, the problems of manipulation of objects in their environments. This paper presents our contribution for designing adaptable, configurable and personalized robot system based on the Manus robot. Some preliminary evaluation results are also presented.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122290013","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
Force passivity in fixturing and grasping 夹具和抓取力的被动性
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241926
M. Wang, Yunhui Liu
{"title":"Force passivity in fixturing and grasping","authors":"M. Wang, Yunhui Liu","doi":"10.1109/ROBOT.2003.1241926","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241926","url":null,"abstract":"While the classical notion of force closure is defined for actively controlled and coordinated robotic fingers, passive contacts play an equally important role in workpiece fixturing and often in robotic manipulation. This paper presents a description of passive forces arising at the normal and frictional contacts by passive physical means. The passive contacts generate reactive forces only as a response to an external force and/or any active force. Within the framework of rigid body contact, a contact system with passive forces is generally undeterminate. We present a general approach based on an application of the minimum norm principle. The model reveals some intricate properties of the passive contact forces, including internal forces at the passive and/or active contacts. Some practical implications of the passive nature in fixture design are discussed.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122475121","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: 13
Impedance controller and its clinical use of the remote ultrasound diagnostic system 阻抗控制器及其临床应用的远程超声诊断系统
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241672
N. Koizumi, S. Warisawa, H. Hashizume, M. Mitsuishi
{"title":"Impedance controller and its clinical use of the remote ultrasound diagnostic system","authors":"N. Koizumi, S. Warisawa, H. Hashizume, M. Mitsuishi","doi":"10.1109/ROBOT.2003.1241672","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241672","url":null,"abstract":"A master-slave type remote ultrasound diagnostic system was developed. This paper presents and evaluates its control strategy. There is only one impedance controller that is located in the master site or the slave site or the relay point in the conventional impedance controller. Therefore, the effect of the time lag in transmitting force and position data becomes large in the conventional system. Then we propose an impedance controller to cope with this problem. In the proposed system, the position controller for the slave manipulator is also constructed by means of a velocity-control-based impedance controller. This feature makes it possible to shorten the dead time taken by the slave manipulator to respond for the contact force input. This paper also reports the result of a clinical use of the remote ultrasound diagnostic system. The result of the experiments demonstrates that a medical doctor can diagnose patients as well as the conventional diagnosis.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114295629","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
Design of a redundantly actuated leg mechanism 冗余驱动腿机构的设计
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242273
So. Byung Rok, Y. Byung-Ju, Kim. Wheekuk, O. Sang-Rok, Park. Jongil, Kim. Young Soo
{"title":"Design of a redundantly actuated leg mechanism","authors":"So. Byung Rok, Y. Byung-Ju, Kim. Wheekuk, O. Sang-Rok, Park. Jongil, Kim. Young Soo","doi":"10.1109/ROBOT.2003.1242273","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242273","url":null,"abstract":"In a humanoid robot system, many human-body motions such as walking, running and jumping require large power. To achieve a high power-to-weight ratio, this paper proposes a new design of the leg mechanism using parallel kinematic chains involving redundant actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio are introduced. It is demonstrated through simulation that incorporation of redundant actuator into the leg mechanism enhances the power of the mechanism approximately 4 times of the minimum actuation. The leg mechanism is developed and has been integrated into the biomimetic system for the purpose of payload enhancement.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114498373","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: 8
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