Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97最新文献

Development of power assist system with individual compensation ratios for gravity and dynamic load 具有重力和动载单独补偿比的动力辅助系统的开发

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655079

Y. Hayashibara, K. Tanie, H. Arai, H. Tokashiki

引用次数: 26

Visual learning and object verification with illumination invariance 基于光照不变性的视觉学习与目标验证

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655139

K. Ohba, Yoichi Sato, K. Ikeuchi

引用次数: 7

Experiments on depth from magnification and blurring 放大和模糊对深度的影响实验

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655092

S. Ahn, Sukhan Lee, A. Meyyappan, P. Schenker

引用次数: 6

Visual tracking of an end-effector by adaptive kinematic prediction 基于自适应运动预测的末端执行器视觉跟踪

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655115

A. Ruf, M. Tonko, R. Horaud, H. Nagel

{"title":"Visual tracking of an end-effector by adaptive kinematic prediction","authors":"A. Ruf, M. Tonko, R. Horaud, H. Nagel","doi":"10.1109/IROS.1997.655115","DOIUrl":"https://doi.org/10.1109/IROS.1997.655115","url":null,"abstract":"Presents results of a model-based approach to visual tracking and pose estimation for a moving polyhedral tool in position-based visual servoing. This enables the control of a robot in look-and-move mode to achieve six degree of freedom goal configurations. Robust solutions of the correspondence problem-known as \"matching\" in the static case and \"tracking\" in the dynamic one-are crucial to the feasibility of such an approach in real-world environments. The object's motion along an arbitrary trajectory in space is tracked using visual pose estimates through consecutive images. Subsequent positions are predicted from robot joint angle measurements. To deal with inaccurate models and to relax calibration requirements, adaptive online calibration of the kinematic chain is proposed. The kinematic predictions enable unambiguous feature matching by a pessimistic algorithm. The performance of the suggested algorithms and the robustness of the proposed system are evaluated on real image sequences of a moving gripper. The results fulfill the requirements of visual servoing, and the computational demands are sufficiently low to allow for real-time implementation.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115570656","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: 44

Behavioral expression by an expressive mobile robot-expressing vividness, mental distance, and attention 具有表达能力的移动机器人的行为表达——表达生动性、心理距离和注意力

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.649070

H. Mizoguchi, Katsuyuki Takagi, Y. Hatamura, M. Nakao, Tomomasa Sato

{"title":"Behavioral expression by an expressive mobile robot-expressing vividness, mental distance, and attention","authors":"H. Mizoguchi, Katsuyuki Takagi, Y. Hatamura, M. Nakao, Tomomasa Sato","doi":"10.1109/IROS.1997.649070","DOIUrl":"https://doi.org/10.1109/IROS.1997.649070","url":null,"abstract":"This paper proposes an idea that it is possible for a mobile robot to display behavioral expressions by its motion. Behavioral expressions are expressions of vividness, sense of distance and attention. To confirm the idea concretely, an expressive mobile robot has been designed and implemented to display the behavioral expressions. Utilizing the robot, psychological experiments have been conducted to evaluate impressions on three items: 1) velocity changing pattern, 2) distance between human and the robot, and 3) various poses. The experimental results indicate: firstly, there is a proper speed pattern for expression of vividness, the pattern being triangular along the time axis; secondly, there is a proper distance range between human and robot for expression of mental distance between them, its average value being about 2.5 m; thirdly, when the robot faces the human, the impression of attention is increased where the robot puts its head on one side or raises its hands. The implemented expressive mobile robot is puppy-sized and has 2 DOFs for motion, 2 DOFs for two swingable arms and 3 DOFs for pan, tilt and yaw of its head. The experimental results prove feasibility of the proposed idea of the behavioral expression by the robot.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116084906","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: 2

G/sup en/oM: a tool for the specification and the implementation of operating modules in a distributed robot architecture G/sup /oM:用于规范和实现分布式机器人体系结构中的操作模块的工具

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655108

S. Fleury, M. Herrb, R. Chatila

{"title":"G/sup en/oM: a tool for the specification and the implementation of operating modules in a distributed robot architecture","authors":"S. Fleury, M. Herrb, R. Chatila","doi":"10.1109/IROS.1997.655108","DOIUrl":"https://doi.org/10.1109/IROS.1997.655108","url":null,"abstract":"This paper presents a general methodology for the specification and the integration of functional modules in a distributed reactive robot architecture. The approach is based on a hybrid architecture basically composed of two levels: a lower distributed functional level controlled by a centralized decisional level. Due to this methodology, synchronous or asynchronous operating capabilities (servo-control, data processing, event monitoring) can be easily added to the functional level. They are encapsulated into modules, built according to a generic model, that are seen by the decisional level as homogeneous, programmable, reactive and robust communicant services. Each module is simply described with a specific language and is automatically produced by a generator of modules (G/sup en/oM) according to the generic model. G/sup en/oM also produces an interactive test program and interface libraries to control the module and to read the resulting data, which allow one to directly integrate the module into the architecture.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116186577","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: 162

Model-based object tracking in cluttered scenes with occlusions 具有遮挡的杂乱场景中基于模型的对象跟踪

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655114

F. Jurie

引用次数: 6

Acquisition of statistical motion patterns in dynamic environments and their application to mobile robot motion planning 动态环境中统计运动模式的获取及其在移动机器人运动规划中的应用

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.655089

E. Kruse, R. Gutsche, F. Wahl

引用次数: 40

Autonomous navigation in ill-structured outdoor environment 非结构化室外环境下的自主导航

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.649093

Josep Fernández, A. Casals

引用次数: 23

Camera calibration from multiple views of a 2D object, using a global nonlinear minimization method 摄像机标定从多个视图的一个二维目标，使用全局非线性最小化方法

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI: 10.1109/IROS.1997.656569

M. Devy, V. Garric, J. Orteu

引用次数: 31