2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)最新文献_第4页

Navigation of cleaning robots using triangular-cell map for complete coverage 基于三角元地图的清洁机器人全覆盖导航

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241888

J. Oh, Y. Choi, Jin Bae Park, Yuan F. Zheng

引用次数: 16

A robust friction control scheme of robot manipulators 机器人机械臂的鲁棒摩擦控制方案

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242094

Jeng-Shi Chen, J. Juang

引用次数: 8

Remote actuation mechanism for MR-compatible manipulator using leverage and parallelogram - workspace analysis, workspace control, and stiffness evaluation 基于杠杆和平行四边形的磁共振兼容机械臂远程驱动机构——工作空间分析、工作空间控制和刚度评估

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241668

Y. Koseki, N. Koyachi, T. Arai, K. Chinzei

引用次数: 25

Controlling a marionette with human motion capture data 用人体动作捕捉数据控制木偶

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242185

K. Yamane, J. Hodgins, H. B. Brown

引用次数: 40

Constrained initialisation for bearing-only SLAM 仅方位SLAM的约束初始化

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241882

T. Bailey

{"title":"Constrained initialisation for bearing-only SLAM","authors":"T. Bailey","doi":"10.1109/ROBOT.2003.1241882","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241882","url":null,"abstract":"Simultaneous Localisation And Mapping (SLAM) is a stochastic map building method which permits consistent robot navigation without requiring an a priori map. The map is built incrementally as the robot observes the environment with its on-board sensors and, at the same time, is used to localise the robot. Typically, SLAM has been performed using range-bearing sensors, but the development of a SLAM implementation using only bearing measurements is desirable as it permits the use of sensors such as CCD cameras, which are small, reliable and cheap. However, bearing-only SLAM is hindered by the feature initialisation problem, where the estimated location of a new map landmark cannot be determined from a single measurement, and combined information from multiple measurements may be ill-conditioned. This paper presents a solution to the feature initialisation problem called constrained initialisation, which defers the use of sensor information until initialisation becomes well-conditioned. Measurements may be used out-of-sequence and all the available information can be incorporated without inconsistency. Furthermore, this method operates within the conventional extended Kalman filter (EKF) framework of the SLAM algorithm.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"44 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":"128087288","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: 152

Visual human machine interface by gestures 视觉人机界面的手势

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241626

M. Frigola, Josep Fernández, J. Aranda

{"title":"Visual human machine interface by gestures","authors":"M. Frigola, Josep Fernández, J. Aranda","doi":"10.1109/ROBOT.2003.1241626","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241626","url":null,"abstract":"Like oral communication, gestures are a natural way to carry out human machine interface. In the early days of robotic systems, human gesture was used to control robot movements by means of a master-slave structure. In spite of the use if robot programming languages, manual control is the most reliable way to carry out complex tasks in unstructured environments. In these situations, a non-contact, passive and remote system can be helpful to control a teleoperated robot by means of human gestures. In this paper, a vision system able to detect, locate and track the head and hands of a human body is presented. The system uses several calibrated cameras placed around the operator scenario to locate the body parts of a person in 3D. The system combines different computer vision techniques to increase the reliability of the body parts detection: image movement detection, user skin colour segmentation and stereo. The data provided by these modules are focused looking for coherence according to the human body dimensions. With the scheme proposed it is possible to obtain a low-cost real-time system for human computer interfacing based in a natural way of communication (gestures). Civil area such as big robots in shipyards, mines, public works or cranes is some possible applications.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"44 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":"125728254","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

i-Fork: a flexible AGV system using topological and grid maps i-Fork:一个灵活的AGV系统，使用拓扑和网格地图

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241911

H. M. Barberá, J. C. Quiñonero, M. Zamora-Izquierdo, A. Gómez-Skarmeta

引用次数: 45

ERCN merged nets for modeling degraded behavior and parallel processes in semiconductor manufacturing systems ERCN融合了模拟半导体制造系统中退化行为和并行过程的网络

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241728

M. Jeng, Xiaolan Xie, Sheng-Luen Chung

{"title":"ERCN merged nets for modeling degraded behavior and parallel processes in semiconductor manufacturing systems","authors":"M. Jeng, Xiaolan Xie, Sheng-Luen Chung","doi":"10.1109/ROBOT.2003.1241728","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241728","url":null,"abstract":"This paper presents a new class of \"well-behaved\" Petrinets called ERCN merged nets that generalize the class of ERCN merged nets proposed in (X.L. Xie and M.D. Jeng, 1999). ERCN merged nets can model parallel and synchronized processes in semiconductor manufacturing such as lot split and merging. However, processing cycles for each resource type must include the initial state of the resource type. In other words, no local processing cycles are allowed. This makes the modeling of degraded behavior in semiconductor manufacturing such as rework, failure, and maintenance, difficult. In the current work, this constraint is relaxed under the \"extended free-choice (EFC)\" or \"asymmetric choice (AC)\" condition. Specifically, for each operation place with degrading outgoing arcs, the FC or AC condition is satisfied. In additions, degraded behavior is modeled as blocks within ERCNs. We show that conditions for liveness and reversibility of an unmarked siphons. The \"well-behaved\" conditions can be transforms into inequalities of the initial marking. Examples are shown to illustrate the proposed methodology.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"1 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":"130009395","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: 36

An easily reconfigurable robotic assembly system 一个易于重构的机器人装配系统

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241982

Y. Maeda, H. Kikuchi, H. Izawa, H. Ogawa, M. Sugi, T. Arai

引用次数: 14

Float arm V: hyper-redundant manipulator with wire-driven weight-compensation mechanism 浮臂V:带线驱动重量补偿机构的超冗余机械手

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241623

S. Hirose, T. Ishii, Atsuo Haishi

引用次数: 45