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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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Design of real-time large scale robot software platform and its implementation in the remote-brained robot project 实时大型机器人软件平台的设计及其在远程机器人项目中的实现
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568998
S. Kagami, Y. Tamiya, M. Inaba, H. Inoue
{"title":"Design of real-time large scale robot software platform and its implementation in the remote-brained robot project","authors":"S. Kagami, Y. Tamiya, M. Inaba, H. Inoue","doi":"10.1109/IROS.1996.568998","DOIUrl":"https://doi.org/10.1109/IROS.1996.568998","url":null,"abstract":"Constructing an environment for robot software research, which can program and experiment in various robot behaviors, design of a software development platform becomes important problem. This paper describes a design of \"Software Platform\" for real-time large scale robot software, and its implementation in the \"Remote-Brained Robot Project\". The Software Platform is designed as three layers, \"MOTHER, BRAIN, SENSOR-MOTOR\". MOTHER consists of tools to produce and evolve BRAIN programs. For tools and libraries in such platform, there are two major problems. One is, there is tradeoff relationship between \"Extension\" and \"Share\". A way of overcoming this problem is described. The other is, the methodology is needed between low-level real-time parallel environment monitoring program and high-level software that takes much time. A system developed for remote-brained robots and its application are described. This system aims at developing many sorts of brain architecture and high level software that consists of various flexible multiprocess network.","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":"125837487","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
Tumble stability criterion of integrated locomotion and manipulation 运动与操纵结合的翻滚稳定性判据
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571067
K. Yoneda, S. Hirose
{"title":"Tumble stability criterion of integrated locomotion and manipulation","authors":"K. Yoneda, S. Hirose","doi":"10.1109/IROS.1996.571067","DOIUrl":"https://doi.org/10.1109/IROS.1996.571067","url":null,"abstract":"We discuss methods to evaluate the stability of robots which execute manipulations and locomotion. The relationship between the center of gravity projection point and the ground contact points is an easy-to-use criterion but it does not take into consideration manipulation counter-force. We propose a concept called \"tumble stability\", which considers the tumble direction when all ground contact points except 2 are hypothetically lost. If a given, hypothetically lost, ground contact point can produce support force which can suppress that tumble, the walking machine will not tumble; otherwise, it will. Stability during manipulations can be evaluated by incorporating the manipulation counter-force as an external force in this evaluation standard. The stability of the planned manipulation can be determined not only on level ground, but on general topography including rugged terrain, wall surfaces and ceiling surfaces. We introduce the concept of the manipulation counter-force limit as an index to indicate manipulation capabilities. Because this indicates the limit value of the counter-force by which a manipulation can be stably executed, it clarifies the fact that it is effective to make the ground contact points on the side opposite from the manipulation farther and wider in order to heighten manipulation performance.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"46 3 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":"127329762","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: 60
Robotic replication of 3D solids 3D实体的机器人复制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570636
R. Jarvis, Y. L. Chiu
{"title":"Robotic replication of 3D solids","authors":"R. Jarvis, Y. L. Chiu","doi":"10.1109/IROS.1996.570636","DOIUrl":"https://doi.org/10.1109/IROS.1996.570636","url":null,"abstract":"This paper describes the collection, editing and reproduction of 3D structures, i.e. solid replication, with potential applications in computer vision, rapid phototyping, prosthesis, wind-tunnel modelling and scientific visualisation. Robotic transport of materials and 'manufactured' components is central to the approach adopted. The resulting system is economically viable and has commercial potential.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"131 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":"130548344","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
An intelligent active range sensor for vehicle guidance: system overview 一种用于车辆引导的智能主动距离传感器:系统概述
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570635
Nick E. Pears
{"title":"An intelligent active range sensor for vehicle guidance: system overview","authors":"Nick E. Pears","doi":"10.1109/IROS.1996.570635","DOIUrl":"https://doi.org/10.1109/IROS.1996.570635","url":null,"abstract":"The mechatronic design and the two stage calibration procedure for an eyesafe laser rangefinder, based on the lateral-effect photodiode (LEP), are presented. The sensor acquires two-dimensional range data, and is active in the sense that it can change the orientation of its field of view in order to track useful range features. An analysis of LEP operation shows that image position measurement repeatability, normalised with respect to the detector half length, is equal to the signal current to noise current ratio. This result allows accurate estimation of the variance of individual range measurements, making the sensor particularly amenable to statistically based range feature detection. Range data acquisition, range feature extraction and control of the active head behaviour are all implemented on a local network of six transputers. This parallel structure is described and it is shown how the sensor constitutes an intelligent agent in a balanced sensor suite for the guidance of close range mobile robot manoeuvres.","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":"132393482","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: 11
Cooperative strategy for multiple mobile manipulators 多移动机械臂的协作策略
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570850
H. Osumi
{"title":"Cooperative strategy for multiple mobile manipulators","authors":"H. Osumi","doi":"10.1109/IROS.1996.570850","DOIUrl":"https://doi.org/10.1109/IROS.1996.570850","url":null,"abstract":"This paper proposes a simple method for carrying a large object by cooperation of multiple mobile manipulators with position controllers. It is necessary for each robot to have compliance in order to avoid excessive inner forces due to the mutual positioning errors. Thus manipulators on mobile platforms are used as free joint mechanisms by locking some joints and making the rest joints free. These free joints play the role of mechanical compliance. First, compliance needed for cooperation among position-controlled robots is shown. Second, the statics and error characteristics of cooperative systems including compliant mechanisms are analyzed. Some feedback control laws for platforms moving on rough ground are proposed and discussed.","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":"132447806","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: 18
Visual control of a microrobot operating under a microscope 在显微镜下操作微型机器人的视觉控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571089
I. Pappas, A. Codourey
{"title":"Visual control of a microrobot operating under a microscope","authors":"I. Pappas, A. Codourey","doi":"10.1109/IROS.1996.571089","DOIUrl":"https://doi.org/10.1109/IROS.1996.571089","url":null,"abstract":"In this paper the vision-based control of a microrobot operating under a light microscope is presented. For high accuracy manipulation the parameters describing the relationship between the reference frame and the frame attached to the robot must be continuously and accurately updated These parameters are unknown a priori and are not directly measurable, but can be deduced by observing the scene change during the motion. The relative positioning accuracy is about 100 nm and trajectories can be precisely followed in 3 degrees of freedom. Experimental results are presented.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"34 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":"132163818","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: 49
Use of scripts for coordinating perception and action 使用脚本来协调感知和行动
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570653
R. Murphy
{"title":"Use of scripts for coordinating perception and action","authors":"R. Murphy","doi":"10.1109/IROS.1996.570653","DOIUrl":"https://doi.org/10.1109/IROS.1996.570653","url":null,"abstract":"This paper proposes scripts as a framework for coordinating and controlling a collection of behaviors needed to perform a highly stereotyped task. Scripts facilitate planning by explicitly representing the types of situations the behaviors are suited for, and the default schedule or plan of activities. They support building abstract behaviors from libraries of primitive independent behaviors by providing the meta-knowledge needed to smooth over minor incompatibilities. Scripts enable robust execution, allowing subscripts to be attached for reacting to anomalous conditions. The utility of scripts is demonstrated via a case study of topological navigation. In this case study, scripts provided the foundation for the abstract navigation behaviors used by a mobile robot to travel through indoor office spaces.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"99 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":"131714788","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: 12
A cooperation strategy for a group of object lifting robots 一组物体起重机器人的合作策略
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570641
M. N. Ahmadabadi, E. Nakano
{"title":"A cooperation strategy for a group of object lifting robots","authors":"M. N. Ahmadabadi, E. Nakano","doi":"10.1109/IROS.1996.570641","DOIUrl":"https://doi.org/10.1109/IROS.1996.570641","url":null,"abstract":"The ultimate goal of this research is to study information, cooperation strategies, and behaviors required by a group of behavior based mobile robots for lifting and transferring an object with unknown mass and center of gravity. This paper presents some of the investigation results of the first stage of the project, lifting the object. After discussing the problems facing a group of object lifting robots, a distributed cooperation strategy, sensory system, and required behaviors for multiple cooperative object lifting robots are introduced. In the proposed cooperation strategy, when the object's tilt angle passes a defined value, the robot(s) having the lowest contact point with the object moves upward faster while the others slow down and stop. The sensory system is designed so that each robot is able to measure the object's tilt angle and communicate with the other robots when required. Sufficient conditions for applicability of the proposed algorithm are provided and the validity of the studied approach is verified through computer simulations and experiments.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"64 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":"125488806","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: 16
Adaptive neural regulator and its application to torque control of a flexible beam 自适应神经调节器及其在柔性梁转矩控制中的应用
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570678
B. Xu, T. Tsuji, M. Kaneko
{"title":"Adaptive neural regulator and its application to torque control of a flexible beam","authors":"B. Xu, T. Tsuji, M. Kaneko","doi":"10.1109/IROS.1996.570678","DOIUrl":"https://doi.org/10.1109/IROS.1996.570678","url":null,"abstract":"This paper proposes an adaptive regulator using neural network. For a controlled object with linear and nonlinear uncertainties, the conventional optimal regulator is designed based on a known linear part of the controlled object and the uncertainties included in the controlled object are identified using the neural network. At the same time, the neural network adaptively compensates a control input from the predesigned optimal regulator. In this paper, we show how the output of the neural network compensates the control input based on the Riccati equation, and a sufficient condition of the local asymptotic stability is derived using the Lyapunov stability technique. Then, the proposed regulator is applied to the torque control of a flexible beam. Experimental results under the proposed regulator are compared with the conventional optimal regulator in order to illustrate the effectiveness and applicability of the proposed method.","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":"125504041","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
Application of intelligent monitoring for super long distance teleoperation 智能监控在超长距离遥操作中的应用
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568947
Yujin Wakita, S. Hirai, K. Machida, K. Ogimoto, T. Itoko, P. Backes, Stephen F. Peters
{"title":"Application of intelligent monitoring for super long distance teleoperation","authors":"Yujin Wakita, S. Hirai, K. Machida, K. Ogimoto, T. Itoko, P. Backes, Stephen F. Peters","doi":"10.1109/IROS.1996.568947","DOIUrl":"https://doi.org/10.1109/IROS.1996.568947","url":null,"abstract":"Time delay and limited communication capacity are the primary constraints in super-long distance telerobotic systems such as space telerobotic systems. Intelligent monitoring is efficient for this problem to provide a function which selects important scenes to help the operator through a monitoring camera. We constructed a telerobotic testbed which includes a connection through the international ISDN and typical space structure (space robot, truss structure land ORU). We conducted trans-Pacific teleoperation experiments using the testbed in ETL as the remote site and a telerobotic console at JPL (Jet Propulsion Laboratory in Pasadena, California) as a local site. Experimental results showed intelligent monitoring to be effective for the above problems.","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":"126533413","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: 38
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