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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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Fusion of social laws and super rules for coordinating the motion of mobile robots 融合社会规律和超规则协调移动机器人运动
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569039
T. Minami, I. Suzuki, M. Yamashita
{"title":"Fusion of social laws and super rules for coordinating the motion of mobile robots","authors":"T. Minami, I. Suzuki, M. Yamashita","doi":"10.1109/IROS.1996.569039","DOIUrl":"https://doi.org/10.1109/IROS.1996.569039","url":null,"abstract":"A group of autonomous agents can agree on a set of \"social laws\" in advance in order to reduce the complexity of conflict resolution later in the field when they are dispatched to achieve the given task. However, it is conceivable that under certain situations, the agents may have to violate the social laws to carry out the task more efficiently or even survive in the field. We thus consider the issue of fusing the social laws and a set of \"super rules\" for handling exceptions in the context of dynamic path planning for a group of autonomous mobile robots. We report some results that indicate that a fusion of social laws and super rules can help us to design effective algorithms.","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":"114553762","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
An actuation system for parallel link micromanipulators 并联连杆微机械臂作动系统
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571064
P. Kallio, M. Lind, H. Kojola, Quan Zhou, H. Koivo
{"title":"An actuation system for parallel link micromanipulators","authors":"P. Kallio, M. Lind, H. Kojola, Quan Zhou, H. Koivo","doi":"10.1109/IROS.1996.571064","DOIUrl":"https://doi.org/10.1109/IROS.1996.571064","url":null,"abstract":"This paper describes a new miniaturized actuation system designed especially for parallel link micromanipulators; the system is mechanically designed to form a very compact structure when used in parallel configuration. It consists of a monolithic unimorph type of piezoelectric actuator, an electro-deposited bellows, a tank and hydraulic fluid. The displacement of the piezoelectric element is hydraulically magnified and converted to the displacement of the bellows. The piezohydraulic actuator provides movement from a micrometer level up to a maximum displacement of 500 /spl mu/m.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"52 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":"124031911","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: 13
Robust neural force control with robot dynamic uncertainties under totally unknown environment 完全未知环境下机器人动态不确定性的鲁棒神经力控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570857
Seul Jung, T. Hsia
{"title":"Robust neural force control with robot dynamic uncertainties under totally unknown environment","authors":"Seul Jung, T. Hsia","doi":"10.1109/IROS.1996.570857","DOIUrl":"https://doi.org/10.1109/IROS.1996.570857","url":null,"abstract":"In this paper, a robust robot force tracking impedance control scheme that uses a neural network as a compensator is proposed. The proposed neural compensator has the capability of making the robot track a specified desired force as well as of compensating for uncertainties in environment location and stiffness, and the uncertainties in robot dynamics. The neural compensator is trained separately for free space motion and contact space motion control using two different training signals. The proposed training signal for force control can be used regardless of the environment profile in order to achieve desired force tracking. Simulation studies with three link rotary robot manipulator are carried out to demonstrate the robustness of the proposed scheme under uncertainties in robot dynamics, environment position and environment stiffness. The results show that excellent force tracking is achieved by the neural network.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"80 1 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":"134397184","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
Modelling multiple reflection paths in ultrasonic sensing 超声传感中多反射路径建模
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570689
P. McKerrow, Shao-Min Zhu
{"title":"Modelling multiple reflection paths in ultrasonic sensing","authors":"P. McKerrow, Shao-Min Zhu","doi":"10.1109/IROS.1996.570689","DOIUrl":"https://doi.org/10.1109/IROS.1996.570689","url":null,"abstract":"Multiple reflection echoes are considered to be a source of errors in range readings because the simple model relating distance of flight to range is inaccurate. If the geometric path of the echo is known then it is possible to calculate the position of the reflecting object. In this paper, we developed a model of multiple reflections from the virtual source model. This model was validated by experiments with a mobile robot for the common situation of multiple reflection from a corner. By combining this multiple reflection model with the are model of ultrasonic sensing, we developed a virtual beam model which determines the path of a beam after multiple reflections. This model was validated experimentally by comparing its results to measurements made by a robot as it approached a corner. The models developed in this work are a first step toward solving the problems caused by multiple reflection paths for ultrasonic echoes.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"12 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":"126577992","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
Behavioral speed control based on tactical information 基于战术信息的行为速度控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569042
R. Murphy, D. Hawkins
{"title":"Behavioral speed control based on tactical information","authors":"R. Murphy, D. Hawkins","doi":"10.1109/IROS.1996.569042","DOIUrl":"https://doi.org/10.1109/IROS.1996.569042","url":null,"abstract":"This paper presents a novel organization of reactive behaviors which avoids the problems generally associated with arbitration or combination of behaviors. The organization uses tactical behaviors to attempt to safely satisfy the intent of strategic behaviors given the immediate situation (e.g., state of the environment, status of the robot, certainty, etc.) A tactical speed control behavior using fuzzy logic is described in detail. Experiments with a nonholonomic mobile robot navigating a 150 ft course show that a tactical speed control behavior improves navigational performance without requiring either knowledge about the strategic behavior (follow-line) or the complexity of the course. The speed control behavior has also been used in conjunction with shared control and has been transferred to a holonomic robot, demonstrating how the behavioral organization enhances software modularity and portability.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"1 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":"131295453","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
The development of a cellular automatic warehouse 蜂窝自动仓库的开发
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570695
T. Sakao, S. Kondoh, Y. Umeda, T. Tomiyama
{"title":"The development of a cellular automatic warehouse","authors":"T. Sakao, S. Kondoh, Y. Umeda, T. Tomiyama","doi":"10.1109/IROS.1996.570695","DOIUrl":"https://doi.org/10.1109/IROS.1996.570695","url":null,"abstract":"This paper proposes a new cellular-type machine to solve problems the present mechatronics machines have through their life cycle. It consists of homogeneous cells with modularity and autonomy, and employs a local communication mechanism. Each cell autonomously behaves based on local information accumulated through local communication. It can logically reconfigure itself, even when some cells are faulty. It can also be physically reconfigured by adding or removing some cells. Each cell periodically evaluates its local environment and its own action history, and selects its appropriate function. This leads to self-organization. It also has an advantage that no central software is needed to control the entire system. We designed and built a \"cellular automatic warehouse\" as an example, which demonstrated the advantages of the cellular machine.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"17 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":"115708549","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
Teleoperation characteristics and human response factor in relation to a robotic welding system 机器人焊接系统的遥操作特性与人的反应因素
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568971
Ming Hou, S. Yeo, Lin Wu, H. Zhang
{"title":"Teleoperation characteristics and human response factor in relation to a robotic welding system","authors":"Ming Hou, S. Yeo, Lin Wu, H. Zhang","doi":"10.1109/IROS.1996.568971","DOIUrl":"https://doi.org/10.1109/IROS.1996.568971","url":null,"abstract":"A remote robotic welding system has been built consisting of a six degree-of-freedom master manipulator, a stereo monitoring system, a computer control system and a slave PUMA robot. The hand-eye coordination, the human hand respondent simulation test and the influence of master unbalanced torque on arc welding master-slave teleoperation characteristics are discussed. In this paper, the power spectral density of the trajectory deviation shows a \"two humps\" distribution characteristic, it will also be shown that the eye-in-hand monitor mode can increase operation efficiency, and that the combination of automatic weld-speed control and master-slave teleoperation mode can enhance operation stability and tracking accuracy in comparison to conventional master-slave control mode.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"141 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":"114627895","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
Design and traveling experiment of an omnidirectional holonomic mobile robot 全向完整移动机器人的设计与行走实验
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570633
Jun Tang, Keigo Watanabe, Y. Shiraishi
{"title":"Design and traveling experiment of an omnidirectional holonomic mobile robot","authors":"Jun Tang, Keigo Watanabe, Y. Shiraishi","doi":"10.1109/IROS.1996.570633","DOIUrl":"https://doi.org/10.1109/IROS.1996.570633","url":null,"abstract":"There exist three kinds of type, i.e., longitudinal, circumferential and lateral wheels for the class of the orthogonal-wheel assembly mechanisms in omnidirectional and holonomic mobile robots. We first analyze these types in the realization of mechanical structure and control system. We then develop an omnidirectional holonomic mobile robot using the lateral wheel assembly to obtain the much simpler control system. Several experimental results indicated that the mobile robot had a desirable full mobility and smooth motion. In order to realize a feedback control based on the model information, the dynamic model and a resolved acceleration control system are also described. The effectiveness of the control system is demonstrated by a computer simulation.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"7 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":"117008341","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
The integration of an environmental map observed by multiple mobile robots with omnidirectional image sensor COPIS 多移动机器人观测环境地图与全向图像传感器COPIS的集成
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571020
Y. Yagi, Shinichi Izuhara, M. Yachida
{"title":"The integration of an environmental map observed by multiple mobile robots with omnidirectional image sensor COPIS","authors":"Y. Yagi, Shinichi Izuhara, M. Yachida","doi":"10.1109/IROS.1996.571020","DOIUrl":"https://doi.org/10.1109/IROS.1996.571020","url":null,"abstract":"We describe a method for generating the environmental map by cooperative observation among multiple mobile robots with omnidirectional visual sensor. Under the assumption of the known motion of the robot, an environmental map of a scene is generated by monitoring azimuth change in the image. First, each robot communicates and exchanges information of sensory date, then, can estimate a cooperative robot by evaluating relative directions of motion and estimated locations of vertical edges. Finally, a global environmental map is generated by integrating both environmental maps.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"59 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":"116019336","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
Cooperative transport with regrasping of torque-limited mobile robots 力矩受限移动机器人的再抓取协同运输
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570692
D. Kurabayashi, Jun Sasaki, Y. Aiyama
{"title":"Cooperative transport with regrasping of torque-limited mobile robots","authors":"D. Kurabayashi, Jun Sasaki, Y. Aiyama","doi":"10.1109/IROS.1996.570692","DOIUrl":"https://doi.org/10.1109/IROS.1996.570692","url":null,"abstract":"This paper deals with a motion planning of mobile robots during the cooperative transport of a large abject by a group of multiple mobile robots (a robot group). In spite of the complexity of the relationship between the several kinds of requirements for this problem, motion planning should be done in real time according to each robot's torque limit to apply its force to the object. Based on the algorithm of Ota et al. (1995), the authors propose the following approach: (1) derive handling force applied to the object by each robot, and (2) determine the role for each robot (to handle the object or to regrasp it) by each robot's torque limit and optimization of a penalty index indicating performance for obstacle avoidance, stable grasping, and reduction of force. Effectiveness of the proposed method is verified by a transferring simulation.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"2 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":"117138299","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
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