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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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Autonomous navigation for mobile robots referring pre-recorded image sequence 基于预记录图像序列的移动机器人自主导航
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571034
Takayuki Ohno, A. Ohya, S. Yuta
{"title":"Autonomous navigation for mobile robots referring pre-recorded image sequence","authors":"Takayuki Ohno, A. Ohya, S. Yuta","doi":"10.1109/IROS.1996.571034","DOIUrl":"https://doi.org/10.1109/IROS.1996.571034","url":null,"abstract":"The purpose of this study is to realize autonomous navigation of a mobile robot with reference pre-recorded images, without any environment maps. The strategy of navigation in this research is that the differences of position and orientation of robot between the reference one and the present one are continuously estimated from true images, and are used in the locomotion control commands. In this paper, we use only vertical lines in the image as extracted features, and propose the method to calculate the estimated differences of position and orientation from two images. We also show some results of simulations and experiments using an actual mobile robot, and examine its reliability.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"49 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":"131134868","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: 62
Motion control of leg-wheel robot for an unexplored outdoor environment 野外环境下腿轮机器人的运动控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570803
Yu-Jie Dai, E. Nakano, Takayuki Takahashi, H. Okubo
{"title":"Motion control of leg-wheel robot for an unexplored outdoor environment","authors":"Yu-Jie Dai, E. Nakano, Takayuki Takahashi, H. Okubo","doi":"10.1109/IROS.1996.570803","DOIUrl":"https://doi.org/10.1109/IROS.1996.570803","url":null,"abstract":"We have constructed a leg-wheel mobile robot called ChariotII that has mechanically separated wheels and legs which allows it to utilize the advantages of the two mechanisms. A new motion control approach, the leg-wheel passive hybrid crawl gait (LWPCG) motion control approach, for moving ChariotII is discussed under the environment of unexplored rough terrain in this paper. To enable the robot to negotiate a extensive range of unexplored terrain, an automatic control function which shifts the profile of the desired foot trajectory (automatic profile shift, or APS) has also been implemented. The proposed motion control approach is extremely simple computationally, does not require knowledge of the robot's dynamic model or environmental parameters, and does not necessitate late the use of external sensors. The effectiveness of this method is confirmed through simulations and experiments.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"127 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":"134417465","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
Development of quadruped walking robot TITAN-VIII 四足步行机器人TITAN-VIII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.1996.570670
K. Arikawa, S. Hirose
{"title":"Development of quadruped walking robot TITAN-VIII","authors":"K. Arikawa, S. Hirose","doi":"10.1109/IROS.1996.570670","DOIUrl":"https://doi.org/10.1109/IROS.1996.570670","url":null,"abstract":"We discuss the development of the quadruped walking robot TITAN-VIII, especially about its leg mechanism and results of experiments using a one-leg model. In the design of TITAN-VIII, we have considered not only about \"high performance of the movement\" but also about \"low cost\", \"simplicity of the treatment\", \"simplicity of the functional extension\", etc. We introduce a driving system using wires, which is helpful to achieve these objectives. We first constructed a one-leg model of TITAN-VIII. By using this model, we did experiments and made remarks about the feature of response, velocity, force and energy consumption. From these results, we estimated the limitation of the walking velocity of TITAN-VIII in standard walking posture. We discuss the standard walking posture of TITAN-VIII based on the energy efficiency.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"46 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":"133677875","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: 176
A mobile robot with a biologically motivated vision system 一个具有生物驱动视觉系统的移动机器人
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571037
Ç. Soyer, H. I. Bozma, Y. Istefanopulos
{"title":"A mobile robot with a biologically motivated vision system","authors":"Ç. Soyer, H. I. Bozma, Y. Istefanopulos","doi":"10.1109/IROS.1996.571037","DOIUrl":"https://doi.org/10.1109/IROS.1996.571037","url":null,"abstract":"The ability to combine vision and behaviour is vital for a robot to achieve real time performance on a variety of tasks in a complex and dynamic environment. The design and development of such systems have been motivated by physiological and psychological studies on biological systems. These studies indicate that perception systems must have focusing, oculomotion and multi-level processing capabilities. This paper describes a mobile robot having a biologically motivated vision system. The robot-APES-is designed to have both physical and mental attention capabilities, end selective perceptual processing thus achieved can result in real-time behavior in simple tasks involving recognition.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"41 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":"132362917","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
Building complete autonomous agents: a case study on categorization 构建完全自主代理:分类的案例研究
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570656
D. Lambrinos, C. Scheier
{"title":"Building complete autonomous agents: a case study on categorization","authors":"D. Lambrinos, C. Scheier","doi":"10.1109/IROS.1996.570656","DOIUrl":"https://doi.org/10.1109/IROS.1996.570656","url":null,"abstract":"With the advent of new artificial intelligence it has become clear that in order to understand intelligence it is important to build complete agents. A complete agent is capable of behaving autonomously in an environment without human intermediary. It has to incorporate, among other things, capabilities for categorization, for navigation, and for \"deciding\" what to do. We illustrate how such an integration can be implemented on a mobile robot. We introduce a new control architecture, the so-called Extended Braitenberg Architecture (EBA). It consists of loosely coupled processes that run in parallel. They implement various behaviors such as exploration or recharging. The task of the robot is to collect certain types of objects in the environment. We show how category learning can be embedded in the overall architecture, i.e. we illustrate how categorization can be viewed from a complete agent's perspective. Results on the behavioral performance as well as the underlying internal dynamics are presented.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"25 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":"132537135","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
Robot motion planning: multi-sensory uncertainty fields enhanced with obstacle avoidance 机器人运动规划:避障增强的多感官不确定性场
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568963
P. Trahanias, Yiannis Komninos
{"title":"Robot motion planning: multi-sensory uncertainty fields enhanced with obstacle avoidance","authors":"P. Trahanias, Yiannis Komninos","doi":"10.1109/IROS.1996.568963","DOIUrl":"https://doi.org/10.1109/IROS.1996.568963","url":null,"abstract":"Robot motion planning is being approached in this paper by estimating the uncertainty of its configuration that is computed by the robot sensors. Since mobile robotic platforms are usually equipped with a variety of range sensors, measurements returned from all sensors are employed for the above estimation. The notion of sensory uncertainty fields (SUFs), recently proposed, is being extended to incorporate all the available sources of external sensory data. The multisensory uncertainty field (MSUF) is introduced which results in more accurate configuration estimation. Moreover, in order to cope with unexpected objects (obstacles) encountered at execution time, the navigation algorithm is augmented with an obstacle avoidance and navigation resuming technique. The introduction of multiple sensors and obstacle avoidance facilitates accurate navigation in indoor environments and in the presence of unexpected objects. This is demonstrated by navigation results obtained from an implementation of this method.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"5 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":"130067568","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: 6
Assembly planning for modular fixtures 模块化夹具的装配规划
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571040
Chunsik Yi, G. Bekey
{"title":"Assembly planning for modular fixtures","authors":"Chunsik Yi, G. Bekey","doi":"10.1109/IROS.1996.571040","DOIUrl":"https://doi.org/10.1109/IROS.1996.571040","url":null,"abstract":"Fixtures are devices used in manufacturing to immobilize a part far operations such as assembly, inspection or machining. Modular fixtures are configurations of standard components. The goal of a automatic modular fixture design is to find algorithms to determine a set of fixturing contact points automatically, given a set of modular components and the fixturing requirements. This paper considers the problem of generating valid assembly sequences for a given modular future configuration. This is called assembly planning for modular fixtures. Because the application domain is known, we can devise an efficient assembly planning system taking advantage of the characteristics of the fixture domain. In this paper, we propose a fastener-based approach which considers the functionality of fasteners (to hold the fixture components together) to achieve both the efficiency in assembly planning and the stability of the generated assembly sequences. We also describe an accessibility measure that can be used to select preferred assembly sequences. This work complements automatic fixture design such that complete automation can be achieved from the design of a fixture to its assembly, which can be performed manually or with the aid of robots.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"6 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":"130279199","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
Development of an anthropomorphic flutist robot WF-3RII 拟人长笛手机器人WF-3RII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.1996.570624
A. Takanishi, Manabu Maeda
{"title":"Development of an anthropomorphic flutist robot WF-3RII","authors":"A. Takanishi, Manabu Maeda","doi":"10.1109/IROS.1996.570624","DOIUrl":"https://doi.org/10.1109/IROS.1996.570624","url":null,"abstract":"The purpose of this study is to clarify the mechanism on human's flute playing from engineering view point. To accomplish this purpose, the authors developed an anthropomorphic flautist robot WF-3RII (Waseda Flutist No.3 Refined II), which reproduces the functions of human organs: a respiratory system, a playing attitude control mechanism, fingers, a mouth, a throat, a tongue, etc. WF-3RII realized the musical performance, \"Mozart W.A., Flute Quartets KV 298\" with MIDI tone generator module accompaniment. This work is a part of the \"Humanoid Project\" being done in Waseda University.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"62 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":"114954468","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: 23
Decentralized control of multiple robots handling an object 多个机器人处理一个物体的分散控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570694
K. Kosuge, T. Oosumi
{"title":"Decentralized control of multiple robots handling an object","authors":"K. Kosuge, T. Oosumi","doi":"10.1109/IROS.1996.570694","DOIUrl":"https://doi.org/10.1109/IROS.1996.570694","url":null,"abstract":"We propose a decentralized control algorithm of multiple robots handling a single object in coordination. The motion command of the object is given to one of the robots, referred to as a leader, and the other robots referred to as followers estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated reference. Each robot is controlled by its own controller without explicit communication among robots. Different from the conventional leader-follower type of robot control algorithms, the proposed control algorithm specifies the internal force applied to the object, while handling the object in coordination based on robot dynamics. The proposed control algorithm is experimentally applied to a one degree of freedom mobile robot, and the results illustrate the validity of the proposed control algorithm.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"89 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":"116737462","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: 132
Extracting buildings from aerial topographic maps 从航空地形图中提取建筑物
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569031
R. Fayek, A. Wong
{"title":"Extracting buildings from aerial topographic maps","authors":"R. Fayek, A. Wong","doi":"10.1109/IROS.1996.569031","DOIUrl":"https://doi.org/10.1109/IROS.1996.569031","url":null,"abstract":"The recovery of 2D information from intensity images, and that of 3D information from range images are the major issues in 3D objects recognition from sensory data. The analysis and interpretation of remote sensing aerial images have important applications. This paper presents an efficient method for the analysis and modeling of such scenes based on range sensory data. Unlike methods using 2D intensity images, we exploit the rich 3D data. We extract symbolic information from the 3D triangular mesh models. These are used to recognize buildings using symbolic reasoning and generic object models.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"62 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":"114633700","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
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