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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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Vision based active antenna-basic considerations on two-points detecting method 基于视觉的有源天线两点检测方法的基本考虑
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570814
N. Kanayama, M. Kaneko, T. Tsuji
{"title":"Vision based active antenna-basic considerations on two-points detecting method","authors":"N. Kanayama, M. Kaneko, T. Tsuji","doi":"10.1109/IROS.1996.570814","DOIUrl":"https://doi.org/10.1109/IROS.1996.570814","url":null,"abstract":"This paper is an extended version of the vision based active antenna (VBAA) that can detect the contact force, the stiffness of the environment, and the contact location between an insensitive elastic antenna and an environment, through the observation of the antenna's shape by a camera. If measured points are on the antenna, two arbitrary points are sufficient for computing the contact location and the contact force uniquely. In a practical application of VBAA, however, the measured points are not always on the antenna. In this paper, we show the condition for uniquely obtaining both contact location and contact force under the situation that the measured points are not always on the antenna. We also show a new compensation method to improve the sensing accuracy. We further verify our idea experimentally.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"172 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":"132052969","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
Synthesis of pheromone-oriented emergent behavior of a silkworm moth 蚕蛾信息素导向突现行为的合成
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569043
Y. Kuwana, I. Shimoyama, Yushi Sayama, H. Miura
{"title":"Synthesis of pheromone-oriented emergent behavior of a silkworm moth","authors":"Y. Kuwana, I. Shimoyama, Yushi Sayama, H. Miura","doi":"10.1109/IROS.1996.569043","DOIUrl":"https://doi.org/10.1109/IROS.1996.569043","url":null,"abstract":"The purpose of this research is to clarify moth emergent behavior by synthesis with currently developed tools, including living sensors and recurrent neural networks. The antennae on a silkworm moth are very sensitive compared with artificial gas sensors. These living antennae can be used as living gas sensors that can detect pheromone molecules with high sensitivity. Recurrent artificial neural networks are applied for controlling the pheromone tracing. As a result, a mobile robot with living antennae can follow a stream of pheromone like a male silkworm moth. The small numbers of neurons can generate moth-like behavior, including casting, and turning while interacting with the environment.","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":"129393472","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: 37
A 35 DOF humanoid that can coordinate arms and legs in standing up, reaching and grasping an object 一个35自由度的人形机器人，可以协调手臂和腿站立，到达和抓住一个物体
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570622
M. Inaba, Takashi Igarashi, S. Kagami, H. Inoue
{"title":"A 35 DOF humanoid that can coordinate arms and legs in standing up, reaching and grasping an object","authors":"M. Inaba, Takashi Igarashi, S. Kagami, H. Inoue","doi":"10.1109/IROS.1996.570622","DOIUrl":"https://doi.org/10.1109/IROS.1996.570622","url":null,"abstract":"We present a 35 DOF full-body humanoid is designed to be a testbed to integrate research tools for humanoid full-body behaviors. Each limb has 6 DOF. The neck has 3 DOF. Each hand has 4 DOF. The key idea of the system architecture is the remote-brained approach. This paper describes the design concept and the details of the system and introduces experiments to stand up using table for support and to perform action selection in reaching and grasping an object based on vision.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"11 13 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":"133995626","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
A new way to tackle position/force control for pneumatic robots 一种解决气动机器人位置/力控制的新方法
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570860
M. Guihard, P. Gorce
{"title":"A new way to tackle position/force control for pneumatic robots","authors":"M. Guihard, P. Gorce","doi":"10.1109/IROS.1996.570860","DOIUrl":"https://doi.org/10.1109/IROS.1996.570860","url":null,"abstract":"We propose a controller called \"joint impedance controller\" designed to deal with force and motion trackings. The objective is to control the motion of a biped robot leg during setting and raising phases. As equilibrium of these structures is crucial, transitions between the two phases has to be as soften as possible. Moreover, control laws have not to be too complex and have to take into account pneumatic actuator effects. For these purposes, we purpose a continuous joint impedance controller. The control design is based on a computed torque between the torque actuator and mechanical models. The relation between the torque due to the force applied on the ground and the corresponding position error for each joint is assumed to be of the second order and linear. The asymptotic stability is ensured using Popov criteria. Simulation results of this new controller are presented, leading to a good behaviour of the leg during the two phases at relatively high velocities.","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":"116194549","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
Micro endeffector with micro pyramids and integrated piezoresistive force sensor 带有微金字塔和集成压阻式力传感器的微效应器
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.571061
F. Arai, D. Andou, Y. Nonoda, T. Fukuda, H. Iwata, K. Itoigawa
{"title":"Micro endeffector with micro pyramids and integrated piezoresistive force sensor","authors":"F. Arai, D. Andou, Y. Nonoda, T. Fukuda, H. Iwata, K. Itoigawa","doi":"10.1109/IROS.1996.571061","DOIUrl":"https://doi.org/10.1109/IROS.1996.571061","url":null,"abstract":"Micro manipulation is required for assembling and maintenance of micro machines and their parts. As the handling objects are miniaturized, attractive forces such van der Waals force, surface tension force and electrostatic force between micro objects and gripper surface become dominant in the air, and they work as adhesive forces. We cannot neglect such adhesive forces in micro manipulation. Considering the physical phenomena in the micro world, we propose reduction methods of adhesive forces. Surface roughness of the endeffector surface is effective to reduce the van der Waals force. We propose to make micro pyramids on the end-effector surface by micromachining techniques. We designed and made a prototype of the micro gripper with a micro end-effector whose gripping surface is covered with micro pyramids. Experimental results show effectiveness of micro pyramids for reduction of the adhesive force. We also made a semiconductor strain gauge at the end of the micro end-effector surface for force measurement. Both micro pyramids and the integrated piezoresistive force sensor are fabricated on the micro end-effector by the micromachining techniques. Performance of this force sensor is shown.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"56 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":"116638487","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
Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation 奇异一致公式下并联连杆机械臂的动力学分析
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.568975
D. Nenchev, M. Uchiyama
{"title":"Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation","authors":"D. Nenchev, M. Uchiyama","doi":"10.1109/IROS.1996.568975","DOIUrl":"https://doi.org/10.1109/IROS.1996.568975","url":null,"abstract":"For a class of parallel-link manipulators we develop a general formulation of the equation of motion, suitable for parallel computations. We analyze the torque requirement when moving through various self-motion type singularities on a path generated under the singularity-consistent framework. The formulation, contributes mainly to the analysis of a singularity which is typical for parallel robots only, known from previous studies as \"overmobility\". We show that if the dynamics of the system is taken, under consideration, it is possible to move through such a singularity. This analysis motivates the introduction of the concept of dynamic singularity consistency. As a comprehensive analytical example we use a five bar robotic mechanism.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"182 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":"126024147","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
Reasonable performance in less learning time by real robot based on incremental state space segmentation 基于增量状态空间分割的真实机器人在较短学习时间内的合理性能
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.569014
Yasutake Takahashi, M. Asada, K. Hosoda
{"title":"Reasonable performance in less learning time by real robot based on incremental state space segmentation","authors":"Yasutake Takahashi, M. Asada, K. Hosoda","doi":"10.1109/IROS.1996.569014","DOIUrl":"https://doi.org/10.1109/IROS.1996.569014","url":null,"abstract":"Reinforcement learning has recently been receiving increased attention as a method for robot learning with little or no a priori knowledge and higher capability of reactive and adaptive behaviors. However, there are two major problems in applying it to real robot tasks: how to construct the state space, and how to reduce the learning time. This paper presents a method by which a robot learns purposive behavior within less learning time by incrementally segmenting the sensor space based on the experiences of the robot. The incremental segmentation is performed by constructing local models in the state space, which is based on the function approximation of the sensor outputs to reduce the learning time and on the reinforcement signal to emerge a purposive behavior. The method is applied to a soccer robot which tried to shoot a ball into a goal, The experiments with computer simulations and a real robot are shown. As a result, our real robot has learned a shooting behavior within less than one hour training by incrementally segmenting the state space.","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":"124786327","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: 90
Force control of a flexible manipulator based on the measurement of link deflections 基于连杆挠度测量的柔性机械臂力控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570682
Jin-Soo Kim, Kuniaki Suzuki, M. Uchiyama
{"title":"Force control of a flexible manipulator based on the measurement of link deflections","authors":"Jin-Soo Kim, Kuniaki Suzuki, M. Uchiyama","doi":"10.1109/IROS.1996.570682","DOIUrl":"https://doi.org/10.1109/IROS.1996.570682","url":null,"abstract":"In the past decade, a considerable amount of research has been devoted to flexible manipulators, especially to their modeling, vibration control, inverse kinematics and inverse dynamics. When a flexible manipulator is set to an environmental constraint, force control is necessary to be implemented to complete the task. In this work, we apply a concise position/force control scheme to a spatial flexible manipulator, using lumped-parameter modeling. The equations of motion, including elastic deflection and contact force, have been obtained based on Hamilton's principle. Force control has been realized, both in simulation and experimentally. A comparison between those results is also presented.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"226 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":"125443993","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
Hybrid system behavior specification for multiple robotic mechanisms 多机器人机构混合系统行为规范
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570647
M. Buss, G. Schmidt
{"title":"Hybrid system behavior specification for multiple robotic mechanisms","authors":"M. Buss, G. Schmidt","doi":"10.1109/IROS.1996.570647","DOIUrl":"https://doi.org/10.1109/IROS.1996.570647","url":null,"abstract":"We propose a novel approach to reference behavior specification for multiple robotic mechanisms using hybrid system models. Hybrid automata can specify discrete states (operational modes) and continuous variable reference values in one unified framework. An example mechanism with 3 degrees-of-freedom and a 6-legged walking machine with a combination of several hybrid automata for reference generation and synchronization are discussed. Simulation results show that a hybrid system model is an effective method for robotic behavior specification. Using a model verification tool we show that behavior correctness verification and parametric analysis are possible.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"100 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":"125976995","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
Behaviour-based map representation for a sonar-based mobile robot by statistical methods 基于统计方法的基于行为的声纳移动机器人地图表示
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI: 10.1109/IROS.1996.570688
Takayuki Nakamura, S. Takamura, M. Asada
{"title":"Behaviour-based map representation for a sonar-based mobile robot by statistical methods","authors":"Takayuki Nakamura, S. Takamura, M. Asada","doi":"10.1109/IROS.1996.570688","DOIUrl":"https://doi.org/10.1109/IROS.1996.570688","url":null,"abstract":"Many conventional methods for map generation by mobile robots have tried to reconstruct 3-D geometric representation of the environment, which are time-consuming, error-prone, and necessary to transform the map into the information available for the given task. This paper proposes a method to acquire a statistical map representation robust to sensor noise and directly usable for navigation task. The robot is equipped with a ring of ultrasonic ranging sensors and a collision avoidance behaviour is embedded in it. First, the mobile robot explores in the environment in order to store a set of sequences of sonar data, and the principle component analysis is applied to reduce the dimensionality of the sonar data. As a result, each sequence of sonar data can be described as a score pattern of principal components. Next, these patterns are classified into typical local structures of the environment in order for the robot to discriminate them. Finally, a graph representation of the environment is constructed in which nodes and arcs correspond to these local structures and the transition probabilities between them, respectively. The validity of the method is shown by computer simulations and real robot experiments.","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":"130345575","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: 20
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