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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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Bio-micromanipulation (new direction for operation improvement) 生物显微操作(操作改进新方向)
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.1997.656438
F. Arai, K. Morishima, T. Kasugai, T. Fukuda
{"title":"Bio-micromanipulation (new direction for operation improvement)","authors":"F. Arai, K. Morishima, T. Kasugai, T. Fukuda","doi":"10.1109/IROS.1997.656438","DOIUrl":"https://doi.org/10.1109/IROS.1997.656438","url":null,"abstract":"Micromanipulation is important in bio-science and bio-engineering field. In this paper, we propose a new micromanipulation system using a micro bio-jig and electrorheological (ER) joint. First, we propose a micro-fixture device for bio-micromanipulation (bio-jig). Property of the bio-jig is also shown based on the FEM analysis of the electric field. Next, we propose a joint containing the ER fluid (ER joint). We show its application examples to a safety mechanism and variable stiffness type microgripper. We made a prototype of the microgripper with the ER joint. The stiffness of the flexible finger is adjusted by the ER joint. We succeeded in accurate force sensing and fast motion control by controlling the applied voltage to the ER joint.","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":"31 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":"121949101","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
Avoiding obstacles using a connectionist network 使用连接网络避免障碍
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.1997.656377
A. Silva, P. Menezes, J. Dias
{"title":"Avoiding obstacles using a connectionist network","authors":"A. Silva, P. Menezes, J. Dias","doi":"10.1109/IROS.1997.656377","DOIUrl":"https://doi.org/10.1109/IROS.1997.656377","url":null,"abstract":"In this article, visual data obtained by a binocular active vision system is integrated, together with ultrasonic range measurements, in the development of a obstacle detection and avoidance system based on a connectionist grid. The traditional notion of probabilistic occupation grid is extended through the use of a three-layer structure of connectionist networks which allows the integration of several sensorial modalities (in this case ultrasonic sensor readings and stereo vision information) in a probabilistic environment representation. The connectionist nature of the network also allows us to deal with obstacle avoidance by using a mechanism similar to potential field over a discrete set of the robot's configuration space with each grid node representing a possible configuration. The value in each grid node gives us a measure of the configuration occupancy probability and can also be used to guide the robot to a predefined goal configuration simulating a simple gradient descending technique. Finally we present experimental results obtained with the implementation of the above method in a mobile platform which also provides the support for the sensing devices described throughout the article.","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":"37 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":"117225117","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
Computing good holonomic collision-free paths to steer nonholonomic mobile robots 计算良好的完整无碰撞路径来引导非完整移动机器人
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.1997.655131
T. Siméon, Stéphane Leroy, J. Laumond
{"title":"Computing good holonomic collision-free paths to steer nonholonomic mobile robots","authors":"T. Siméon, Stéphane Leroy, J. Laumond","doi":"10.1109/IROS.1997.655131","DOIUrl":"https://doi.org/10.1109/IROS.1997.655131","url":null,"abstract":"Several schemes have been proposed in the path planning literature to plan collision-free and feasible trajectories for nonholonomic mobile robots. A classical scheme is the two-step approach which consists in first computing a collision-free holonomic path, and then in transforming this path by a sequence of feasible ones. The quality of the solution and the computational cost of the second step depend on the shape of the holonomic path. In this paper, we introduce a nonholonomic cost of the geometric path to be approximated and we propose a configuration space structuring that allows us to compute an holonomic path minimizing at best the nonholonomic cost. The algorithms have been implemented and we present simulation results which illustrate the efficacy of the planner to produce good solutions with respect to the nonholonomic constraints of a mobile 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":"606 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":"123948102","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
Real-time vergence and binocular gaze control 实时聚光和双眼凝视控制
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.1997.656513
Jorge Batista, P. Peixoto, Helder Sabino de Araújo
{"title":"Real-time vergence and binocular gaze control","authors":"Jorge Batista, P. Peixoto, Helder Sabino de Araújo","doi":"10.1109/IROS.1997.656513","DOIUrl":"https://doi.org/10.1109/IROS.1997.656513","url":null,"abstract":"In this paper we describe the implementation of real-time binocular gaze control. This implementation is performance by using a complex binocular active vision system. In addition real-time vergence is also implemented. Vergence and gaze control are implemented based on binocular optical flow. Vergence control is implemented based on optical flow disparity, using the horopter as a reference. A Kalman filter is used to filter out the signals and compensate for the delays of the system.","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":"22 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":"125993920","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: 21
Force and dynamic manipulability for cooperating robot systems 协作机器人系统的力与动态可操作性
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.1997.656554
A. Bicchi, D. Prattichizzo, C. Melchiorri
{"title":"Force and dynamic manipulability for cooperating robot systems","authors":"A. Bicchi, D. Prattichizzo, C. Melchiorri","doi":"10.1109/IROS.1997.656554","DOIUrl":"https://doi.org/10.1109/IROS.1997.656554","url":null,"abstract":"The theory of force and dynamic manipulability for general systems of multiple co-operating robot manipulators is developed. Manipulability analysis refers to the study of the performance of the system regarding to the mechanical transformation of inputs (forces and torques at actuated joints) into outputs (forces and torques exchanged with the environment or accelerations of a reference member), in relation to different configurations of the system and different directions in the input and output spaces. For this purpose, the concept of manipulability ellipsoids for single robot arms is generalized so as to encompass multi-limb co-operating systems with general kinematic structure.","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":"32 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":"129440225","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
The MAESTRO language and its environment: specification, validation and control of robotic missions MAESTRO语言及其环境:机器人任务的规范、验证和控制
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.1997.655107
È. Coste-Manière, Nicolas Turro
{"title":"The MAESTRO language and its environment: specification, validation and control of robotic missions","authors":"È. Coste-Manière, Nicolas Turro","doi":"10.1109/IROS.1997.655107","DOIUrl":"https://doi.org/10.1109/IROS.1997.655107","url":null,"abstract":"We present a generic and yet efficient mission programming method for robotic systems. The MAESTRO programming language, directed towards the end-user, is defined to be integrated into various existing control architectures. Its development is based on the use of formal methods to fully benefit from their mathematical foundations. Subsequently, programs written in MAESTRO can be proven to be in conformity with their specification before they are executed. The programming of a representative underwater mission illustrates the features of MAESTRO and of its companion environment for specification, verification, simulation and control of robotic missions.","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":"1 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":"128455867","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: 36
Dynamically equivalent manipulator for space manipulator system. 2 空间机械臂系统的动态等效机械臂。2
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.1997.656556
Bin Liang, Yangsheng Xu, M. Bergerman, Gengtian Li
{"title":"Dynamically equivalent manipulator for space manipulator system. 2","authors":"Bin Liang, Yangsheng Xu, M. Bergerman, Gengtian Li","doi":"10.1109/IROS.1997.656556","DOIUrl":"https://doi.org/10.1109/IROS.1997.656556","url":null,"abstract":"We propose the concept of the dynamically equivalent manipulator (DEM) of a free-floating space manipulator (SM) system. The dynamically equivalent manipulator can be physically built and used as an experimental testbed for the study of the dynamic performance and task execution of space robots. As it is a fixed-base manipulator, there is no need to resort to complex mechanisms to simulate the space environment. In this paper, we discuss two important issues associated with the DEM concept. First, we demonstrate the property of conservation of angular momentum and verify the validity of the DEM under free-flying conditions (i.e., when the SM base attitude is controlled via reaction wheels). Next, we investigate the effect of model uncertainty in the space manipulator and how it maps as errors in the parameters of the DEM. We derive explicit expressions for the error mapping and present a case study.","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":"157 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":"127368723","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: 10
ROMAN: a mobile robotic assistant for indoor service applications ROMAN:用于室内服务应用的移动机器人助手
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.1997.655061
U. Hanebeck, C. Fischer, G. Schmidt
{"title":"ROMAN: a mobile robotic assistant for indoor service applications","authors":"U. Hanebeck, C. Fischer, G. Schmidt","doi":"10.1109/IROS.1997.655061","DOIUrl":"https://doi.org/10.1109/IROS.1997.655061","url":null,"abstract":"The paper describes design issues of a mobile service robot for health care applications and domestic automation. Key components required for achieving semi-autonomous operation are surveyed, including: 1. a highly maneuverable locomotion platform, 2. an anthropomorphous manipulator, 3. a reliable multisensor system, and a 4. multimodal human-robot-interface. In addition, related information processing and control methodologies are presented. Special emphasis is put on a system architecture for integration of the individual components into a full-size service robot. Performance and usefulness of the proposed approaches are demonstrated through experiments in various real-world service scenarios.","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":"1 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":"129127487","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: 47
A navigation system based on an ominidirectional vision sensor 一种基于全方位视觉传感器的导航系统
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.1997.655090
L. Delahoche, C. Pégard, B. Marhic, P. Vasseur
{"title":"A navigation system based on an ominidirectional vision sensor","authors":"L. Delahoche, C. Pégard, B. Marhic, P. Vasseur","doi":"10.1109/IROS.1997.655090","DOIUrl":"https://doi.org/10.1109/IROS.1997.655090","url":null,"abstract":"In this paper we present a dynamic localization system which allows a mobile robot to evolve autonomously in a structured environment. Our system is based on the use of two sensors: an odometer and an omnidirectional vision system which gives a reference in connection with a set of natural beacons. Our navigation algorithm gives a reliable position estimation due to a systematic dynamic resetting. To merge the data obtained we use the extended Kalman filter. Our proposed method allows us to treat efficiently the noise problems linked to the primitive extraction, which contributes to the robustness of our system. Thus, we have developed a reliable and quick navigation system which can deals with the constraints of moving the robots in an industrial environment. We give the experimental results obtained from a mission realized in an a priori known 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":"36 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":"130583000","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: 58
An original correlation and data fusion based approach to detect a reap limit into a gray level image 一种基于原始相关和数据融合的灰度图像收获限检测方法
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.1997.656402
T. Chateau, M. Berducat, P. Bonton
{"title":"An original correlation and data fusion based approach to detect a reap limit into a gray level image","authors":"T. Chateau, M. Berducat, P. Bonton","doi":"10.1109/IROS.1997.656402","DOIUrl":"https://doi.org/10.1109/IROS.1997.656402","url":null,"abstract":"Real time vision systems in an outdoor environment involve an increase of the algorithm complexity in order to solve the application with an acceptable autonomy. In our application of help guidance for agricultural mobile machines, the vehicle has to follow the limit between a mowed and an unmowed natural zone. After the extraction of the image by a CCD camera, a low level algorithm computes some luminance and texture parameters for each elementary site. We define a correlation function for each parameter. The original feature of our work is a geometrical characterization of the correlation functions, as well as performs belief functions associated with each parameter. The uncertainty notion, expressed by the use of the theory of evidence allows the control of the reliability of the estimation. This approach is very important in outdoor environment where the system can be confronted in many situations.","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":"52 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":"131976969","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
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