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Autonomous plant maintenance robot (mechanism of Mark IV and its actuator characteristics) 自主式工厂维修机器人(Mark IV型机构及其执行机构特性)
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262426
T. Fukuda, H. Hosokai, Naoki Shimasaka
{"title":"Autonomous plant maintenance robot (mechanism of Mark IV and its actuator characteristics)","authors":"T. Fukuda, H. Hosokai, Naoki Shimasaka","doi":"10.1109/IROS.1990.262426","DOIUrl":"https://doi.org/10.1109/IROS.1990.262426","url":null,"abstract":"Deals with the new mechanism of a maintenance robot, Mark IV. The Mark IV has a mechanism capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces. The main features of Mark IV are as follows: (i) the robot has a multi-joint structure, so that it has better adaptabilities to surface curvatures of pipelines and storage tanks; (ii) the joint of the robot has shape memory alloy actuators to make the robot lighter in weight; (iii) the robot has suckers at both ends of arm, so that the robot can climb up along the wall from the ground; and (iv) a robot with the inch worm mechanism has many functional motions, such that it can pass over flanges and T-joints, and transfer to adjacent pipelines with a wider range of pipe diameters. Thus, the functional level of the maintenance robot has greatly been improved by the introduction of the Mark IV robot.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126397531","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: 12
Development of a flexible dual-arm manipulator testbed for space robotics 空间机器人柔性双臂机械臂试验台研制
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262413
M. Uchiyama, A. Konno, T. Uchiyama, S. Kanda
{"title":"Development of a flexible dual-arm manipulator testbed for space robotics","authors":"M. Uchiyama, A. Konno, T. Uchiyama, S. Kanda","doi":"10.1109/IROS.1990.262413","DOIUrl":"https://doi.org/10.1109/IROS.1990.262413","url":null,"abstract":"Describes a flexible dual-arm robot that has been developed as a testbed for the study on space robotic technologies such as flexible arm control, control of coupling vibration, control of cooperating dual arms, and teleoperation of robots with multiple arms. The robot is called ADAM (Astronautical Dual Arm Manipulator). After discussing the aim of the development, specifications of the robot are determined, on which details of the design are carried out. As a result, each arm consists of two flexible links and has seven degrees of freedom that are arranged so that the vibration of the links may be controlled effectively. Each joint of the arm is driven by modulized differential gears with harmonic drive reduction gears. The merits and the demerits of the differential gears are discussed. Finally, configuration of the control system is briefly described.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115614980","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
How does a robot know where to step? Measuring the hardness and roughness of surfaces 机器人怎么知道该往哪里走?测量表面的硬度和粗糙度
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262377
P. Sinha, R. Bajcsy, R. Paul
{"title":"How does a robot know where to step? Measuring the hardness and roughness of surfaces","authors":"P. Sinha, R. Bajcsy, R. Paul","doi":"10.1109/IROS.1990.262377","DOIUrl":"https://doi.org/10.1109/IROS.1990.262377","url":null,"abstract":"Presents an overview of ongoing research on surface exploration at the GRASP Lab. The authors investigate the necessary components and modules that mst be embedded into a robot for it to have the exploratory capabilities required to recover mechanical properties from a surface given minimal a priori information. Eventually, this information will be used to enable a robot stand and walk stably in an environment that is unknown and unconstrained. The laboratory setup involves a compliant wrist with six degrees of freedom, mounted on a robot arm, and a prototype foot mounted on the wrist. They have successfully designed and implemented exploratory procedures to recover penetrability, material hardness and frictional characteristics by exploring the surface.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116807977","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: 11
Learning-based architecture for robust recognition of variable texture to navigate in natural terrain 基于学习的自然地形中可变纹理鲁棒识别体系结构
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262379
P. Pachowicz
{"title":"Learning-based architecture for robust recognition of variable texture to navigate in natural terrain","authors":"P. Pachowicz","doi":"10.1109/IROS.1990.262379","DOIUrl":"https://doi.org/10.1109/IROS.1990.262379","url":null,"abstract":"Since natural terrain consists of textured objects that can be perceived under different external conditions, the author applies machine learning methodology to support the recognition of variable texture. He presents the results of first introductory experiments and the development of a new system architecture incorporating learning tools; i.e. conceptual clustering, learning from examples, and learning flexible concept. He then describes the designing methodology and system architecture of three functional levels typical for the large-scale control systems; i.e. self-tuning to a given content of texture image in order to extract most sensitive features and to group them into patterns, learning a concept of new texture, and control of system adaptation (guided by vision goal, feedback verification of created hypotheses, and a plan of the environment content). He also discusses the requirements for learning tools that are used to build such adaptive vision systems and presents their further development.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126148882","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
Force control of a two-arm robot: implementation on a multiprocessor architecture 双臂机器人的力控制:在多处理器架构上的实现
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262428
P. Dauchez, X. Delebarre, René Jourdan
{"title":"Force control of a two-arm robot: implementation on a multiprocessor architecture","authors":"P. Dauchez, X. Delebarre, René Jourdan","doi":"10.1109/IROS.1990.262428","DOIUrl":"https://doi.org/10.1109/IROS.1990.262428","url":null,"abstract":"Presents some practical solutions chosen to implement the force control of a two-arm robot on a multiprocessor architecture. The force control considered is the symmetric hybrid control proposed by M. Uchiyama and P. Dauchez (1987) for the manipulation of a single rigid object firmly held by two arms. The authors recall the definitions of the controlled vectors in this case. They present their experimental setup which includes two six-axis PUMA arms, equipped with two six-axis force sensors, and a multiprocessor controller based on a VME bus. The main part of the paper deals with the implementation of the hybrid control on the equipment and emphasizes: (i) the modifications of the control scheme; and (ii) the programming solutions used for reducing the computation time. Some preliminary experimental results and directions for future work are included.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127062915","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
Integrating multirobot coordination in a mobile-robot control system 移动机器人控制系统中多机器人协调的集成
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262367
F. Noreils
{"title":"Integrating multirobot coordination in a mobile-robot control system","authors":"F. Noreils","doi":"10.1109/IROS.1990.262367","DOIUrl":"https://doi.org/10.1109/IROS.1990.262367","url":null,"abstract":"A system that coordinates the activity of several mobile robots is described. In the author's (1989) previous work, he developed a control system for one mobile robot that executes high-level tasks or missions. This new capability called multirobot control level (MRC), is viewed as a new layer in the system that uses functionalities offered by the lower levels. This improvement shows the flexibility of the approach. In order to maintain this flexibility, the coordination must also be programmable therefore an extension of the previous formalism is also proposed. This coordination is validated by the use of labeled Petri nets. A first step towards error recovery at the coordination level is also addressed. Several experiments are also proposed that show the advantages of the approach.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130765490","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: 40
A neural gait synthesizer for autonomous biped robots 自主双足机器人神经步态合成器
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262457
Yuan F. Zheng
{"title":"A neural gait synthesizer for autonomous biped robots","authors":"Yuan F. Zheng","doi":"10.1109/IROS.1990.262457","DOIUrl":"https://doi.org/10.1109/IROS.1990.262457","url":null,"abstract":"An autonomous gait synthesis mechanism based on neuro-computing is presented. The mechanism is for generating motion trajectories of biped robots in negotiating difficult terrains. It is centered on a neural gait synthesizer. The latter consists of a number of functional unit including a central pattern generator an adaptive neural network, a knowledge base, a learning unit and a switch mechanism. The central pattern generator is responsible for generating motion patterns of voluntary and involuntary motions; the adaptive network is used to modify the reflexive motion patterns in accordance with terrain conditions; the responsibility of the switching unit is to make decisions in real time to switch between voluntary and involuntary motions; the knowledge base is used to store feature parameters of motion patterns, and the learning unit extracts feature parameters from an involuntary motion. Based on the functional units, an architecture for the automated gait synthesizer is presented.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115301485","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: 23
An intelligent automated system for determining peanut quality 一种用于花生品质测定的智能自动化系统
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262392
F. Dowell
{"title":"An intelligent automated system for determining peanut quality","authors":"F. Dowell","doi":"10.1109/IROS.1990.262392","DOIUrl":"https://doi.org/10.1109/IROS.1990.262392","url":null,"abstract":"A decreasing labor force and consumer demands for increased food quality has initiated development of an intelligent automated system for determining peanut quality. The system under development has the goal of removing all subjectivity involved in inspecting peanuts with minimal labor input. The system currently includes damage detection, bulk and single kernel moisture determination, positive sample identification, a chemical test for aflatoxin, and automated feeding, conveying, sorting, weighing, and data recording. All components are controlled by and feedback to an expert system. An estimated 50% reduction in labor can be achieved with this system. More importantly from a quality standpoint, 100% of the subjectivity is removed when determining aflatoxin values and freeze damage. Current work focuses on improving identification of other types of kernel damage, identifying foreign materials, and integration of devices to indicate flavor.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"216 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122882002","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
Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface 矢状不均匀表面上躯干运动稳定两足动态行走的实现
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262408
A. Takanishi, Hun-ok Lim, M. Tsuda, I. Kato
{"title":"Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface","authors":"A. Takanishi, Hun-ok Lim, M. Tsuda, I. Kato","doi":"10.1109/IROS.1990.262408","DOIUrl":"https://doi.org/10.1109/IROS.1990.262408","url":null,"abstract":"The authors introduce a control method for dynamic biped walking stabilized by trunk motion on a sagitally uneven surface, that is for a biped walking robot which has a trunk to stabilize its walking, and its effectiveness as supported by walking experiments using a biped walking robot. This control method is based on the introduction of a new concept called a virtual surface, to consider the ZMP (zero moment point) on an uneven surface, and the main algorithm for computing the trunk motion which compensates for lower-limbs motion and time trajectory of the arbitrarily planned ZMP on the virtual surfaces. Using this control method in a number of experiments, the biped walking robot WL-12RIII (Waseda Leg-12 Refined III) which has a trunk, realized dynamic biped walking on stairs with a step height of 0.1 m and a trapezoidal terrain with an inclination of +or-10 deg. The walking period was 2.6 sec/step on the stairs, and 1.6 sec/step on the trapezoidal terrain. So that, the effectiveness of this control method was experimentally supported.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131147479","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: 145
Fingertip position planning for a multifingered hand 多指手的指尖位置规划
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262506
T. Omata
{"title":"Fingertip position planning for a multifingered hand","authors":"T. Omata","doi":"10.1109/IROS.1990.262506","DOIUrl":"https://doi.org/10.1109/IROS.1990.262506","url":null,"abstract":"Discusses problems relating to planning fingertip positions of a multifingered hand. The fundamental problem is to compute a fingertip range within which the fingers can exert equilibrium forces. In two dimensions, the effect of changing a fingertip position along an edge is equivalent to the effect of changing fingertip forces of the fingers fixed at both ends of the edge. When the object to be grasped is a polygon and the edges on which fingers are positioned are given, this equivalence reduces the problem to a fractional programming problem which in turn is reduced to an LP problem. When the edge selection is also taken into account, this problem can be formulated as a combinatorial programming problem with either-or constraints. This paper also discusses optimum grasps taking both finger forces and positions into account.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131258190","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
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