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_第8页

Preliminary experiments in the adaptive identification of dynamically positioned underwater robotic vehicles 动态定位水下机器人自适应识别的初步实验

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.2001.976335

D. A. Smallwood, L. Whitcomb

引用次数: 30

Underwater robots for cable following 水下电缆跟踪机器人

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.2001.976336

Arjuna Balasuriya, T. Ura

{"title":"Underwater robots for cable following","authors":"Arjuna Balasuriya, T. Ura","doi":"10.1109/IROS.2001.976336","DOIUrl":"https://doi.org/10.1109/IROS.2001.976336","url":null,"abstract":"A sensor fusion technique is proposed for autonomous underwater vehicles (AUVs) to track underwater cables. The focus of this paper is to solve the two practical problems encountered in optical vision based systems in underwater environments: (1) navigation of AUV when cable is invisible in the image; and (2) selection of the correct cable when there are many similar features appearing in the image. The proposed sensor fusion scheme uses the dead reckoning position uncertainty with a 2D position model of the cable to predict the region of interest in the image. This reduces the processing data, increases the processing speed and avoids tracking other similar features appearing in the optical image. The proposed method uses a priori map of the cable for AUV navigation when the cable features are invisible in the predicted region in the image. An experiment was conducted to test the performance of the proposed algorithm using the AUV \"Twin-Burger 2\". The experimental results obtained show how the proposed method handles the above-mentioned practical problems.","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":"19 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":"134349456","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: 3

On catching an object by a robotic manipulator 用机械手抓住一个物体

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.2001.976326

A. J. Koivo, A. Koivo

引用次数: 2

Compliant motion control with stochastic active observers 随机主动观测器的柔性运动控制

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 : 2001-10-29 DOI: 10.1109/IROS.2001.976347

R. Cortesão, R. Koeppe, U. Nunes, G. Hirzinger

引用次数: 13

Periodic stabilizing control of systems with collisions-application to walking robots 碰撞系统的周期稳定控制——在步行机器人中的应用

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.2001.976296

H. Ohta, M. Yamakita

{"title":"Periodic stabilizing control of systems with collisions-application to walking robots","authors":"H. Ohta, M. Yamakita","doi":"10.1109/IROS.2001.976296","DOIUrl":"https://doi.org/10.1109/IROS.2001.976296","url":null,"abstract":"The focus of this work is to generate and realize automatically an ideal periodic gait of walking robots which depends on properties of the system and an environment. In conventional works, a robot walking are realized by a tracking control for a predetermined desired trajectory. A necessary control for walking robots is not to track a desired trajectory but to generate a suitable trajectory according to changes of the environment. In order to realize this function, two methods will be discussed in this paper. The first one is the control method to realize a suitable steady periodic motion. The method will be called 'phase synchronous control,' which creates a stable limit cycle for the system which has an unstable one. The second one is the algorithm which is called 'desired state optimization' and modifies the motion to an optimal one, that a criterion function is optimized. Using this algorithm, if the environment of the system is changed, an ideal motion for the environment is automatically realized. The validity of the proposed method will be examined by numerical simulations.","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":"65 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":"115732281","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: 1

A precision manipulator module for assembly in a minifactory environment 用于在小型工厂环境中组装的精密机械手模块

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.2001.976304

H. B. Brown, Patrick M. Muir, A. Rizzi, M. C. Sensi, R. Hollis

引用次数: 15

Adaptive force control of position/velocity controlled robots: theory and experiment 位置/速度控制机器人的自适应力控制:理论与实验

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.2001.976374

J. Roy, L. Whitcomb

引用次数: 181

A versatile C++ toolbox for model based, real time control systems of robotic manipulators 一个多功能的c++工具箱，用于基于模型的机器人操纵器实时控制系统

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.2001.976398

R. Höpler, M. Otter

引用次数: 15

Control strategy of flexible manipulators for contact motion to moving object 柔性机械臂与运动物体接触运动的控制策略

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.2001.976286

Y. Morita, Keiji Tsujimura, H. Ukai, H. Kando

引用次数: 0

Semi-guided navigation of AGV through iterative learning 基于迭代学习的AGV半制导导航

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.2001.976294

T. Fujimoto, J. Ota, T. Arai, T. Ueyama, T. Nishiyama

引用次数: 11