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_第10页

Range feature extraction during active sensor motion 主动传感器运动过程中的距离特征提取

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.1997.655069

Nick E. Pear

引用次数: 3

Construction manipulators of steel towers for the transmission of electricity 输电铁塔施工机械手

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.1997.656583

I. Murata, T. Chikura, S. Kunimitsu, Atsuya Yoshida, Tsunehiro Akabane

{"title":"Construction manipulators of steel towers for the transmission of electricity","authors":"I. Murata, T. Chikura, S. Kunimitsu, Atsuya Yoshida, Tsunehiro Akabane","doi":"10.1109/IROS.1997.656583","DOIUrl":"https://doi.org/10.1109/IROS.1997.656583","url":null,"abstract":"In this paper, the semiautomatic construction manipulators system for steel towers for the transmission of electricity is proposed. The piling up/expansion and contraction method is selected as the best construction method out of ten methods considered for the semiautomatic system. The first necessary function for construction manipulators is addressed and the suitable mechanism for it is considered as semiautomatic system. The remote operation method is used for operating a climbing crane and manipulators. This system has five monitors which display scenes sent from cameras on the crane and the manipulators and animation displays which are useful for operators to monitor working conditions from any direction. The climbing crane controls and construction manipulators require many kinds of functions. Anti sway control is necessary and very important for crane controls. Force control and tightening control are important for manipulators control. In addition, cooperative control is very important for crane and manipulators.","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":"96 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":"133395818","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

Constrain-based identification of a dynamic model 基于约束的动态模型识别

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.1997.649075

A. Joukhadar, F. Garat, C. Laugier

引用次数: 5

Region-based Q-learning using convex clustering approach 基于区域的凸聚类q学习方法

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.1997.655073

J. H. Kim, I. Suh, Sang-Rok Oh, Y. J. Cho, Y. K. Chung

引用次数: 7

Assembly automation using perturbation/correlation 使用摄动/相关的装配自动化

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.1997.655082

Sooyong Lee, H. Asada

{"title":"Assembly automation using perturbation/correlation","authors":"Sooyong Lee, H. Asada","doi":"10.1109/IROS.1997.655082","DOIUrl":"https://doi.org/10.1109/IROS.1997.655082","url":null,"abstract":"In the traditional force-guided control schemes, the contact force measured by a force sensor is directly fed back to a feedback controller to generate a motion correction signal. The issue central to force guided robot control is how to obtain reliable, consistent and copious force signals and extract useful information in order to successfully guide the robot while keeping the contact force at a desired level. In this paper, instead of simply measuring contact forces, we take positive actions by giving perturbation to the end effector and observing the reaction forces to the perturbation in order to obtain much richer and more reliable information. By taking the correlation between the input perturbation and the resultant reaction forces, we can determine the gradient of the force profile and guide the part correctly. This algorithm is applied to a pipe insertion task, and connector assembly task. Based on the process model and stability analysis using the Popov stability criterion, conditions for stable, successful insertion despite nonlinearities and uncertainties in the environment are obtained. The theoretical results are verified using the experimental data.","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":"28 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":"133302700","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

Navigating a mobile service-robot in a natural environment using sensor-fusion techniques 利用传感器融合技术在自然环境中导航移动服务机器人

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.1997.656546

P. Weckesser, R. Dillmann, U. Rembold

{"title":"Navigating a mobile service-robot in a natural environment using sensor-fusion techniques","authors":"P. Weckesser, R. Dillmann, U. Rembold","doi":"10.1109/IROS.1997.656546","DOIUrl":"https://doi.org/10.1109/IROS.1997.656546","url":null,"abstract":"The mobile service robots described are designed to operate in dynamics and changing environments together with human beings and other static or moving objects. Sensors that are capable of providing the quality of information that is required for the described scenario are optical sensors, like digital cameras and laser scanners. In this paper the sensor integration and fusion for such sensors is described. Complementary sensor information is transformed into a common representation in order to achieve a cooperating sensor system. Sensor fusion is performed by matching the local perception of the laser scanner and camera system with a global model that is being build incrementally. The Mahalanobis distance is used as matching criterion and a Kalman filter is used to fuse matching features. A common representation including the uncertainty and the confidence is used for all scene features. The system's performance is demonstrated for the task of exploring an unknown environment and incrementally building of the geometrical model.","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":"3 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":"128985079","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: 14

Estimating the center of gravity of an object using tilting by multiple mobile robots 利用多个移动机器人的倾斜来估计物体的重心

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.1997.656597

Jun Sasaki, G. Nishida, A. Yamashita, Y. Aiyama, J. Ota, T. Arai

引用次数: 6

Robust path following control for wheeled robots via sliding mode techniques 基于滑模的轮式机器人鲁棒路径跟踪控制

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.1997.656541

L. Aguilar, T. Hamel, P. Souéres

{"title":"Robust path following control for wheeled robots via sliding mode techniques","authors":"L. Aguilar, T. Hamel, P. Souéres","doi":"10.1109/IROS.1997.656541","DOIUrl":"https://doi.org/10.1109/IROS.1997.656541","url":null,"abstract":"The techniques of filtering and merging data coming from several sensors allow to localize a mobile robot in its environment with a precision which can be evaluated. However, as the localization error cannot be neglected, the design of robust closed-loop controller for wheeled robots constitutes a difficult problem. We present here a path following feedback controller robust with respect to localization error. The model is a dynamic extension of the usual kinematic model of a car, in the sense that the path curvature error is considered as a new state variable. The control inputs are respectively the linear velocity and the derivative of the curvature. We determine a variable structure control with sliding mode to stabilize the vehicle's motion around the reference path in the nominal case. Then, we prove that the system remains stable when the state feedback is computed from the estimated values instead of the exact ones. We show that the regulation error is contained in a compact attractive domain when the system has reached its steady state. From this domain, one can easily compute a security margin to guarantee obstacle avoidance during the path following process. Experimental results are presented at the end of the paper.","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":"48 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":"115846373","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: 53

Human-robot interaction with minimal spanning natural language template for autonomous and tele-operated control 人机交互与最小跨越自然语言模板的自主和远程操作控制

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.1997.649069

J. Zelek

引用次数: 20

Qualitative transition in object reorienting behaviour. 2. The effects of varying the centre of mass 对象重定向行为中的质的转变。2. 改变质心的影响

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.1997.649101

G. Deacon, M. Wright, C. Malcolm

引用次数: 0