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

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Efficient contact state graph generation for assembly applications 高效的接触状态图生成装配应用
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241983
Fengjunjie Pan, J. Schimmels
{"title":"Efficient contact state graph generation for assembly applications","authors":"Fengjunjie Pan, J. Schimmels","doi":"10.1109/ROBOT.2003.1241983","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241983","url":null,"abstract":"An important aspect in the design of many automated assembly strategies is the ability to automatically generate the set of contact states that may occur during an assembly task. In this paper, we present an efficient means of constructing the set of all geometrically feasible contact states that may occur within a bounded set of misalignments (bounds determined by robot inaccuracy). This set is stored as a graph, referred to as an Assembly Contact State Graph (ACSG), which indicates neighbor relationships between feasible states. An ACSG is constructed without user intervention in two stages. In the first stage, all hypothetical primitive principle contacts (PPCs; all contact states allowing 5 degrees of freedom) are evaluated for geometric feasibility with respect to part-imposed and robot-imposed restrictions on relative positioning (evaluated using optimization). In the second stage, the feasibility of each of the various combinations of PPCs is efficiently evaluated, first using topological existence and uniqueness criteria, then using part-imposed and robot-imposed geometric criteria.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"23 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":"133976442","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
A new approach to compensate friction in robotic actuators 机器人执行器摩擦补偿的新方法
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241663
S. Gomes, V. Rosa
{"title":"A new approach to compensate friction in robotic actuators","authors":"S. Gomes, V. Rosa","doi":"10.1109/ROBOT.2003.1241663","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241663","url":null,"abstract":"At present, the most used robotic actuator is the harmonic drive, which reduces drastically the backlash that makes difficult the accurate control without undesirable vibrations. However, the internal elasticity and specially the nonlinear friction contribute negatively to the precise control of the manipulator robots. Friction model based on Coulomb's model do not well represent some effects verified experimentally as, for instance, the stick-slip behavior. Therefore, the main objective of this work is to introduce a new friction model, more realistic for this kind of actuator. Based on this model, a new friction compensation mechanism is proposed to avoid stick-slip. Experimental results indicated a high model accuracy level and a very good performance of the proposed compensation mechanism.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"147 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":"134157104","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: 28
Visual registration and navigation using planar features 使用平面特征的视觉配准和导航
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242201
G. D. Lopes, D. Koditschek
{"title":"Visual registration and navigation using planar features","authors":"G. D. Lopes, D. Koditschek","doi":"10.1109/ROBOT.2003.1242201","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242201","url":null,"abstract":"This paper addresses the problem of registering the hexapedal robot, RHex, relative to a known set of beacons, by real-time visual servoing. A suitably constructed navigation function represents the task, in the sense that for a completely actuated machine in the horizontal plane, the gradient dynamics guarantee convergence to the visually cued goal without ever losing sight of the beacons that define it. Since the horizontal plane behavior of RHex can be represented as a unicycle, feeding back the navigation function gradient avoids loss of beacons, but does not yield an asymptotically stable goal. We address new problems arising from the configuration of the beacons and present preliminary experimental results that illustrate the discrepancies between the idealized and physical robot actuation capabilities.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"30 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":"131779511","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
Modular Petri net based modeling, analysis and synthesis of dedicated production systems 基于模块化Petri网的专用生产系统建模、分析和综合
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242141
George J. Tsinarakis, K. Valavanis, N. Tsourveloudis
{"title":"Modular Petri net based modeling, analysis and synthesis of dedicated production systems","authors":"George J. Tsinarakis, K. Valavanis, N. Tsourveloudis","doi":"10.1109/ROBOT.2003.1242141","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242141","url":null,"abstract":"Ordinary t-timed Petri nets are used for modeling, analysis and synthesis of random topology production systems and networks. Each production system is first decomposed into production line (transfer chain), assembly, disassembly and parallel machines modules and then their corresponding modular Petri net models are derived. The overall system PN model is obtained via synthesis of the generic modules satisfying system constraints. P- and T-invariants are calculated and given a random topology production system, the total number of the system PN model nodes (places, transitions) is calculated from the corresponding generic PN modules. Results show the applicability of the proposed methodology.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"5 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":"127573694","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
Application of humanoid robots to building and home management services 仿人机器人在楼宇及家居管理服务中的应用
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242050
N. Sawasaki, T. Nakajima, Atsushi Shiraishi, Shinya Nakamura, Kiyoshi Wakabayashi, Y. Sugawara
{"title":"Application of humanoid robots to building and home management services","authors":"N. Sawasaki, T. Nakajima, Atsushi Shiraishi, Shinya Nakamura, Kiyoshi Wakabayashi, Y. Sugawara","doi":"10.1109/ROBOT.2003.1242050","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242050","url":null,"abstract":"This paper describes the development of applications for the building and home management service section of the \"Humanoid Robotics Project (HRP)\" supported by METI. The objective of this section is to develop a system that enables users to control the humanoid robots in their homes remotely via the Internet with a simple mobile terminal. To construct such a system, we focused on developing sensor-based autonomy sufficient to achieve task-level teleoperations. The system included view simulation based on CG technologies to help users perceive conditions at the robot's site and the client-server architecture necessary for remote task execution to reduce the load on the mobile terminal. Based on these technologies, we implemented a prototype system and conducted some experiments that illustrate that the system achieves the basic required functions for a building and home management service.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"4 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":"132813891","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
Student performance evaluation in web based access to robot supported laboratories 基于网络访问机器人支持实验室的学生绩效评估
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242283
H. E. Motuk, A. Erkmen, I. Erkmen
{"title":"Student performance evaluation in web based access to robot supported laboratories","authors":"H. E. Motuk, A. Erkmen, I. Erkmen","doi":"10.1109/ROBOT.2003.1242283","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242283","url":null,"abstract":"Our aim in this work is to generate an intelligent interface for profiling and evaluating each student remotely accessing a robot assisted lab setup. The interface provides the student with the \"hands on\" experience by necessary visual feedback, giving this user as much freedom as possible to control the experiment. Besides, the system evaluates the user's performance, adapts the context to the level of user's acquired knowledge and skill, and thus intelligently coaches the user to successfully do the experiment. The system's ability is demonstrated on an example and the behavior of each module in the proposed system is discussed. The major contribution of this paper is taking the student behavior into consideration while providing online robotics experimentation, evaluating the user's performance and coaching him/her towards the successful achievement of the tasks.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"26 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":"130702231","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
Visual servoing based on dynamic vision 基于动态视觉的视觉伺服
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242060
Ali Alhaj, C. Collewet, F. Chaumette
{"title":"Visual servoing based on dynamic vision","authors":"Ali Alhaj, C. Collewet, F. Chaumette","doi":"10.1109/ROBOT.2003.1242060","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242060","url":null,"abstract":"This paper deals with the way to achieve positioning tasks by visual servoing in the case of planar and motionless objects whose shape is unknown. In fact, we consider here complex objects like those one can encounter in the agrifood industry. A 3D reconstruction phase is first considered yielding to the parameters of the plane. This computation is based on the measurement of the 2D velocity in a region of interest and on the measurement of the camera velocity. Once the parameters of the plane are sufficiently stable, a visual servoing scheme is used to control the orientation of the camera with respect to the object and to ensure that it remains in the camera field of view for any desired orientation. This 3D reconstruction phase is maintained active during the servoing to improve the accuracy of the parameters and, consequently, to obtain a small positioning error. Finally, experimental results validate the proposed approach as well as for its effectiveness than for the obtained accuracy.","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":"131174841","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
Real-time vision-based contour following with laser pointer 基于激光笔的实时视觉轮廓跟踪
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241976
Wen-Chung Chang, M. Chai
{"title":"Real-time vision-based contour following with laser pointer","authors":"Wen-Chung Chang, M. Chai","doi":"10.1109/ROBOT.2003.1241976","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241976","url":null,"abstract":"This article addresses the visual servoing of a rigid robotic manipulator under fixed camera configuration. A laser pointer is mounted on the end-effector of a robot whose orientation can be controlled by automatic visual feedback. The control goal is to drive the laser spot to follow a visually determined planar contour by using a single-camera vision system. In this research, image-based control approach is proposed to achieve \"precise\" positioning in the absence of measurement noise. With this system, one can achieve automatic planar contour following using approximately calibrated single-camera vision. The control strategy is successfully validated in a real-time PC-based experimental system by performing experiments on arbitrary contour following.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"2 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":"130718414","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: 4
Vision-based 2.5D terrain modeling for humanoid locomotion 基于视觉的人形运动2.5D地形建模
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241910
S. Kagami, K. Nishiwaki, J. Kuffner, K. Okada, M. Inaba, H. Inoue
{"title":"Vision-based 2.5D terrain modeling for humanoid locomotion","authors":"S. Kagami, K. Nishiwaki, J. Kuffner, K. Okada, M. Inaba, H. Inoue","doi":"10.1109/ROBOT.2003.1241910","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241910","url":null,"abstract":"We present an integrated humanoid locomotion and online terrain modeling system using stereo vision. From a 3D depth map, a 2.5D probabilistic description of the nearby terrain is generated. The depth map is calculated from a pair of stereo camera images, correlation-based localization is performed, and candidate planar walking surfaces are extracted. The results are used to update a probabilistic map of the terrain, which is input to an online footstep planning system. Experimental results are shown using the humanoid robot H7, which was designed as a research platform for intelligent humanoid robotics.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"2 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":"130917849","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: 47
Digital passive geometric telemanipulation 数字被动几何遥控
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242098
C. Secchi, S. Stramigioli, C. Fantuzzi
{"title":"Digital passive geometric telemanipulation","authors":"C. Secchi, S. Stramigioli, C. Fantuzzi","doi":"10.1109/ROBOT.2003.1242098","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242098","url":null,"abstract":"In this paper we present an intrinsically passive telemanipulation scheme over a digital transmission line Internet-like. We present an analysis of the energetic behavior of the communication line both in case of loss of packages and in case of variable delay. The sample data nature of the passive controller is explicitly taken into account following the approach outlined.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"3 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":"130961361","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: 60
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