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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

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Practical motion planning for dextrous re-orientation of polyhedra 多面体灵巧重定向的实用运动规划
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.1997.649068
Moëz Cherif, K. Gupta
{"title":"Practical motion planning for dextrous re-orientation of polyhedra","authors":"Moëz Cherif, K. Gupta","doi":"10.1109/IROS.1997.649068","DOIUrl":"https://doi.org/10.1109/IROS.1997.649068","url":null,"abstract":"This paper addresses the motion planning problem for dextrous manipulation by an artificial multifingered hand. We focus on the task of re-orienting polyhedral objects and present a practical motion planner for achieving quasistatic manipulations by a four-fingered hand. The planner makes use of a simple manipulation strategy in which a single finger is moved and the other three are fixed. We describe how this scenario is exploited for reducing the space of trajectory solutions and used within a two-level incremental process to search for global re-orientation motions. The planner has been implemented and used for achieving several complex re-orientation tasks with frictional and frictionless contacts that show the practicality of our approach.","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":"164 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":"130424211","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
Visual servoing techniques applied to underwater vehicles 应用于水下航行器的视觉伺服技术
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.1997.656798
P. Rives, J. Borrelly
{"title":"Visual servoing techniques applied to underwater vehicles","authors":"P. Rives, J. Borrelly","doi":"10.1109/IROS.1997.656798","DOIUrl":"https://doi.org/10.1109/IROS.1997.656798","url":null,"abstract":"In a visual servoing approach, the control objective is stated in terms of regulating an output function directly expressed in the image space. This approach is particularly usefull when the robotic task can be naturally specified as a relative positioning of a sensor frame handled by the robot with regard to a peculiar part of the environment. In our previous works (Espiau et al. (1992), Rives et al. (1996)), we developed a framework which allows us to handle the different steps of a visual servoing application from the specification level to the synthesis of a robust controller. In this paper, we focus on the evaluation of such a framework applied to a specific pipe inspection task using the Ifremer's ROV Vortex. We show simulation results which validate the approach in presence of modeling errors and measurement noises. We also present experimental issues both in terms of implementation and performances.","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":"97 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":"134040969","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
Adaptive behavior acquisition of collision avoidance among multiple autonomous mobile robots 多自主移动机器人间避碰的自适应行为获取
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.1997.656599
Y. Arai, T. Fujii, H. Asama, Yasushi Kataoka, H. Kaetsu, A. Matsumoto, I. Endo
{"title":"Adaptive behavior acquisition of collision avoidance among multiple autonomous mobile robots","authors":"Y. Arai, T. Fujii, H. Asama, Yasushi Kataoka, H. Kaetsu, A. Matsumoto, I. Endo","doi":"10.1109/IROS.1997.656599","DOIUrl":"https://doi.org/10.1109/IROS.1997.656599","url":null,"abstract":"We discuss adaptive behavior acquisition for collision avoidance among multiple autonomous mobile robots which are equipped with the locally communicable infrared sensory system (LOCISS). The LOCISS is a local sensing device for collision avoidance by which robots can detect other robots and obstacles and discriminate them by exchanging relevant information. We (1996) reported previously a collision avoidance method between two robots based on the predetermined rules using LOCISS. It is, however, difficult to realize collision avoidance among three or more robots by the predetermined rules only because situations around the robots become more complicated as the number of robots increases. Thus, it is desirable for the robots to have an adaptive capability for acquisition of the behaviors to avoid collision with other robots and obstacles. To acquire the adaptive behavior, the reinforcement learning is introduced in this paper. It is shown that appropriate behaviors for collision avoidance can be successfully acquired through the proposed learning process.","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":"53 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":"134376474","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: 25
Map generation for multiple image sensing sensor MISS under unknown robot egomotion 未知机器人自运动下多图像传感传感器MISS的地图生成
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.1997.655134
Y. Yagi, K. Egami, M. Yachida
{"title":"Map generation for multiple image sensing sensor MISS under unknown robot egomotion","authors":"Y. Yagi, K. Egami, M. Yachida","doi":"10.1109/IROS.1997.655134","DOIUrl":"https://doi.org/10.1109/IROS.1997.655134","url":null,"abstract":"We design a new multiple image sensing sensor (MISS), which consists of a single camera and two different types of optics: an omnidirectional image sensor COPIS (conic projection image sensor) and binocular vision, for navigating the robot and understanding interesting objects in an environment by integrating both sensory data. Since COPIS observes a 360 degree view around the robot, it can observe global information of features (azimuths of vertical edges). On the other hand, binocular vision can obtain a sequence of stereo images although a field of view is limited by the visual angle of lens. In this paper, we integrate merits of omnidirectional vision and binocular vision, and propose an efficient sensing system for generating an environmental map by using MISS. Without an assumption of the exact known motion of the robot, MISS can generate an environmental map and estimate egomotion of the robot from both sensory information sources. In particular, the method is suitable for map generation during long robot movement because deadlocking error of the robot does not accumulate. The system has been evaluated on a prototype of MISS in a real environment.","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":"124 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":"131511382","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
Mobility evaluation of a wheeled microrover using a dynamic model 基于动力学模型的轮式微型翻车车机动性评价
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.1997.656558
G. Sukhatme, Scott Brizius, G. Bekey
{"title":"Mobility evaluation of a wheeled microrover using a dynamic model","authors":"G. Sukhatme, Scott Brizius, G. Bekey","doi":"10.1109/IROS.1997.656558","DOIUrl":"https://doi.org/10.1109/IROS.1997.656558","url":null,"abstract":"This paper describes a multiple criteria, statistical technique for mobile robot evaluation. The evaluation method measures the time and energy costs of a particular class of exploratory missions. The method is implemented in the special case of one wheeled mobile robot in the laboratory, which was made to execute several (approximately 100) instances of the mission. It is proposed that a validated, dynamic model of the robot embedded in a simulated mission scenario is to be used to study alternate robot designs in a small 'neighborhood' of the existing physical system. Such a simulation was built and is described here. Results from trials with the physical robot and its simulated counterpart are compared and shown to agree well. The simulation is used to evaluate designs not constructed in the laboratory, and results are discussed.","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":"33 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131539302","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: 5
Physical models of off-road vehicles moving on loose soils 在松散土壤上移动的越野车辆的物理模型
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.1997.656799
Annie Luciani, Benoit Chanclou
{"title":"Physical models of off-road vehicles moving on loose soils","authors":"Annie Luciani, Benoit Chanclou","doi":"10.1109/IROS.1997.656799","DOIUrl":"https://doi.org/10.1109/IROS.1997.656799","url":null,"abstract":"Soils in natural environments present complex dynamical behaviors: rolling stones, deformations, compressions, avalanches and collapses. The geometry of the terrain can be highly modified by the vehicle itself during its displacement; simultaneously, the behavior of the vehicle also becomes more complex. Deformable soils, such as loose soils cannot be modelled by solid physics and they require the use of accurate mass decomposition and mass-mass interactions. These are the basis of the model-simulator we used, called CORDIS-ANIMA, in which every kind of physical object is modelled by a set of precise masses in physical interaction. This paper illustrates the physically-based object simulations of various off-road vehicles moving on deformable soils, leaving tyre traces, spinning, skidding and even sinking.","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":"5 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":"133650059","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
Modelling, identification and experimental validation of a hydraulic manipulator joint for control 液压机械臂关节控制建模、辨识及实验验证
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.1997.649074
Glen Bilodeau, E. Papadopoulos
{"title":"Modelling, identification and experimental validation of a hydraulic manipulator joint for control","authors":"Glen Bilodeau, E. Papadopoulos","doi":"10.1109/IROS.1997.649074","DOIUrl":"https://doi.org/10.1109/IROS.1997.649074","url":null,"abstract":"In this paper, modelling and identification of a hydraulic servoactuator system is presented. The development of the model is important for further understanding the system and for developing a robust force controller. A systems approach is used to model the various subsystems including the servovalve dynamics, fluid dynamics and the vane and load dynamics. Included in the model are line losses, leakage, and hysteresis. System parameters are identified using the elbow joint of the SARCOS slave experimental hydraulic manipulator. Specialized hardware was designed and constructed for this purpose. The model was validated by comparing simulation and experimental results. The correlation between model and actual system response proved to be very good. Hence, the developed model predicts well the system dynamic behavior and will prove useful in the development of a robust force controller.","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":"164 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":"127406370","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
Development of an anthropomorphic head-eye robot with two eyes-coordinated head-eye motion and pursuing motion in the depth direction 具有头眼协调运动和深度方向追逐运动的拟人头眼机器人的研制
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.1997.655102
A. Takanishi, T. Matsuno, I. Kato
{"title":"Development of an anthropomorphic head-eye robot with two eyes-coordinated head-eye motion and pursuing motion in the depth direction","authors":"A. Takanishi, T. Matsuno, I. Kato","doi":"10.1109/IROS.1997.655102","DOIUrl":"https://doi.org/10.1109/IROS.1997.655102","url":null,"abstract":"In this study the authors are developing anthropomorphic head-eye robots, in order to elucidate the human vision system from an engineering point of view, and to develop a new communication system with humans. We have developed an anthropomorphic head-eye robot with 2-DOF eyes and a 4-DOF head rotation mechanism, WE-3 (Waseda Eye No.3), that comprises a subsystem of an anthropomorphic robot 'Hadaly-2' which we are developing in 'Humanoid Project' at Waseda University. Since the camera drive mechanism need light-weight and immune to backlashes, the eyeball part uses a tendon-driven gimbal mechanism. The neck part except yaw axis is also driven by tendon-driven mechanism. In this experiment, the target is a electric light bulb. The head-eye robot, WE-3 has realized coordinated head-eye motion with VOR (vestibulo-ocular reflex) of human, and pursuing motion in the depth direction using the angle of convergence, with the same speed as humans.","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":"66 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":"133743949","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: 33
Remote supervisory control of a sensor based mobile robot via Internet 基于传感器的移动机器人网络远程监控
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.1997.655156
R. Luo, T. Chen
{"title":"Remote supervisory control of a sensor based mobile robot via Internet","authors":"R. Luo, T. Chen","doi":"10.1109/IROS.1997.655156","DOIUrl":"https://doi.org/10.1109/IROS.1997.655156","url":null,"abstract":"A remote supervisory control architecture which combines computer network and an autonomous mobile robot is constructed. The main feature of this architecture is that users just need a general purpose computer and a World Wide Web browser, they can command the mobile robot in a remote location through Internet and Home Page. Hardware configuration of this architecture includes a mobile robot, as server workstation, and other computers, each of them is able to communicate with others via computer network. Software design includes assignment of the server, communication between the server and robot, and the user interface. The architecture has extensive capabilities for teleoperation, telerobotics operations, and other multimedia services. Based on this architecture we have implemented multilevel operations for the user on various remote applications. At present, the system allows users to operate our mobile robot via the Internet and a friendly user interface (via our Home Page) using supervisory and direct control modules and they can receive live images captured by a CCD camera which is mounted on the robot and other data from sensor measurement.","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":"165 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":"114400683","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: 22
Disturbance observer based motion control of redundant manipulators using weighted decomposition 基于扰动观测器的冗余机械臂加权分解运动控制
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.1997.656602
Yonghwan Oh, W. Chung, Y. Youm, I. Suh
{"title":"Disturbance observer based motion control of redundant manipulators using weighted decomposition","authors":"Yonghwan Oh, W. Chung, Y. Youm, I. Suh","doi":"10.1109/IROS.1997.656602","DOIUrl":"https://doi.org/10.1109/IROS.1997.656602","url":null,"abstract":"Design of a motion tracking controller is proposed for kinematically redundant manipulators. Using the weighted inner product in joint space, a minimal parametrization of the null space can be achieved. Combining this minimal set of null motion with kinematic relation, we obtain a new extended task space formulation. Based on this formulation, a trajectory tracking control law is proposed based on the momentum feedback disturbance observer (MFDOB). The performance of the proposed controller is verified through experiments with a planar three-link direct-drive manipulator.","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":"10 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":"114819875","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
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