2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)最新文献_第6页

MICAbot: a robotic platform for large-scale distributed robotics MICAbot:用于大规模分布式机器人的机器人平台

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241823

M. B. McMickell, B. Goodwine, L. Montestruque

引用次数: 114

Towards a factored analysis of legged locomotion models 对腿部运动模型的因子分析

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241570

R. Altendorfer, D. Koditschek, P. Holmes

引用次数: 24

Tele-coordinated control of multi-robot systems via the Internet 通过互联网实现多机器人系统的远程协调控制

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241830

I. Elhajj, N. Xi, A. Goradia, Chow Man Kit, Yunhui Liu, T. Fukuda

引用次数: 16

Inverse dynamics and simulation of a 3-DOF spatial parallel manipulator 三自由度空间并联机械臂的逆动力学与仿真

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242226

Yu-Wen Li, Jinsong Wang, Liping Wang, Xinjun Liu

引用次数: 58

On-line soil property estimation for autonomous excavator vehicles 自主挖掘车辆土壤特性在线估计

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241583

Choopar Tan, Y. Zweiri, K. Althoefer, L. Seneviratne

{"title":"On-line soil property estimation for autonomous excavator vehicles","authors":"Choopar Tan, Y. Zweiri, K. Althoefer, L. Seneviratne","doi":"10.1109/ROBOT.2003.1241583","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241583","url":null,"abstract":"This paper presents a novel method for estimating soil properties on-line during excavation tasks such as ground leveling, digging and sheet pilling. The proposed method computes key soil parameters by measuring the forces acting on the excavator bucket whilst being in contact with the soil and minimizing the error between measured forces and estimated forces produced by a real-time capable soil model. Two soil models, the Mohr-Coulomb soil model and the Chen and Liu upper bound soil model, are implemented and researched in the context of this estimation scheme. Parameter optimization is carried out employing the Newton Raphson method. The method is evaluated using experimental data and through comparison with an approach that makes use of graphical intersection for model optimization. The results demonstrate that the proposed Newton Raphson-based method is as accurate as the graphical intersection-based approach, but up to 2000 times faster, and thus, most suitable for on-line soil parameter estimation in an automated system which provides optimized digging trajectories for a given excavation task.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"71 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":"133467627","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

Error-tolerant execution of complex robot tasks based on skill primitives 基于技能原语的复杂机器人任务容错执行

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242062

Ulrike Thomas, B. Finkemeyer, T. Kröger, F. Wahl

{"title":"Error-tolerant execution of complex robot tasks based on skill primitives","authors":"Ulrike Thomas, B. Finkemeyer, T. Kröger, F. Wahl","doi":"10.1109/ROBOT.2003.1242062","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242062","url":null,"abstract":"This paper presents a general approach to specify and execute complex robot tasks considering uncertain environments. Robot tasks are defined by a precise definition of so-called skill primitive nets, which are based on Mason's hybrid force/velocity and position control concept, but it is not limited to force/velocity and position control. Two examples are given to illustrate the formally defined skill primitive nets. We evaluated the controller and the trajectory planner by several experiments. Skill primitives suite very well as interface to robot control systems. The presented hybrid control approach provides a modular, flexible, and robust system; stability is guaranteed, particularly at transitions of two skill primitives. With the interface explained here, the results of compliance motion planning become possible to be examined in real work cells. We have implemented an algorithm to search for mating directions in up to three-dimensional configuration-spaces. Thereby, on one hand we have released compliant motion control concepts and on the other hand we can provide solutions for fine motion and assembly planning. This paper shows, how these two fields can be combined by the general concept of skill primitive nets introduced here, in order to establish a powerful system, which is able to automatically execute prior calculated assembly plans based on CAD-data in uncertain environments.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"134 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":"132268364","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: 73

Distributing 3D manufacturing simulations to realize the Digital Plant 分布式三维制造仿真，实现数字化工厂

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241840

E. Freund, D. Pensky

引用次数: 2

An iterative framework for projection-based image sequence registration 基于投影的图像序列配准迭代框架

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241871

Joaquin Salas

引用次数: 2

A new approach for structural credit assignment in distributed reinforcement learning systems 分布式强化学习系统中结构学分分配的新方法

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241758

Zhong Yu, Gu Guo-chang, Zhang Rubo

引用次数: 2

Visual odometry from an omnidirectional vision system 全方位视觉系统的视觉里程计

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241656

R. Bunschoten, B. Kröse

引用次数: 38