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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96最新文献

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Identification of second order surface geometry with a force controlled robot 力控机器人二阶曲面几何辨识
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570835
S. Demey, J. Schutter
{"title":"Identification of second order surface geometry with a force controlled robot","authors":"S. Demey, J. Schutter","doi":"10.1109/IROS.1996.570835","DOIUrl":"https://doi.org/10.1109/IROS.1996.570835","url":null,"abstract":"This paper shows how to identify the local second order shape of an unknown surface with a force controlled robot. Dedicated tools and paths are designed in order to make the identification easier. Two basic methods are presented, based on measurements of contact forces and of positions and velocities of the end effector. The first method fits a surface through a set of contact points while the second method uses the shape of surface curves. Experiments show that following two curves of limited length is sufficient to identify second order surface shape with an accuracy which is in general better than 10%. The most important result however is that this accuracy is sufficient to increase the performance of subsequent surface following tasks.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128918904","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
Analysis and control of master-slave systems with time delay 具有时滞的主从系统分析与控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568994
T. Yoshikawa, J. Ueda
{"title":"Analysis and control of master-slave systems with time delay","authors":"T. Yoshikawa, J. Ueda","doi":"10.1109/IROS.1996.568994","DOIUrl":"https://doi.org/10.1109/IROS.1996.568994","url":null,"abstract":"Time delay usually makes master-slave systems unstable, even if the system is stable under no time delay. In this paper, we propose a control scheme for master-slave systems with time delay which maintains stability defined by scattering theory. We define four types of realization of the ideal response and describe control schemes which strictly realize the ideal response. Based on these schemes, we propose a practical control scheme and its stability is proven. We also discuss stability of conventional schemes, and show that they cannot maintain stability. Finally, some experimental results are presented.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124456710","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: 36
Two-dimensional conveyance system using cooperative motions of many microactuators 采用多微致动器协同运动的二维输送系统
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571087
S. Konishi, H. Fujita
{"title":"Two-dimensional conveyance system using cooperative motions of many microactuators","authors":"S. Konishi, H. Fujita","doi":"10.1109/IROS.1996.571087","DOIUrl":"https://doi.org/10.1109/IROS.1996.571087","url":null,"abstract":"We have proposed the concept of distributed micro motion systems (DMMS) in order to coordinate simple motions of many microactuators arranged on a wafer so as to perform a more complicated task. A two-dimensional conveyance system in a plane is studied as an example of DMMS. A system design has been presented with the aim of controlling many microactuators in a similar way as the cellular automaton. In this paper, we focus on a microactuator and define a micro-axel as an elemental unit of DMMS. We have previously reported the development and operation of a one-dimensional conveyance system using a fluidic micro-axel array. We improved the conveyance system and developed a two-dimensional system to perform a positioning task. This paper describes the design, fabrication, and operation of a fluidic micro-axel array for the two-dimensional conveyance system. The experiments to convey objects to the fixed desired position by the fabricated two-dimensional conveyance system performed successfully.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124551232","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: 10
Whisker based mobile robot navigation 基于须的移动机器人导航
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570842
D. Jung, A. Zelinsky
{"title":"Whisker based mobile robot navigation","authors":"D. Jung, A. Zelinsky","doi":"10.1109/IROS.1996.570842","DOIUrl":"https://doi.org/10.1109/IROS.1996.570842","url":null,"abstract":"In this paper we describe the design and implementation of a unique proportional whisker sensor and our general behaviour based software architecture. The architecture for behaviour based agents is used to realise purposive mobile robot navigation in a cluttered indoor environment. The whisker was developed specifically to meet the requirements of high speed and close wall following. We also discuss the specific architecture we have constructed.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121216628","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: 66
Synthesis of robot-to-human expressive behavior for human-robot symbiosis 人机共生中机器人对人类表达行为的综合
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569027
T. Nakata, T. Sato, H. Mizoguchi, T. Mori
{"title":"Synthesis of robot-to-human expressive behavior for human-robot symbiosis","authors":"T. Nakata, T. Sato, H. Mizoguchi, T. Mori","doi":"10.1109/IROS.1996.569027","DOIUrl":"https://doi.org/10.1109/IROS.1996.569027","url":null,"abstract":"This paper proposes a robot behavior notation named \"Behavioral Score\" and a methodology of generating \"familiar\" robot behavior. Behavioral Score, designed with analogies to a musical score, is an effective method of describing and controlling the expressive behavior of a robot. The effectiveness of Behavioral Score is demonstrated by a choreographed robot dance. The methodology described is based upon the hypothesis that the passive reactions of a robot produce a familiar, comfortable, imprecision in human beings. Utilizing the robot behavior for generating familiarity will facilitate human-robot symbiosis. The results of psychological experiments verifies the validity of the methodology.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121281181","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
Adaptive hybrid visual servoing/force control in unknown environment 未知环境下的自适应混合视觉伺服/力控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568956
K. Hosoda, Katsuji Igarashi, M. Asada
{"title":"Adaptive hybrid visual servoing/force control in unknown environment","authors":"K. Hosoda, Katsuji Igarashi, M. Asada","doi":"10.1109/IROS.1996.568956","DOIUrl":"https://doi.org/10.1109/IROS.1996.568956","url":null,"abstract":"This paper describes an adaptive hybrid visual servoing/force controller to realize visual servoing while the manipulator exerts contact force on a surface. The proposed controller has a hybrid structure of visual servoing control and force control. Because it has an online estimator for the parameters of the camera-manipulator system and the one for the parameters of the unknown constraint surface, it only needs a priori knowledge on the manipulator kinematics and nothing any more. First, we propose an estimator for an image Jacobian matrix which describes the relation between image features and the tip position/orientation of the manipulator. Second, a method to estimate the normal vector of the unknown constraint surface is introduced. Then, an adaptive hybrid visual servoing/force controller is proposed. Finally, experimental results are shown to demonstrate the effectiveness of the proposed scheme.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125662681","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: 41
Complete motion planner for time-varying environments 完整的运动规划时间变化的环境
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570844
Y. Hwang, Pang C. Chen, Chongwon Lee, M. Kim
{"title":"Complete motion planner for time-varying environments","authors":"Y. Hwang, Pang C. Chen, Chongwon Lee, M. Kim","doi":"10.1109/IROS.1996.570844","DOIUrl":"https://doi.org/10.1109/IROS.1996.570844","url":null,"abstract":"This paper presents a complete motion planner in three-dimensional changing environment. The robot is either a manipulator or a rigid object that translates and rotates, while obstacles are polyhedra translating and rotating along known trajectories. The motion planner is based on the SANDROS search strategy, which uses a hierarchical, multi-resolution representation of the product space of the time and the configuration space. A solution is found by generating a candidate sequence of subgoals and subsequently computing collision-free path along the sequence. For changing environments it is the first planner for non-point robots that is efficient and guarantees a solution. This planner can control the trade-offs between the computation resource and algorithmic completeness/solution path quality, and thus can fully utilize the available computing power. This algorithm is useful for navigation of mobile robots and submarines, or motion planning of multiple robots by regarding other robots as moving obstacles.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114694556","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
Development of an EVA end-effector, grapple fixtures and tools for the satellite mounted robot system 星载机器人系统的EVA末端执行器、抓斗夹具和工具的研制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569017
M. Oda, M. Nishida, S. Nishida
{"title":"Development of an EVA end-effector, grapple fixtures and tools for the satellite mounted robot system","authors":"M. Oda, M. Nishida, S. Nishida","doi":"10.1109/IROS.1996.569017","DOIUrl":"https://doi.org/10.1109/IROS.1996.569017","url":null,"abstract":"There are many tasks to be performed by space robots. However a single end-effector can not meet the individual task's requirements. NASDA is to launch an experimental robot satellite named ETS-VII. The satellite has a 6-DOF robot-arm to handle many experimental payloads. Payloads vary in mass, shape and size. Interfaces between payloads and the end-effector are standardized using grapple fixtures. Additional tools with grapple fixtures are also developed to meet specific task requirements. This paper shows current status of the space-robot's EVA end-effector and development result of the ETS-VII's end-effector, grapple fixtures and tools.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121914663","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: 26
A face robot able to recognize and produce facial expression 能够识别并产生面部表情的人脸机器人
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569026
F. Hara, Hiroshi Kobayashi
{"title":"A face robot able to recognize and produce facial expression","authors":"F. Hara, Hiroshi Kobayashi","doi":"10.1109/IROS.1996.569026","DOIUrl":"https://doi.org/10.1109/IROS.1996.569026","url":null,"abstract":"We are attempting to introduce a 3-dimensional realistic human-like animate face robot to interactive communication modality. The face robot can recognize human facial expressions as well as produce realistic facial expressions. For the face robot to communicate interactively, we propose a new concept of \"Active Human Interface\"; and we investigate the performance of real-time recognition of facial expressions by neural network (NN) and the expressionability of facial messages on the face robot. We find that the NN recognition of facial expressions and face robot's performance in generating facial expressions are of almost same level as that in humans. This implies a high potential for the animate face robot to undertake interactive communication with human.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115401909","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
Cooperative sweeping by multiple mobile robots with relocating portable obstacles 多移动机器人协同清扫移动障碍物
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569008
D. Kurabayashi, J. Ota, T. Arai, S. Ichikawa, Shingo Koga, H. Asama, I. Endo
{"title":"Cooperative sweeping by multiple mobile robots with relocating portable obstacles","authors":"D. Kurabayashi, J. Ota, T. Arai, S. Ichikawa, Shingo Koga, H. Asama, I. Endo","doi":"10.1109/IROS.1996.569008","DOIUrl":"https://doi.org/10.1109/IROS.1996.569008","url":null,"abstract":"In this paper, we propose an off-line planning algorithm for cooperative tasks of multiple mobile robots. Sweeping means a motion that a robot covers a 2-dimensional area by its effector. Sweeping of a whole work area is fundamental and essential task of mobile robots. It is more effective if a robot can move an obstacle during a sweeping task as if we clean our room with relocating chairs. We can also consider that this is the simplest task which includes both point-to-point motion and sweeping. We model sweeping and relocation, and propose an algorithm to find appropriate path for robot and way of relocation of each obstacle. We apply the LT graph to solve the problem, which describes both motions of robots and blockades by obstacles in path-time space. We verify the efficiency of the algorithm through simulations and experiments.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115484127","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: 29
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