Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)最新文献

Artificial finger skin having ridges and distributed tactile sensors used for grasp force control 人造手指皮肤有脊和分布式触觉传感器用于抓握力控制

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2002-04-20 DOI: 10.1109/IROS.2001.976249

D. Yamada, T. Maeno, Yoji Yamada

引用次数: 121

A master-slave system using a multi-DOF ultrasonic motor and its controller designed considering measured and simulated driving characteristics 考虑实测和仿真的驱动特性，设计了一种多自由度超声电机主从系统及其控制器

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI: 10.1109/IROS.2001.976363

K. Takemura, Dai Harada, Takashi Maeno

{"title":"A master-slave system using a multi-DOF ultrasonic motor and its controller designed considering measured and simulated driving characteristics","authors":"K. Takemura, Dai Harada, Takashi Maeno","doi":"10.1109/IROS.2001.976363","DOIUrl":"https://doi.org/10.1109/IROS.2001.976363","url":null,"abstract":"Master-slave active robot hands and endoscopes, which provide dexterous manipulations and wide views like human hands and eyes, are required to be constructed. We have previously developed a multi-DOF ultrasonic motor consisting of a spherical rotor and a bar-shaped stator. The rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system using the multi-DOF ultrasonic motor is developed. Master and slave arms for the system have similar configurations, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are clarified experimentally and analytically in order to design the slave arm and its controller. Next, the master-slave arms and the unilateral feedback controller for the master-slave system are developed. Finally, the motion control tests of the system are performed to show the applicability of the master-slave system.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133836793","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

Integration of constraint logic programming and artificial neural networks for driving robots 约束逻辑规划与人工神经网络在机器人驱动中的集成

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI: 10.1109/IROS.2001.976301

K. Ishikawa, T. Fujinami, A. Sakurai

引用次数: 1

Human-robot cooperative manipulation with motion estimation 基于运动估计的人机协同操作

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI: 10.1109/IROS.2001.976403

Y. Maeda, T. Hara, T. Arai

引用次数: 128

Simultaneous design of morphology of body, neural systems and adaptability to environment of multi-link-type locomotive robots using genetic programming 采用遗传规划方法对多连杆型机车机器人的身体形态、神经系统和环境适应性进行同步设计

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI: 10.1109/IROS.2001.976410

K. Endo, T. Maeno

引用次数: 5

Understanding of human movements in crank rotation 理解人体在曲柄旋转中的运动

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI: 10.1109/IROS.2001.976382

M. Svinin, K. Ohta, Zhiwei Luo, S. Hosoe

引用次数: 5

Effects of limited bandwidth communications channels on the control of multiple robots 有限带宽通信信道对多机器人控制的影响

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI: 10.1109/IROS.2001.973385

P. Rybski, S. Stoeter, Maria L. Gini, Dean Frederick Hougen, N. Papanikolopoulos

引用次数: 32

Biped gait synthesis based on dynamic parametrization 基于动态参数化的两足步态综合

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-12-01 DOI: 10.1109/IROS.2001.973407

M. Kumon, T. Nakata, N. Adachi

引用次数: 2

Toward developing reusable software components for robotic applications 为机器人应用开发可重用的软件组件

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-11-29 DOI: 10.1109/IROS.2001.976425

I. Nesnas, R. Volpe, T. Estlin, H. Nayar, R. Petras, D. Mutz

{"title":"Toward developing reusable software components for robotic applications","authors":"I. Nesnas, R. Volpe, T. Estlin, H. Nayar, R. Petras, D. Mutz","doi":"10.1109/IROS.2001.976425","DOIUrl":"https://doi.org/10.1109/IROS.2001.976425","url":null,"abstract":"We present an overview of the CLARAty architecture which aims at developing reusable software components for robotic systems. These components are to support autonomy software which plans and schedules robot activities. CLARAty modifies the conventional 3-level robotic architecture into a 2-layered design: the functional layer and the decision layer. The former provides a representation of the system components and an implementation of their functionalities. The latter is the decision-making engine that drives the former. It globally reasons about the goals, system resources, and system state. The functional layer is composed of a set of interrelated object-oriented hierarchies consisting of active and passive objects that represent the system abstraction levels. We present an overview of the design of the functional layer. It is decomposed into a set of reusable core components and a set of extended components that adapt the reusable set to different hardware implementations. The reusable components provide interface definitions and implementations of basic functionality, provide local executive capabilities, manage local resources, and support decision layer queries.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130638016","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

Development of a force-reflection controlled micro underwater actuator 力反射控制水下微型驱动器的研制

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI: 10.1109/IROS.2001.973384

Wenli Zhou, A. Hui, W. Li, N. Xi

{"title":"Development of a force-reflection controlled micro underwater actuator","authors":"Wenli Zhou, A. Hui, W. Li, N. Xi","doi":"10.1109/IROS.2001.973384","DOIUrl":"https://doi.org/10.1109/IROS.2001.973384","url":null,"abstract":"The ability to manipulate and control biological cells with reflective-force information is a key technology necessary for many new applications in bio-MEMS, but is currently lacking in all cellular manipulators. We report our preliminary experimental work in using an ionic conducting polymer film (ICPF) to develop a biological cellular robotic gripper with force sensing capability. ICPF actuators are able to give large deflection with small input voltage (/spl sim/5V) in aqueous environments, and also able to give relatively large output voltage due to deflection by mechanical forces. Thus, ICPF actuators are investigated as possible cellular force-reflection controlled manipulators in our work. Individual multi-finger grippers with dimensions of 200/spl mu/m /spl times/ 200/spl mu/m /spl times/ 3000/spl mu/m for each finger were realized. We report on the design, fabrication procedures, and operating performance of our ICPF actuators. Further development in the reduction of size of these actuators will enable effective force-feedback control of underwater micro objects and lead to new frontiers in cellular manipulation.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123041846","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: 8