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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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Experiments on the PTP operations of a flexible structure mounted manipulator system 柔性结构安装式机械手系统的PTP操作实验
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570684
Kazuya Yoshida, D. Nenchev, P. Vichitkulsawat, Hiroshi Kobayashi, M. Uchiyama
{"title":"Experiments on the PTP operations of a flexible structure mounted manipulator system","authors":"Kazuya Yoshida, D. Nenchev, P. Vichitkulsawat, Hiroshi Kobayashi, M. Uchiyama","doi":"10.1109/IROS.1996.570684","DOIUrl":"https://doi.org/10.1109/IROS.1996.570684","url":null,"abstract":"Point-to-point operation of a flexible structure mounted manipulator systems (FSMS) is discussed. Four operation strategies: (1) straight-line path in joint space, (2) high-coupling path, (3) low-coupling path obtained from the coupling map concept, and (4) 3-phase motion obtained from the reactionless path are examined and compared in terms of a minimum oscillation of the supporting flexible structure, using an FSMS test bed, TREP, developed at Tohoku University.","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":"115979175","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: 7
Motion planning for a mobile manipulator to execute a multiple point-to-point task 移动机械手执行多点对点任务的运动规划
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571044
Jae-Kyung Lee, Seung Ho Kim, H. Cho
{"title":"Motion planning for a mobile manipulator to execute a multiple point-to-point task","authors":"Jae-Kyung Lee, Seung Ho Kim, H. Cho","doi":"10.1109/IROS.1996.571044","DOIUrl":"https://doi.org/10.1109/IROS.1996.571044","url":null,"abstract":"We propose a motion planning method for a mobile manipulator to execute a multiple task which consists of a sequence of point-to-point tasks. In the case of multiple tasks, because the motion trajectories between tasks and the commutation configurations are closely related, we formulate the problem as a global non-linear optimization one which takes into account both the motion trajectories and the commutation configurations. In order to simplify the problem, we divide the problem into two subproblems. At the first step, we obtain the motion trajectories assuming that the commutation configurations are given and at the next step, we obtain the optimal commutation configurations by using genetic algorithms. A series of computer simulation results are demonstrated to verify the effectiveness of the proposed method.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"35 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":"116738968","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: 9
Real-time vision-based control of swing motion by a human-form robot using the remote-brained approach 利用远脑方法实现人形机器人摆动运动的实时视觉控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570616
M. Inaba, K. Nagasaka, F. Kanehiro, S. Kagami, H. Inoue
{"title":"Real-time vision-based control of swing motion by a human-form robot using the remote-brained approach","authors":"M. Inaba, K. Nagasaka, F. Kanehiro, S. Kagami, H. Inoue","doi":"10.1109/IROS.1996.570616","DOIUrl":"https://doi.org/10.1109/IROS.1996.570616","url":null,"abstract":"We present a vision-based real-time control system of a human-form robot in swing motion. The robot has 16 DOF joints and a camera which is designed to do research on human-form robot behaviors. The key idea to develop the vision based system for the robots are the remote-brained approach and real-time visual tracking. In this approach, the robot system is designed to have the brain and the body separate and to connect them by a radio link. The body sends the visual image to the brain and the body receives the motion, references. The basic algorithm to observe the swing motion by vision uses the optical flow generation. The control algorithm for flow-based visual feedback is described.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"116 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":"121479693","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: 19
Determination of contact forces in grasping 抓握时接触力的测定
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568948
Yuru Zhang, F. Gao, W. Gruver
{"title":"Determination of contact forces in grasping","authors":"Yuru Zhang, F. Gao, W. Gruver","doi":"10.1109/IROS.1996.568948","DOIUrl":"https://doi.org/10.1109/IROS.1996.568948","url":null,"abstract":"The determination of contact forces between a grasped object and fingers of a robot hand is treated in this research. In previous research on fingertip grasps, the underlying assumption is generally that the fingers can apply any required force. In cases of enveloping or power grasps, the latter assumption does not always hold because same components of the contact forces may not be controllable. These uncontrollable forces need to be separated in the representation of contact forces to ensure that the contact forces are obtained by adjusting the controllable components of the contact forces. This paper provides a method to solve this problem. We decompose the space of contact forces into four subspaces. Based on this decomposition, the contact forces can be explicitly represented with respect to the joint torques. Therefore, the application of the technique leads to a controllable solution. Three examples are provided to illustrate the decomposition.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"8 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":"127753996","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
Statistical inference by stereo vision: geometric information criterion 立体视觉统计推断:几何信息准则
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568981
Yasushi Kanazawa, K. Kanatani
{"title":"Statistical inference by stereo vision: geometric information criterion","authors":"Yasushi Kanazawa, K. Kanatani","doi":"10.1109/IROS.1996.568981","DOIUrl":"https://doi.org/10.1109/IROS.1996.568981","url":null,"abstract":"Introducing a mathematical model of noise in stereo images, we define the geometric information criterion (geometric AIC) for evaluating the goodness of an assumption about the object we are viewing. We show that we can test whether or not the object is located infinitely far away or the object is a planar surface without using any knowledge about the noise magnitude or any empirically adjustable thresholds. Synthetic and real-image examples are shown to illustrate our theory.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"19 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":"133657174","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
Hierarchical supervisory control of service robot using human-robot-interface 基于人机界面的服务机器人分层监控
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569000
C. Fischer, M. Buss, G. Schmidt
{"title":"Hierarchical supervisory control of service robot using human-robot-interface","authors":"C. Fischer, M. Buss, G. Schmidt","doi":"10.1109/IROS.1996.569000","DOIUrl":"https://doi.org/10.1109/IROS.1996.569000","url":null,"abstract":"Intelligent human behaviour models can serve as a basis for semi-autonomous mobile robot systems. In this paper the necessity of hierarchical supervisory control for service task solution using a human-robot-interface (MRI) is motivated. The demands on information exchange between operator, MRI and service robot are outlined and categorised. A distributed planner to control the robot system is presented, enabling both flexible robot behaviour and online operator support. Effectiveness of the approach is demonstrated by experimental results achieved with the proposed MRI and the service robot ROMAN.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"28 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":"114155948","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: 22
Bilateral feedback control of telemanipulators via computer network 基于计算机网络的机械手双边反馈控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568996
K. Kosuge, H. Murayama, K. Takeo
{"title":"Bilateral feedback control of telemanipulators via computer network","authors":"K. Kosuge, H. Murayama, K. Takeo","doi":"10.1109/IROS.1996.568996","DOIUrl":"https://doi.org/10.1109/IROS.1996.568996","url":null,"abstract":"Providing force information do a human operator improves the reality of teleoperation. When the communication block between a master and a slave has a transmission time delay, the bilateral feedback system is easily destabilized. Anderson and Spong (1989) guaranteed passivity in the communication block by using scattering transformation and overcame this instability caused by the time delay. This method can be applied to the communication block with constant time delay. Different from traditional teleoperation systems, the transmission time delay irregularly changes in a computer network. This paper reveals that the variable time delay destabilizes bilateral master slave manipulator with scattering transformation and proposes the virtual time delay method, that keeps the apparent time delay constant. This new compensation method has been implemented in a single axis master slave manipulator system connected to a computer network and experimental results illustrate the validity of the proposed method.","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":"114668875","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: 161
Virtual reality based teleoperation which tolerates geometrical modeling errors 基于虚拟现实的远程操作，可容忍几何建模误差
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568946
Y. Tsumaki, Yuichiro Hoshi, H. Naruse, M. Uchiyama
{"title":"Virtual reality based teleoperation which tolerates geometrical modeling errors","authors":"Y. Tsumaki, Yuichiro Hoshi, H. Naruse, M. Uchiyama","doi":"10.1109/IROS.1996.568946","DOIUrl":"https://doi.org/10.1109/IROS.1996.568946","url":null,"abstract":"It is well known that teleoperation with time delay causes force feedback control to become unstable. Therefore, bilateral control could not be used in such applications as space teleoperation with time delay. Force feedback information is, however, very important for the operator when performing contact tasks. Recently, virtual reality has been introduced to support force feedback based teleoperation with long time delay. The operator can feel the forces which are generated in the virtual world, even if there is long time delay. Unfortunately, virtual reality based teleoperation is prone to modeling errors between the real world and the virtual world. In this paper we propose such a teleoperation system which combines velocity-level commands with certain slave arm autonomy. The experimental results show that our system is robust with respect to tolerances in the geometrical model, and also, through the feedback loop from the virtual environment the operator can always feel a stable force.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"18 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":"114725170","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
Tetrobot family tree: modular synthesis of kinematic structures for parallel robotics 机器人家族树:并联机器人运动结构的模块化综合
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570797
A. B. Neville, A. Sanderson
{"title":"Tetrobot family tree: modular synthesis of kinematic structures for parallel robotics","authors":"A. B. Neville, A. Sanderson","doi":"10.1109/IROS.1996.570797","DOIUrl":"https://doi.org/10.1109/IROS.1996.570797","url":null,"abstract":"Parallel robots can be built by linking together unit cells in configurations which retain the static determinacy of the overall structure. In the Tetrobot system, the kinematics of these concatenated structures can be solved by propagation of solutions through connected graphs of linked modules. In this paper, we examine the synthesis of unit cells which could be used in creating these structures and retain the ability to compute the kinematics for control of the actuated system. Admissible unit cells are shown to form families in two- and three-dimensions, and a set of synthesis rules is described which generates the members of these families recursively for each generations. The resulting set of modules comprises a broad set of useful cells which can be used to design parallel robots and guarantee the computability of their kinematics on a cell-by-cell basis.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"47 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":"117242329","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: 39
Immunoid: an architecture for behavior arbitration based on the immune networks 免疫:一种基于免疫网络的行为仲裁架构
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569044
A. Ishiguro, Y. Shirai, T. Kondo, Y. Uchikawa
{"title":"Immunoid: an architecture for behavior arbitration based on the immune networks","authors":"A. Ishiguro, Y. Shirai, T. Kondo, Y. Uchikawa","doi":"10.1109/IROS.1996.569044","DOIUrl":"https://doi.org/10.1109/IROS.1996.569044","url":null,"abstract":"Conventional artificial intelligent (AI) systems have been criticized for their brittleness under hostile/dynamic changing environments. Therefore, much attention has been focused on the reactive planning systems such as behavior-based AI. However, in the behavior-based AI approaches, how to construct a mechanism that realizes adequate arbitration among competence modules is still on open question. In this paper, we propose a new decentralized consensus-making system inspired from the biological immune system. And we apply our proposed method to a behavior arbitration of an autonomous mobile robot as a practical example. To verify the feasibility of our method, we carry out some simulations. In addition, we propose an adaptation mechanism that can be used to construct a suitable immune network for adequate action selection.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"18 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":"115399250","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
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