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

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On the modeling of robots in contact with a dynamic environment 关于机器人与动态环境接触的建模
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240592
Alessandro De Luca, C. Manes
{"title":"On the modeling of robots in contact with a dynamic environment","authors":"Alessandro De Luca, C. Manes","doi":"10.1109/ICAR.1991.240592","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240592","url":null,"abstract":"A new modeling approach for describing motion of robots in contact with a possibly dynamic environment is presented. The proposed technique allows one to model all those cases in which purely kinematic constraints imposed on the robot end-effector live together with dynamic interactions. Suitable parametrizations are introduced for the environment configurations and constrained end-effector poses and for the exchanged forces. The generalized directions of 'static' environment reaction forces (orthogonal to the directions of admissible end-effector motion) and those of 'active' forces (responsible for energy transfer between robot and environment) are formally characterized. The overall dynamics of the robot-environment system is then derived in a unique framework. The obtained model structure is shown to be suitable for the design of hybrid control laws. Simple but significative examples are reported to illustrate the modeling procedure.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"11 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":"127998583","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: 93
Organisation of robot behaviour through genetic learning processes 通过遗传学习过程组织机器人行为
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240535
M. Dorigo, U. Schnepf
{"title":"Organisation of robot behaviour through genetic learning processes","authors":"M. Dorigo, U. Schnepf","doi":"10.1109/ICAR.1991.240535","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240535","url":null,"abstract":"Behaviour-based robotics represents a different approach to modelling the interaction of an autonomous agent with its environment hence providing the basis for the development of cognitive capabilities in artificially intelligent systems. The authors present a machine learning approach based on genetic algorithms and unsupervised reinforcement learning to the generation and organisation of robot behaviour. The implementation of an ethological model of behavioural organisation based on genetics-based machine learning is outlined.<<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":"125444856","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: 27
Development of 3 DOF jaw robot WJ-2 as a human's mastication simulator 人类咀嚼模拟器三自由度颚式机器人WJ-2的研制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240640
A. Takanishi, T. Tanase, M. Kumei, I. Kato
{"title":"Development of 3 DOF jaw robot WJ-2 as a human's mastication simulator","authors":"A. Takanishi, T. Tanase, M. Kumei, I. Kato","doi":"10.1109/ICAR.1991.240640","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240640","url":null,"abstract":"The purpose of this study is to establish a dynamic, quantitative engineering model for the mandible movement in human's mastication by reproducing this movement using a mechanical model and to define the mandible movement controlling mechanism from the viewpoint of engineering. To realize this purpose, WJ-2 (Waseda Jaw-2), a 3 degrees of freedom mastication robot, was developed. A description of the mastication robot WJ-2 with reference to human's actual mandible movement is presented.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"18 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":"125581305","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: 30
Grasp admittance center: how sensitive is it to parameter imprecision? 把握导纳中心:对参数不精确有多敏感?
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240667
K. Shimoga, A. Goldenberg
{"title":"Grasp admittance center: how sensitive is it to parameter imprecision?","authors":"K. Shimoga, A. Goldenberg","doi":"10.1109/ICAR.1991.240667","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240667","url":null,"abstract":"Extending the grasp compliance center concept to grasps in dynamic situations, the authors previously (1991) formulated a concept termed the grasp admittance center and showed that a grasp with an admittance center will have three distinct features-stability, decoupled force/motion relation and decoupled time response. However. achieving an admittance center in a grasp is affected by the precision of two sets of parameters grasp configuration parameters and the finger tip impedance parameters. In practice, they are imprecise. The question then is, will the grasp still be able to retain the three useful features listed above? If not, to what extent do these features deteriorate? Answering these questions is the main goal of this paper.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"4 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":"130008405","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
Adaptive macro-micro control of nonlinear underwater robotic systems 非线性水下机器人系统的自适应宏微观控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240508
T. Fossen
{"title":"Adaptive macro-micro control of nonlinear underwater robotic systems","authors":"T. Fossen","doi":"10.1109/ICAR.1991.240508","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240508","url":null,"abstract":"Adaptive macro-micro control of nonlinear underwater vehicle-manipulator systems is addressed. The adaptive passivity-based control scheme is formulated in an augmented task-space where both the underwater vehicle and the end-effector have 6 degrees of freedom (DOF). The underwater vehicle represents a slow gross positioning part while the manipulator's end-effector represents the fast part. Underwater vehicle-manipulator systems where the number of inputs exceeds the number of controllable degrees of freedom (DOF) are also considered. The input uncertainty in such systems is considered in detail. Global stability is ensured by applying Barbalat's Lyapunov-like lemma for non-autonomous systems.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"43 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":"130052504","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
A distributed evolvable control architecture for mobile robots 移动机器人的分布式演化控制体系结构
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240489
R. de Camargo, R. Chatila, R. Alami
{"title":"A distributed evolvable control architecture for mobile robots","authors":"R. de Camargo, R. Chatila, R. Alami","doi":"10.1109/ICAR.1991.240489","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240489","url":null,"abstract":"The organization of a robot system, or its control structure, determines its capacities to achieve tasks and to react to events. The authors present such a structure that stresses two aspects they believe are essential: reactivity and goal-driven context-guided control. In order to be easily extensible, this control structure is based on a classification of robot processing functions in four basic types and the formal definition of the notion of module, an entity that embeds several functions; relationships and exchanges between modules are defined so as to comply with an evolutive principle.<<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":"130292695","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: 14
Planning under uncertainty 不确定性下的规划
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240360
A. Basu, Ashraf Elnagar
{"title":"Planning under uncertainty","authors":"A. Basu, Ashraf Elnagar","doi":"10.1109/ICAR.1991.240360","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240360","url":null,"abstract":"An approach to addressing the problem of local path planning given acceleration constraints is presented. The concept of safety is introduced to design a planning strategy. A path which maximizes the product of safety based on local information, and attraction towards the goal, is chosen. The safety function depends on the acceleration bounds. The attraction towards the goal depends on the distance from the goal. The safety optimizing path planning technique resembles real life behavior.<<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":"134242030","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
Telerobotic grasping of unmodeled objects 遥控抓取未建模对象
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240644
S. Gordon, G. J. Raju
{"title":"Telerobotic grasping of unmodeled objects","authors":"S. Gordon, G. J. Raju","doi":"10.1109/ICAR.1991.240644","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240644","url":null,"abstract":"Telerobotic retrieval of objects in unstructured environments requires a manipulation system which is adaptable in the presence of incomplete sensory information. Objects for which no a priori model is available may be grasped using a strategy in which the manipulator arms being to close around the object when it is within reach. During the grasp, various proximity, and tactile sensors are used to monitor the state of the object and alter the grasping strategy. A grasping strategy which accepts data from proximity, tactile and joint-torque sensors drives the manipulators so that the number of manipulator links in contact with the object is maximized, and form-closure about the object is attained. A computer model of NASA's EVA Retriever telerobot has been developed to test various strategies for grasping objects in space. Tests have shown that a relatively simple strategy is sufficient to successfully grab a large variety of objects. A computer-controlled prototype grasping system is also being constructed to implement the strategies.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"6 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":"131240795","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
The generation of efficient high level plans and the robot world representation in a cooperative community of robotic agents 机器人代理合作社区中高效高层规划的生成与机器人世界表征
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240608
C. Ramos, E. Oliveira
{"title":"The generation of efficient high level plans and the robot world representation in a cooperative community of robotic agents","authors":"C. Ramos, E. Oliveira","doi":"10.1109/ICAR.1991.240608","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240608","url":null,"abstract":"Deals with the following main topics: the view of a robotic cell as a community of intelligent systems; the efficient generation of high-level plans to assemble parts of real objects; and the translation from perception outputs (obtained by computer vision) to symbolic relationships. In the approach, the robotic multi-agent community has six members: the user, the object models, the object identifier, the world descriptor, the high level planner and the low level executor. The distributed artificial intelligence is the framework and the communication between different agents is supported by message passing primitives.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"34 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":"133345845","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
Finding the shortest path by use of neural networks 利用神经网络寻找最短路径
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240398
W. Shen, J. Shen, J. Lallemand
{"title":"Finding the shortest path by use of neural networks","authors":"W. Shen, J. Shen, J. Lallemand","doi":"10.1109/ICAR.1991.240398","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240398","url":null,"abstract":"The authors present a method for finding the shortest trajectory in 2D space by neural networks. To solve effectively the trajectory planning problem with obstacles of arbitrary shape, they propose a neural network to transform the free space into a structured path network characterizing its topological property. The representative of each topological class is then optimized by a cellule network simulating a retraction minimizing the energy of the system. And the shortest one from different classes gives therefore the final solution. This method works well for obstacles of arbitrary shape; it is simulated and tested for 2D trajectory planning tasks, and the experimental results are satisfactory.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"14 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":"133461007","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
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