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

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Mobile robot navigation in ill-structured worlds by means of prediction functions 基于预测函数的非结构化世界移动机器人导航
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240367
M. Perrier, R. Zapata
{"title":"Mobile robot navigation in ill-structured worlds by means of prediction functions","authors":"M. Perrier, R. Zapata","doi":"10.1109/ICAR.1991.240367","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240367","url":null,"abstract":"Discusses the motion planning problem for mobile robots evolving in ill-structured and dynamic environments. The main part of this work deals with the maintaining of the world model consistency when real information are provided by sensors.<<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":"121774498","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: 0
Functional feature recognition for manipulation robot programming 面向操作机器人编程的功能特征识别
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240549
T. de Martino, B. Falcidieno, F. Giannini
{"title":"Functional feature recognition for manipulation robot programming","authors":"T. de Martino, B. Falcidieno, F. Giannini","doi":"10.1109/ICAR.1991.240549","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240549","url":null,"abstract":"A method is proposed to map a low-level CAD description of an object into a context dependent feature-based representation. This mapping is performed in two steps. The first is applied to a face-based boundary representation and produces a new model called shape feature object graph (SFOG). This model is feature oriented but independent from the application context. The second step interprets the intermediate SFOG description according to a feature library specified by the user and creates the context dependent feature-based model.<<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":"127574264","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
Development of a SMA high performance robotic actuator SMA高性能机器人执行器的研制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240475
D. Raynaerts, H. Van Brussel
{"title":"Development of a SMA high performance robotic actuator","authors":"D. Raynaerts, H. Van Brussel","doi":"10.1109/ICAR.1991.240475","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240475","url":null,"abstract":"A prototype of a high performance robotic actuator, based on shape memory alloys (SMA), is proposed. Starting from detailed knowledge about the material behaviour, the most suitable way of heating and cooling is proposed. Furthermore an 'optimal' shape of the active element is determined and a control method based on simulation of the (T, sigma , epsilon ) behaviour is proposed.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"7 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":"128070862","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: 32
A force control of network of actuators 执行器网络的力控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240393
T. Murakami, H. Ishibashi, K. Ohnishi
{"title":"A force control of network of actuators","authors":"T. Murakami, H. Ishibashi, K. Ohnishi","doi":"10.1109/ICAR.1991.240393","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240393","url":null,"abstract":"The paper describes a control strategy of network of actuators. First, some examples of the network systems are shown. Secondly, to control such systems, the force transmission mechanism is realized. In the proposed network motion system, the total system consists of many force transmission lines and the superposition of the force signal propagated by each line acts on the end point. In this sense, the proposed motion control method is called the delay superposition method.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"8 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":"133185452","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: 0
'Instinctive' cellular robots “本能的”细胞机器人
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240595
P. Dario, V. Genovese, F. Ribechini, G. Sandini
{"title":"'Instinctive' cellular robots","authors":"P. Dario, V. Genovese, F. Ribechini, G. Sandini","doi":"10.1109/ICAR.1991.240595","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240595","url":null,"abstract":"Describes an approach to the design of cellular mobile units featured by 'instinctive' behavior and forming collectively a 'society' of robots. Each robotic unit has its own 'personality' and 'lives' independently from the others. The behavior of each unit derives from a 'subsumption-like' control structure, which emphasizes the roles of 'innate personality', external stimuli, and communication. An example of implementation of instinctive behavior in a real robotic vehicle is presented, and a possible application of the proposed approach to the practical case of a robot system for collecting objects is illustrated.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"380 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":"133341081","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
Application of uniform cubic B-splines to machine tools and robots numerical control: determination of vertices under various constraints 均匀三次b样条在机床和机器人数控中的应用:各种约束条件下顶点的确定
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240500
P. Andre, M. Haddad, C. Morlec
{"title":"Application of uniform cubic B-splines to machine tools and robots numerical control: determination of vertices under various constraints","authors":"P. Andre, M. Haddad, C. Morlec","doi":"10.1109/ICAR.1991.240500","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240500","url":null,"abstract":"The mathematical formulation of B-splines uses the notion of vertices, also called control points, rather than that of pass-points. The use of uniform cubic B-splines for the numerical control of a machine tool or of a robot, for representing and manufacturing or manipulating pieces, previously required to translate the imposed pass-points of a given contour into the vertices of a B-spline curve. In this paper, the authors present three procedures allowing one, under some constraints, to convert rapidly the imposed pass-points into the corresponding vertices of a uniform cubic B-spline curve.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"33 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":"134046671","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 fusion of range and intensity data for subsea robotics 水下机器人距离和强度数据的传感器融合
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240373
M. Chantler, C. Reid
{"title":"Sensor fusion of range and intensity data for subsea robotics","authors":"M. Chantler, C. Reid","doi":"10.1109/ICAR.1991.240373","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240373","url":null,"abstract":"The research reported is the product of one of a group of projects whose joint aim is to automate simple subsea manipulation tasks. The conditions typically encountered during underwater operations are particularly challenging for robotic automation, and in particular, pose real problems for computer vision. The authors feel that intensity data from underwater video cameras on their own are unlikely to supply sufficient information for reliable 3D scene analysis. They propose the use of two complementary sensors; a high frequency linear sonar array and an underwater video camera. A brief discussion of the calibration and registration of the sensor system is followed by a description of the sensor fusion technique which uses transformed sonar data to supervise the automatic segmentation of difficult video images. Results illustrate the effectiveness of the technique; by showing video segmentations with and without the use of the supervisory sonar data.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"36 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":"133855471","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
Robust hybrid control of robot manipulators in an unstructured environment 非结构化环境下机器人机械臂的鲁棒混合控制
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240529
Y.H. Chen
{"title":"Robust hybrid control of robot manipulators in an unstructured environment","authors":"Y.H. Chen","doi":"10.1109/ICAR.1991.240529","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240529","url":null,"abstract":"A hybrid (position and force) control algorithm of a robot manipulator with internal uncertainty and working in an unstructured environment is proposed. The internal uncertainty can be due to imperfect modelling, friction, payload or external disturbances. The unstructured environment can be due to the lack of knowledge of the designer. The problem has been cast into the framework of control of dynamical systems whose mathematical model contain uncertainties. Based solely on the bound of the uncertainties, controllers can be constructed which guarantee certain desirable performance.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"23 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":"134108282","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
Taming the bull: safety in a precise surgical robot 驯服公牛:精确手术机器人的安全
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240565
R. H. Taylor, H. Paul, P. Kazanzides, B. Mittelstadt, W. Hanson, J. Zuhars, B. Williamson, B. Musits, E. Glassman, W. Bargar
{"title":"Taming the bull: safety in a precise surgical robot","authors":"R. H. Taylor, H. Paul, P. Kazanzides, B. Mittelstadt, W. Hanson, J. Zuhars, B. Williamson, B. Musits, E. Glassman, W. Bargar","doi":"10.1109/ICAR.1991.240565","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240565","url":null,"abstract":"The authors have developed an image directed robotic system for orthopaedic bone machining applications, aimed initially at cementless total hip replacement surgery. A clinical trial in dogs needing such surgery has begun. The fact that the application requires a robot to move a tool in contact with a patient has motivated the authors to implement a number of redundant consistency checking mechanisms. The paper provides a brief system overview and outlines the requirements defined by the veterinary surgeon who uses the system. It then describes the authors' approach to implementing these requirements and concludes with a few remarks about their experience so far and possible extensions of their work.<<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":"115712916","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: 58
Asymptotic inverse dynamics of single-link flexible robot arms 单连杆柔性机械臂的渐近逆动力学
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI: 10.1109/ICAR.1991.240471
A. Tornambè
{"title":"Asymptotic inverse dynamics of single-link flexible robot arms","authors":"A. Tornambè","doi":"10.1109/ICAR.1991.240471","DOIUrl":"https://doi.org/10.1109/ICAR.1991.240471","url":null,"abstract":"Deals with the inverse dynamic problem, for robotic manipulators having elastic links, for the case of unstable internal dynamics. An asymptotic inverse dynamic problem is introduced, and a procedure for its solution is presented. The theory is presented with reference to single-link manipulators.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"63 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":"114675500","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: 0
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