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Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications最新文献

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Onboard Locating System Of Autonomous Vehicle 自动驾驶汽车车载定位系统
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637912
S. Murata, Takeshi Hirose
{"title":"Onboard Locating System Of Autonomous Vehicle","authors":"S. Murata, Takeshi Hirose","doi":"10.1109/IROS.1989.637912","DOIUrl":"https://doi.org/10.1109/IROS.1989.637912","url":null,"abstract":"This paper presents a new onboard locating system of an autonomous vehicle using signposts put along routes. The locating system estimates location and direction of the vehicle on the basis of the observa- tion of signposts and revolution counts of main wheels. The Kalman filter is employed to estimate the loca- tion and direction of the vehicle on real time base, and smooth and accurate estimation is realized. The ex- perimental result shows that the accurate location and direction of the vehicle is obtained through the system.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131891153","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
Autonomous Guiding System With Absolute Referencing For Paris Underground Cleaning Robots 巴黎地下清扫机器人的绝对参照自主导向系统
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637954
B. Gantois, J. Gounon, G. Leclavier
{"title":"Autonomous Guiding System With Absolute Referencing For Paris Underground Cleaning Robots","authors":"B. Gantois, J. Gounon, G. Leclavier","doi":"10.1109/IROS.1989.637954","DOIUrl":"https://doi.org/10.1109/IROS.1989.637954","url":null,"abstract":"","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116485693","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
Leg-ankle-foot System For Investigating Sensor-based Legged Locomotion 研究基于传感器的腿部运动的腿-踝-足系统
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637970
A. Bicchi, L. Bosio, P. Dario, M. Guiggiani, Enrico Manfredi, P. Pinotti
{"title":"Leg-ankle-foot System For Investigating Sensor-based Legged Locomotion","authors":"A. Bicchi, L. Bosio, P. Dario, M. Guiggiani, Enrico Manfredi, P. Pinotti","doi":"10.1109/IROS.1989.637970","DOIUrl":"https://doi.org/10.1109/IROS.1989.637970","url":null,"abstract":"","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114955758","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: 12
Design Of An Autonomous And Distributed Robot System: Actress 自主分布式机器人系统的设计:演员
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637920
H. Asama, A. Matsumoto, Y. Ishida
{"title":"Design Of An Autonomous And Distributed Robot System: Actress","authors":"H. Asama, A. Matsumoto, Y. Ishida","doi":"10.1109/IROS.1989.637920","DOIUrl":"https://doi.org/10.1109/IROS.1989.637920","url":null,"abstract":"A new concept of an advanced robot system, ACTRESS (ACTor-based Robots and Equipments Synthetic System), is presented in this paper. ACTRESS is an autonomous and distributed robot system composed of multi robotic elements. Each element is provided with functions to make decisions with understanding the target of tasks, recognizing surrounding environments, acting, and managing its own conditions, and to communicate with any other components. In order to manage multiple elements to achieve any given task targets, the protocol for communication between elements is discussed for cooperative action between arbitrary elements. This paper deals with the conceptual design of ACTRESS, focusing on the methodology for synthesizing the autonomous and distributed system. Also based on an assumption that mobility is the indispensable function for advanced robot systems, an experimental system using micro mouse\"'^ is developed as a primitive example of ACTRESS.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129729470","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: 183
Visual Feedback To Predict Obstacle Motion For On-line Collision-free Trajectory Planning Of Cylindrical Robots 基于视觉反馈预测障碍运动的圆柱机器人在线无碰撞轨迹规划
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637967
Y. Chien, A. Koivo
{"title":"Visual Feedback To Predict Obstacle Motion For On-line Collision-free Trajectory Planning Of Cylindrical Robots","authors":"Y. Chien, A. Koivo","doi":"10.1109/IROS.1989.637967","DOIUrl":"https://doi.org/10.1109/IROS.1989.637967","url":null,"abstract":"ABSmACT When a robot moves in a partially known environment, the desired trajectory generated in advance (off-line) may lead to collisions with nonstationary obstacles. Therefore, the on-line detection of obstacles in the workspace from sensor information, testing for potential collisions of the robot with obstacles, and possible on-line modifications of the planned trajectory are necessary. This paper describes a method that uses computer vision to detect a moving obstacle in the three-dimensional robot workspace. The movements of the obstacle of unknown dynamics are predicted by means of a recursive autoregressive (AR) time series model, in which the parameters are estimated by the least mean squared error method. This algorithm is combined with an on-line robot trajectory planning algorithm to generate a collision-free trajectory for the cylindrical robot. The approach is demonstrated by laboratory","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"233 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132822559","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: 9
Development Of Software Environment For The Kinematic Analysis Of A Quadruped Robot 四足机器人运动学分析软件环境的开发
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637906
B. W. Choi, M. Chung, Z. Bien
{"title":"Development Of Software Environment For The Kinematic Analysis Of A Quadruped Robot","authors":"B. W. Choi, M. Chung, Z. Bien","doi":"10.1109/IROS.1989.637906","DOIUrl":"https://doi.org/10.1109/IROS.1989.637906","url":null,"abstract":"A quadruped robot has been considered as a vehicle having large stability margin among walking robots and pantograph leg permits large stride while providing mutual independency between vertical and horizontal movements. A quadruped robot with pantograph legs, however, has complicat- ed kinematic characteristics to be analyzed. In order to figure. out the kinematic characteristics of three dimensional legged motions of the walking robot, we present a modeling method for three different quadruped robots with pantograph legs, which have different joint driving mechanisms. And the kine- matics, inverse kinematics and geomemcal description of constraints in pantograph mechanisms are considered for anima- tion. Particularly, motions of legs for rotation and side walking are considered in graphic simulation. Multiple windows are used to achieve efficient man-machine communication. It is showed that the software environment can be used for the simulation of various algorithms related to walking robots.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132551592","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
Blanche: Position Estimation For An Autonomous Robot Vehicle Blanche:自动驾驶机器人车辆的位置估计
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637941
I. Cox
{"title":"Blanche: Position Estimation For An Autonomous Robot Vehicle","authors":"I. Cox","doi":"10.1109/IROS.1989.637941","DOIUrl":"https://doi.org/10.1109/IROS.1989.637941","url":null,"abstract":"This paper describes the position estimation system for an autonomous robot vehicle called Blanche, which is designed for use in structured office or factory environments. Blanche is intended to be low cost, depending on only two sensors, an optical rangefinder and odometry. Briefly, the position estimation system consists of odometry supplemented with a fast, robust matching algorithm which determines the congruence between the range data and a 2D map of its environment. This is used to correct any errors existing in the odometry estimate. The integration of odometry with fast, robust matching allows for accurate estimates of the robot’s position and accurate estimates of the robot’s position allow for fast, robust matching. That is, the system is self sustaining.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"99 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114093299","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: 128
Task Planning and Control of Pipe Inspection Robots 管道检测机器人的任务规划与控制
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637966
T. Fukuda, H. Hosokai, M. Otsuka
{"title":"Task Planning and Control of Pipe Inspection Robots","authors":"T. Fukuda, H. Hosokai, M. Otsuka","doi":"10.1109/IROS.1989.637966","DOIUrl":"https://doi.org/10.1109/IROS.1989.637966","url":null,"abstract":"This paper deals with the methods of task planning, diagnosis and control for a pipeline inspection and maintenance robot. The pipe inspection robot in this paper as one of those plant service robots can be autonom-ous in terms of sensing, control and path planning in addition to the self-diagnosis. The inspection robot task is to inspect pipelines in a plant: (1) The target point for the robot to move can be goiicrcitod l'rotii llic dlrignosls knowlrdgo bcisc.. l'lius the robot can estimate and search failure causcs by sensing capabilities of the robot. (2) The path planning system is shown to find the path optimal for the robot to move from one point to the other point under some criteria. (3) The control command can be automatically generated from the result of the path planning. Thus the robot can be autonomous in terms of the decision making, sensing, path planning and motion control.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"232 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114423336","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: 2
Sensor Data Integration Based On The Border Distance Model 基于边界距离模型的传感器数据集成
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637884
T. Ikegami, Jun-ichi Kato, S. Ozono
{"title":"Sensor Data Integration Based On The Border Distance Model","authors":"T. Ikegami, Jun-ichi Kato, S. Ozono","doi":"10.1109/IROS.1989.637884","DOIUrl":"https://doi.org/10.1109/IROS.1989.637884","url":null,"abstract":"","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"378 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114886494","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: 4
Hazardous-duty Robots - Experiences And Needs 危险任务机器人-经验和需求
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637917
John R. White, T. Sunagawa, T. Nakajima
{"title":"Hazardous-duty Robots - Experiences And Needs","authors":"John R. White, T. Sunagawa, T. Nakajima","doi":"10.1109/IROS.1989.637917","DOIUrl":"https://doi.org/10.1109/IROS.1989.637917","url":null,"abstract":"","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114686873","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: 23
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