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

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Multi-robot task-allocation through vacancy chains 基于空缺链的多机器人任务分配
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241935
T. Dahl, M. Matarić, G. Sukhatme
{"title":"Multi-robot task-allocation through vacancy chains","authors":"T. Dahl, M. Matarić, G. Sukhatme","doi":"10.1109/ROBOT.2003.1241935","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241935","url":null,"abstract":"This paper presents an algorithm for task allocation in groups of homogeneous robots. The algorithm is based on vacancy chains, a resource distribution strategy common in human and animal societies. We define a class of task-allocation problems for which the vacancy chain algorithm is suitable and demonstrate how reinforcement learning can be used to make vacancy chains emerge in a group of behavior-based robots. Experiments in simulation show that the vacancy chain algorithm consistently outperforms random and static task allocation algorithms when individual robots are prone to distractions or breakdowns, or when task priorities change.","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":"124070318","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: 42
Development of remote microsurgery robot and new surgical procedure for deep and narrow space 远程显微手术机器人的研制与深、窄空间手术新方法的研究
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241740
K. Ikuta, Keiichi Yamamoto, K. Sasaki
{"title":"Development of remote microsurgery robot and new surgical procedure for deep and narrow space","authors":"K. Ikuta, Keiichi Yamamoto, K. Sasaki","doi":"10.1109/ROBOT.2003.1241740","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241740","url":null,"abstract":"We developed both new operation procedure and new robot system for remote micro surgery at deep and narrow space of human body. This system allows us to operate a difficult microsurgery that conventional method cannot be achieved. Our system consists of flexible stem and slave micro manipulators which can enter deep site such as brain through narrow channel. The macro motion of master manipulator can be converted into miniature motion of the slave microsurgery manipulator with five degrees of freedom in 3 mm diameter. This system has been taking advantage of flexible catheter and decoupled micro manipulator invented by Ikuta. Total performance was verified by animal experiment.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"202 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":"125938286","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: 91
Inverse and direct dynamics of constrained multibody systems based on orthogonal decomposition of generalized force 基于广义力正交分解的约束多体系统逆动力学与正动力学
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242217
Farhad Aghili
{"title":"Inverse and direct dynamics of constrained multibody systems based on orthogonal decomposition of generalized force","authors":"Farhad Aghili","doi":"10.1109/ROBOT.2003.1242217","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242217","url":null,"abstract":"This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can be served as a basis for analysis, simulation, and control. The compactness of the dynamics formulation can result in computational efficiency. Furthermore, the acceleration is explicitly related to the generalized force by an introduced \"constraint inertia matrix\" which is proved to be always invertible. Thus a simulation may proceed even with the presence of redundant constraints or singular configurations. The generalized forces are decomposed onto two orthogonal subspaces which are considered as control inputs for controlling position and constraint force. The motion controller scheme, remarkably, requires no force feedback, proves to be stable, and minimizes actuation force. Finally, numerical and experimental results obtained from dynamic simulation and control of constrained mechanical systems, based on the proposed inverse and direct dynamics formulations, are documented.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"82 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":"126168820","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
Vision-based localization of an underwater robot in a structured environment 水下机器人在结构化环境中的视觉定位
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241718
M. Carreras, P. Ridao, Rafael García, T. Nicosevici
{"title":"Vision-based localization of an underwater robot in a structured environment","authors":"M. Carreras, P. Ridao, Rafael García, T. Nicosevici","doi":"10.1109/ROBOT.2003.1241718","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241718","url":null,"abstract":"This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low-level controller. The paper details the localization algorithm, by showing some graphical results, and the accuracy of the system.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"107 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":"125043818","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
Visual transformations in gesture imitation: what you see is what you do 手势模仿中的视觉转换:你看到的就是你做的
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241948
Manuel Cabido-Lopes, J. Santos-Victor
{"title":"Visual transformations in gesture imitation: what you see is what you do","authors":"Manuel Cabido-Lopes, J. Santos-Victor","doi":"10.1109/ROBOT.2003.1241948","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241948","url":null,"abstract":"We propose an approach for a robot to imitate the gestures of a human demonstrator. Our framework consists solely of two components: a Sensory-Motor Map (SMM) and a View-Point Transformation (VPT). The SMM establishes an association between an arm image and the corresponding joint angles and it is learned by the system during a period of observation of its own gestures. The VPT is widely discussed in the psychology of visual perception and is used to transform the image of the demonstrator's arm to the so-called ego-centric image, as if the robot were observing its own arm. Different structures of the SMM and VPT are proposed in accordance with observations in human imitation. The whole system relies on monocular visual information and leads to a parsimonious architecture for learning by imitation. Real-time results are presented and discussed.","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":"129415434","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: 39
Extracting optimal paths from roadmaps for motion planning 从运动规划的路线图中提取最优路径
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241956
Jinsuck Kim, R. Pearce, N. Amato
{"title":"Extracting optimal paths from roadmaps for motion planning","authors":"Jinsuck Kim, R. Pearce, N. Amato","doi":"10.1109/ROBOT.2003.1241956","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241956","url":null,"abstract":"We present methods for extracting optimal paths from motion planning roadmaps. Our system enables any combination of optimization criteria, such as collision detection, kinematic/dynamic constraints, or minimum clearance, and relaxed definitions of the goal state, to be used when selecting paths from roadmaps. Our algorithm is an augmented version of Dijkstra's shortest path algorithm which allows edge weights to be defined relative to the current path. We present simulation results maximizing minimum path clearance, minimizing localization effort, and enforcing kinematic/dynamic constraints.","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":"129506404","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: 67
An error restraining method for accurate freeform surface cutting 一种自由曲面精确切割的误差抑制方法
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242207
A. Jaganathan, Yueh-Jaw Lin
{"title":"An error restraining method for accurate freeform surface cutting","authors":"A. Jaganathan, Yueh-Jaw Lin","doi":"10.1109/ROBOT.2003.1242207","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242207","url":null,"abstract":"Producing sculptured surfaces of special parts always poses challenges to machining industry. In this paper, an effective tool path error restraining method utilizing adaptive rules for cutting control is proposed for freeform surface machining. Based on the proposed approach an experimental verification is accomplished in milling a sample part with curved surfaces. Specifically, the parametric spatial curves representing the part's sculptured surface are approximated by sequences of connected line segments. From the current reference point of the cutting tool, the method has the capability of predicting the next reference point of the tool for a given feed. If the predicted position is not within the required tolerance, the algorithm will automatically adjust the position of the cutter so as to satisfy the tolerance requirements using feedback control philosophy. It is proved that the developed adaptive cutting laws are robust in achieving the desired freeform surface cutting with pre-specified tolerance requirements. The given tolerance is measured as the angular deviations to which the generated tool path deviates from the desired profile. Feedrate variations have been implemented in the investigation in the range between 5 mm/second and 30 mm/second. The tool paths generated with and without the adaptive mechanisms are compared. The experimental results demonstrate that the proposed tolerance feedback mechanism is very effective for producing parts having curved surfaces.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"16 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":"129684300","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
Airborne simultaneous localisation and map building 空中同步定位和地图建设
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1241629
Jong-Hyuk Kim, S. Sukkarieh
{"title":"Airborne simultaneous localisation and map building","authors":"Jong-Hyuk Kim, S. Sukkarieh","doi":"10.1109/ROBOT.2003.1241629","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1241629","url":null,"abstract":"This paper presents results of the application of simultaneous localisation and map building (SLAM) for an uninhabited aerial vehicle (UAV). Single vision camera and inertial measurement unit (IMU) are installed in a UAV platform. The data taken from a flight test is used to run the SLAM algorithm. Results show that both the map and the vehicle uncertainty are corrected even though the model of the system and observation are highly non-linear. The results, however, also indicate that further work of observability and the relationship between vehicle model drift and the number and the location of landmarks need to be further analysed given the highly dynamic nature of the system.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"78 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":"128295990","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: 217
Collaborative capturing of experiences with ubiquitous sensors and communication robots 利用无处不在的传感器和通信机器人协同捕捉经验
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242238
N. Hagita, K. Kogure, K. Mase, Y. Sumi
{"title":"Collaborative capturing of experiences with ubiquitous sensors and communication robots","authors":"N. Hagita, K. Kogure, K. Mase, Y. Sumi","doi":"10.1109/ROBOT.2003.1242238","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242238","url":null,"abstract":"We propose an intelligent environment for \"co-experience communication\" consisting of stationary and wearable sensors, and communication robots. The environment captures many events collaboratively from multiple viewpoints using a combination of stationary sensors that track people's behaviors and interactions, and wearable sensors that observe the viewpoints and areas of interest of individual persons. Humanoid communication robots also play a role as assistants to help visitors pay attention to significant events. First of all, the basic framework of the environment is described. Next, our developing exhibition room is introduced as an example of an intelligent environment.","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":"127529999","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: 20
Smooth path planning by using visibility graph-like method 采用可视性类图法进行平滑路径规划
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI: 10.1109/ROBOT.2003.1242175
T. Kito, J. Ota, R. Katsuki, T. Mizuta, T. Arai, T. Ueyama, T. Nishiyama
{"title":"Smooth path planning by using visibility graph-like method","authors":"T. Kito, J. Ota, R. Katsuki, T. Mizuta, T. Arai, T. Ueyama, T. Nishiyama","doi":"10.1109/ROBOT.2003.1242175","DOIUrl":"https://doi.org/10.1109/ROBOT.2003.1242175","url":null,"abstract":"To achieve smooth motion of car-like robots, it is necessary to generate paths that satisfy the following conditions: maximum curvature, maximum curvature derivative, and curvature continuity. Another requirement is that human operators can manipulate the robots with ease. In this paper, a path expression methodology consisting of line segments, circular arcs and clothoid arcs is presented. In addition, a method of global path generation with a visibility graph is proposed. To establish this method, the following steps are proposed: (a) the arrangement of subgoals (middle points) and (b) the construction of the graph for path generation. By using the proposed method, the paths were shortened 14% on average.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"101 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":"127344672","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: 37
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