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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments最新文献

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Artificial smell detection for robotic navigation 用于机器人导航的人工气味检测
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240354
R. Rozas, J. Morales, D. Vega
{"title":"Artificial smell detection for robotic navigation","authors":"R. Rozas, J. Morales, D. Vega","doi":"10.1109/ICAR.1991.240354","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240354","url":null,"abstract":"A software and a hardware system for artificial smell detection is described. It has been designed and implemented on a local CPU to detect and follow gradients of odor concentration. It is based on inorganic semiconductor sensors, but the method is also useful for organic sensors. When mounted on an autonomous platform it is used as a guide for robotic navigation.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127318211","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: 83
Nonlinear control with input preshaping for flexible-link manipulators 柔性连杆机械臂输入预成型非线性控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240469
F. Khorrami, S. Jain, W. Grossman, A. Tzes, W. Blesser
{"title":"Nonlinear control with input preshaping for flexible-link manipulators","authors":"F. Khorrami, S. Jain, W. Grossman, A. Tzes, W. Blesser","doi":"10.1109/ICAR.1991.240469","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240469","url":null,"abstract":"Input precompensators in conjunction with rigid body based controllers are considered for flexible-link manipulators. The objective is to preshape the reference input signals so that vibration free output is achieved. This control scheme is n open-loop one and is achieved by convolving the sequence of impulses with the reference input signal in real-time. Linear and nonlinear based rigid controllers are considered in the paper. Thereafter, the rigid body based control schemes are augmented with an input preshaper for vibration suppression along the links. Satisfactory performance has been achieved with input preshaping scheme in the case of one-link flexible arms. In the paper, the input preshaping is applied to the dynamics of two-link flexible under the control action of an inner-loop controller which corresponds to the rigid body motion of the manipulator. Experimental and simulation results on a two-link flexible manipulator are provided to show the effectiveness of the advocated controllers.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133693469","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: 7
Visual language programming: for robot command/control in unstructured environments 视觉语言编程:用于非结构化环境中的机器人命令/控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240480
L. Leifer, M. V. D. Loos, D. Lees
{"title":"Visual language programming: for robot command/control in unstructured environments","authors":"L. Leifer, M. V. D. Loos, D. Lees","doi":"10.1109/ICAR.1991.240480","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240480","url":null,"abstract":"Behavior specification is a barrier to widespread use of robots in unstructured environments. Experience with storyboard graphics, animation, text, speech and sound effects used in a visual-language prosthesis, Lingraphica, suggests that robot motion and task planning can be specified efficiently and with a minimum of training using text-graphic primitives. The approach complements adaptive environmental sensing and control.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"552 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133795778","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: 21
Dynamic models of a six degree of freedom parallel manipulators 六自由度并联机器人的动力学模型
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240400
C. Reboulet, T. Berthomieu
{"title":"Dynamic models of a six degree of freedom parallel manipulators","authors":"C. Reboulet, T. Berthomieu","doi":"10.1109/ICAR.1991.240400","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240400","url":null,"abstract":"In recent years, parallel manipulators have received a lot of attention because of the interest they represent for automated assembly. Equations describing the dynamic behaviour of such manipulators are presented. A complete dynamic model in the operational workspace, useful for simulation, is described. This complete model, too complex to be exploited in a control law, can be simplified. The authors show that it is possible to write, in the form of a simple matrix, a model of a robot which takes into account the principal dynamic interactions. This model is the basis of control structures in the operational workspace.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"31 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133622549","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: 68
A fast motion planner for 6-DOF manipulators in 3-D environments 三维环境下六自由度机械臂的快速运动规划
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240396
B. Glavina
{"title":"A fast motion planner for 6-DOF manipulators in 3-D environments","authors":"B. Glavina","doi":"10.1109/ICAR.1991.240396","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240396","url":null,"abstract":"An algorithm is described which is able to plan collision free motions fast for manipulators with six degrees of freedom (DOF) within 3D environments. After a short review of other implemented 3D motion planners, an outline of the CGR search (combination of goal-directed and randomized search) is given. CGR search pursues a heuristic strategy to effectively find a path in even high-dimensional configuration spaces (C-spaces). The search space, however, is not constructed explicitly, but only tested in certain points determined by the search. Every test whether a point lies in free C-space or not requires a geometric intersection computation. This collision test is very efficient due to a hierarchical object representation. The experimental results show the performance of the proposed motion planner in several realistic tasks, including a snake-like manipulator with six degrees of freedom and a PUMA robot reorienting a bulky load through a gate.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130453205","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
The automation of complex fabric handling tasks requiring out of plane manipulation 需要平面外操作的复杂织物处理任务的自动化
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240581
P. Taylor, A. J. Wilkinson, I. Gibson, G. S. Palmer, M. Gunner
{"title":"The automation of complex fabric handling tasks requiring out of plane manipulation","authors":"P. Taylor, A. J. Wilkinson, I. Gibson, G. S. Palmer, M. Gunner","doi":"10.1109/ICAR.1991.240581","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240581","url":null,"abstract":"Describes a generic aspect of automated fabric handling resulting from the study of an integrated robotic garment assembly system. Out of plane manipulation is defined along with a classification of robot gripping strategies for fabric. Two case studies are described in detail, outlining how such manipulation strategies have been applied.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130629706","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
The dissimilarity corner detector 异角检测器
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240450
J. Cooper, S. Venkatesh, L. Kitchen
{"title":"The dissimilarity corner detector","authors":"J. Cooper, S. Venkatesh, L. Kitchen","doi":"10.1109/ICAR.1991.240450","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240450","url":null,"abstract":"The authors present a corner detection that works by using dissimilarity along the contour direction to detect curves in the image contour. The operator is fast, robust to noise and almost self-thresholding. The standard deviation of the image noise must be specified, but this value is easily measured and the explicit modeling of image noise contributes to the robustness of the operator to noise. The authors also present a new interpretation of the Kitchen-Rosenfeld corner operator (1982) in which they show that this operator can also be viewed as the second derivative of the image function along the edge direction.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130795508","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: 7
Robot operation based on a model updated by sensory data 基于感知数据更新模型的机器人操作
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240371
S. Ohara, Y. Yanagihara, T. Takahashi
{"title":"Robot operation based on a model updated by sensory data","authors":"S. Ohara, Y. Yanagihara, T. Takahashi","doi":"10.1109/ICAR.1991.240371","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240371","url":null,"abstract":"Presents a robot manipulation system based on an environment model, in which the model is automatically adjusted to match the real world by means of sensory data. The sensor system has a hierarchical structure of two layers; a vision system which acquires the global workspace configuration, and a force-sensing system which measures precise position by contact detection using force-sensing. Combining these two sensors allows accurate position detection covering a wide range. The processes of measuring the real world, updating the environment model and resuming task operation are executed automatically during the running of job.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131563949","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
The principle of self-support: a new approach to kinematic control of robots 自支撑原理:机器人运动控制的一种新方法
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240434
Z. Novakovic
{"title":"The principle of self-support: a new approach to kinematic control of robots","authors":"Z. Novakovic","doi":"10.1109/ICAR.1991.240434","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240434","url":null,"abstract":"A methodology is introduced for kinematic control of manipulators, in a way that is both mathematically clear and simple to implement. The key idea used in obtaining these features is a kind of autonomy which is given to the control's 'self'. It is formulated in the principle of self-support. It is shown (and illustrated by a simulation example), that such a theory is a feasible alternative to existing kinematic control concepts.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128142116","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
Rehabilitation robotics: the MANUS concept 康复机器人:MANUS概念
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240560
J. C. Rosier, J.A. van Woerden, L.W. van der Kolk, B. Driessen, H. Kwee, J. J. Duimel, J. Smits, A.A. Tuinhof de Moed, G. Honderd, P. M. Bruyn
{"title":"Rehabilitation robotics: the MANUS concept","authors":"J. C. Rosier, J.A. van Woerden, L.W. van der Kolk, B. Driessen, H. Kwee, J. J. Duimel, J. Smits, A.A. Tuinhof de Moed, G. Honderd, P. M. Bruyn","doi":"10.1109/ICAR.1991.240560","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240560","url":null,"abstract":"In the field of robotics aids for disabled people a number of different approaches are followed. The main difference between these systems is their use of a structured or an unstructured environment. A comparison between the different approaches is discussed in this paper. Of these concepts the MANUS system is treated in more detail. The implications of the MANUS concept for the different parts of the system (mechanics, electronics, user interface and safety) are worked out to some extent. A number of groups spread all over the world are working on robotic aids for handicapped people. Now that these systems reach the final stage of development the need for cooperation and integration between these groups becomes more important. A number of European projects are being started to reach this objective.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132200261","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: 28
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