2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)最新文献_第7页

On the stable passive dynamics of quadrupedal running 四足跑步稳定被动动力学研究

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241782

I. Poulakakis, E. Papadopoulos, M. Buehler

引用次数: 54

Enveloping obstacles with hexagonal metamorphic robots 用六边形变形机器人包围障碍物

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241682

J. Walter, E. Tsai, N. Amato

引用次数: 9

Statistical analysis and comparison of questionnaire results of subjective evaluations of seal robot in Japan and UK 日本与英国海豹机器人主观评价问卷调查结果的统计分析与比较

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242075

T. Shibata, K. Wada, K. Tanie

引用次数: 38

Micromanipulation contact transition control by selective focusing and microforce control 选择聚焦和微力控制的微操作接触过渡控制

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242083

Ge Yang, B. Nelson

{"title":"Micromanipulation contact transition control by selective focusing and microforce control","authors":"Ge Yang, B. Nelson","doi":"10.1109/ROBOT.2003.1242083","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242083","url":null,"abstract":"A fundamental requirement of micromanipulation is to control the impact force and subsequently the contact force in the transition of the micromanipulator end-effector from noncontact to contact state. This is especially important in protecting fragile microstructures and preventing undesirable motion. This paper proposes a method of using the integration of selective focusing and microforce control to achieve fast transition control while minimizing impact force. The method is applied to contact transition in microassembly pick-and-place operations. The initial long-range approach motion of the end-effector towards its target is controlled based on focus measures computed from images captured through a microscope. When the end-effector comes into focus near the target, the system switches to microforce control to minimize impact force and to regulate the contact force. An optics model for microscope focusing is proposed to characterize the dynamic behavior of the end-effector images during the approach motion. The connection between this model and the scale-space theory of computer vision is emphasized. Three different focus measures are tested and compared in performance. The proposed method has been experimentally verified to be able to achieve fast transition control with minimal impact force.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"99 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":"115005897","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: 24

Touching stomach by air 用空气摸胃

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241670

M. Kaneko, T. Kawahara, S. Matsunaga, T. Tsuji, Shinji Tanaka

引用次数: 12

Learning self-organizing maps for navigation in dynamic worlds 学习自组织地图在动态世界中导航

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241773

R. Araújo, G. Gouveia, N. Santos

引用次数: 7

Design of all-accelerometer inertial measurement unit for tremor sensing in hand-held microsurgical instrument 手持式显微手术器械震颤传感全加速度计惯性测量单元的设计

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241852

W. T. Ang, P. Khosla, C. Riviere

{"title":"Design of all-accelerometer inertial measurement unit for tremor sensing in hand-held microsurgical instrument","authors":"W. T. Ang, P. Khosla, C. Riviere","doi":"10.1109/ROBOT.2003.1241852","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241852","url":null,"abstract":"We present the design of an all-accelerometer inertial measurement unit (IMU). The IMU forms part of an intelligent hand-held microsurgical instrument that senses its own motion, distinguishes between hand tremor and intended motion, and compensates in real-time the erroneous motion. The new IMU design consists of three miniature dual-axis accelerometers, two of which are housed in a sensor suite at the distal end of the instrument handle, and one located at the proximal end close to the instrument tip. By taking the difference between the accelerometer readings, we decouple the inertial and gravitational accelerations from the rotation-induced (centripetal and tangential) accelerations, hence simplifies the kinematic computation of angular motions. We have shown that the error variance of the Euler orientation parameters /spl theta//sub x/, /spl theta//sub y/ and /spl theta//sub z/ is inversely proportional to the square of the distance between the three sensor locations. Comparing with a conventional three gyros and three accelerometers IMU, the proposed design reduces the standard deviation of the estimates of translational displacements by 29.3% in each principal axis and those of the Euler orientation parameters /spl theta//sub x/, /spl theta//sub y/ and /spl theta//sub z/ by 99.1%, 99.1% and 92.8% respectively.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"67 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":"123474348","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: 70

From visuo-motor self learning to early imitation-a neural architecture for humanoid learning 从视觉运动自我学习到早期模仿——类人学习的神经结构

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242072

Y. Kuniyoshi, Yasuaki Yorozu, M. Inaba, H. Inoue

{"title":"From visuo-motor self learning to early imitation-a neural architecture for humanoid learning","authors":"Y. Kuniyoshi, Yasuaki Yorozu, M. Inaba, H. Inoue","doi":"10.1109/ROBOT.2003.1242072","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242072","url":null,"abstract":"Behavior imitation ability will be a key technology for future human friendly robots. In order to understand the principles and mechanisms of imitation, we take a synthetic cognitive developmental approach, starting with minimum components and create a system that can learn to imitate others. We developed a visuo-motor neural learning system which consists of orientation selective visual movement representation, distributed arm movement representation, and a high-dimensional temporal sequence learning mechanism. The vision and the movement representations model the findings in primate brain, i.e. macaque area MT(or human area V5) and the primary motor area. The learning mechanism is inspired by the finding that there are excessive connections in neonate brain. As our robot explores the visuo-motor self movement patterns, it learns coherent patterns as high-dimensional trajectory attractors. After the learning, a human comes in front of the robot showing arm movements which are similar to the ones in self learning. Although the robot has never seen or programmed to interpret human arm movement, and the detail of visual stimuli are very different, the robot identifies some of the patterns as similar to those in self learning, and responded by generating the previously learned arm movement. In other words, the robot exhibits early imitation ability based on self exploratory learning.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"305 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":"122116069","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: 95

Trajectory generation for constant velocity target motion estimation using monocular vision 基于单目视觉的等速目标运动估计的轨迹生成

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242128

E. Frew, S. Rock

引用次数: 45

Development of a mobile robot for visually guided handling of material 一种移动机器人的开发，用于视觉引导处理材料

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242115

T. Tsay, M. Hsu, R. Lin

{"title":"Development of a mobile robot for visually guided handling of material","authors":"T. Tsay, M. Hsu, R. Lin","doi":"10.1109/ROBOT.2003.1242115","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242115","url":null,"abstract":"Mobile robots frequently replace humans in handling and transporting wafer carriers in semiconductor production lines. A mobile robot is constructed in this paper. The developed mobile robot is primarily composed of a mobile base, a robot manipulator, and a vision system. Since the guidance control system of the mobile base inevitably causes positioning errors of the mobile base, this study employs the eye-in-hand vision system to provide visual information for controlling the manipulator of the mobile robot to grasp accurately stationary material during pick-and-place operations between a predefined station and the mobile robot. This work further proposes a position-based look-and-move task encoding control strategy for eye-in-hand vision architecture, that maintains all target features in the camera's field of view throughout the visual guiding. Moreover, the manipulator can quickly approach the material and precisely position the end-effector in the desired pose. Numerous techniques are required for implementing such a task, including image enhancement, edge detection, corner and centroid detection, camera model calibration method, robotic hand/eye calibration method, using a camera with controlled zoom and focus, and task encoding scheme. Finally, the theoretical results for the proposed control strategy are experimentally verified on the constructed mobile robot. Specific experimental demonstrations include grasping the target object with different locations on the station and grasping the target object tilted by different angles to the station.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"81 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":"117233864","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: 6