Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91最新文献_第7页

A model for observing a moving agent 一种观察移动介质的模型

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174437

T. Sobh, R. Bajcsy

引用次数: 15

Industrial robot control in case of uncertain dynamical parameters 动态参数不确定情况下的工业机器人控制

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174607

I. Rudas, G. Mester

引用次数: 2

Learning control based on local linearization by using DFT 基于局部线性化的DFT学习控制

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174550

T. Manabe, F. Miyazaki

引用次数: 17

Inverse kinematic solutions for redundant manipulators using compact formulation 用紧凑公式求解冗余机械手的逆运动学

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174442

F. Cheng, Tsing-Hua Chen, York-Yih Sun

{"title":"Inverse kinematic solutions for redundant manipulators using compact formulation","authors":"F. Cheng, Tsing-Hua Chen, York-Yih Sun","doi":"10.1109/IROS.1991.174442","DOIUrl":"https://doi.org/10.1109/IROS.1991.174442","url":null,"abstract":"The inverse kinematic problem of redundant manipulators is solved by the compact formulation technique. The compact formulation is derived by applying Gaussian elimination, then the general solutions are still formulated as a particular solution together with homogeneous solutions. The homogeneous solutions are merely functions of free variables. Inverse kinematic solutions derived by the pseudoinverse formulation can always be converted into a compact form. Also, it is proven that the implementation by the compact formulation is computationally more efficient. The inherent singularity problems of inverse kinematics are also considered. In order to obtain continuous and feasible joint-rate solutions even at or in the neighborhood of singular points and to improve the exactness in the achievable directions, the compact-inverse method is introduced. The compact-inverse method applies the compact formulation to constrain the manipulator to move into the achievable directions. It is believed that the compact formulation approach can resolve the inverse kinematic redundancy problem more efficiently and exactly than the traditional pseudoinverse formulation.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130262303","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

Local geometric issues for spatial reasoning in robot motion planning 机器人运动规划中空间推理的局部几何问题

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174536

C. Mirolo, E. Pagello

引用次数: 11

An active method for estimating the pose of an object grasped by a robot 一种估计机器人抓取物体姿态的主动方法

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174526

S. Hirai, Tadataka Asakawa

引用次数: 0

Automatic grasping and regrasping by space characterization for pick-and-place operations 通过空间特征自动抓取和再抓取，用于拾取和放置操作

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174426

H. Terasaki, T. Hasegawa, Hironobu Takahashi, T. Arakawa

引用次数: 12

Electrostatic micromanipulator with 6 DOF 6自由度静电微机械臂

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174656

T. Fukuda, M. Fujiyoshi, K. Kosuge, F. Arai

引用次数: 3

Study of quadruped walking robot climbing and walking down slope 四足步行机器人爬坡与下坡行走研究

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174729

Junmin Pan, Junshi Cheng

引用次数: 17

Segmentation of a 3D scene into free areas and object surfaces by using occluded edges of trinocular stereo 利用三维立体的遮挡边缘将三维场景分割为自由区域和物体表面

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174594

T. Echigo

{"title":"Segmentation of a 3D scene into free areas and object surfaces by using occluded edges of trinocular stereo","authors":"T. Echigo","doi":"10.1109/IROS.1991.174594","DOIUrl":"https://doi.org/10.1109/IROS.1991.174594","url":null,"abstract":"Proposes a new approach in which a 3D scene is segmented into free areas and object surfaces using: (1) sparse data which are obtained from trinocular stereo; and (2) occluded edges which can not be seen from at least one of the three cameras. Trinocular stereo is employed not only because it is more reliable for finding correspondences than binocular stereo, but also because it clearly classifies edge segments into 3D edge segments which can be seen from all three cameras and ones which can not be seen from at least one of the three cameras. The approach proposed consists of three steps: (1) to obtain free areas by using 3D edge segments which can be seen from all three cameras; (2) the free areas can be expanded by using edges occluded from at least one of the three cameras; and (3) to determine object surfaces. It is necessary to determine whether the 3D edge segments are occluding boundaries by using occluded edges which can not be seen from one of the cameras. One side of an occluding boundary can be taken to be an object surface. Therefore, object surfaces can be inferred using the occluded edges in trinocular stereo.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126989023","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