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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications最新文献

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A good extension method of free space in an uncertain 2D workspace by using an ultrasonic sensor 提出了一种利用超声传感器在不确定二维工作空间中进行自由空间扩展的方法
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262481
H. Noborio, K. Kondo, A. Noda
{"title":"A good extension method of free space in an uncertain 2D workspace by using an ultrasonic sensor","authors":"H. Noborio, K. Kondo, A. Noda","doi":"10.1109/IROS.1990.262481","DOIUrl":"https://doi.org/10.1109/IROS.1990.262481","url":null,"abstract":"In a robot workspace expressed explicitly by a quadtree representation that controls free regions and other regions, good algorithms have been presented which generates a fast collision-free path and a sequence of collision-free motions between the given start and goal for a mobile robot with complicated shape. Thus it is important to represent explicitly the workspace quadtree by using some sensor. If the workspace shapes can be acquired enough from an image obtained through a camera on the workspace ceiling, the presented algorithms fulfil their functions in the workspace. Otherwise, an another sensor must be used to construct the workspace quadtree. The authors propose an extension method of free space in an unknown two-dimensional workspace by using an ultrasonic sensor. Combining this extension method with the previous planning algorithms, the mobile robot can navigate to the target while avoiding obstacles even if it does not know their shapes and locations at all.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"23 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":"131470228","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: 7
Development of working multifinger hand manipulator 工作多指机械手的研制
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262508
Takeo Oomichi, A. Okino, M. Higuchi, A. Maekawa, Ken Ohnishi
{"title":"Development of working multifinger hand manipulator","authors":"Takeo Oomichi, A. Okino, M. Higuchi, A. Maekawa, Ken Ohnishi","doi":"10.1109/IROS.1990.262508","DOIUrl":"https://doi.org/10.1109/IROS.1990.262508","url":null,"abstract":"Introduces the hardware and software of the multiple sensory bilateral control for the multi-finger manipulator which is remotely controlled by the master-slave method. From experiments and evaluation the authors show that it is possible to carry out detailed works, which had been impossible when using the conventional end effector, by controlling through a computer the slave finger manipulator consisting of 14 axes equipped with joint angle/power sensors and tactile sensors, and the master finger manipulator which operates the slave finger manipulator and the feeling generation mechanism conveys the sensation felt by the slave finger manipulator to the operator.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"18 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":"133259123","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: 20
MIRUS-LAB: a project on management of imaging and robots utilization in surgery MIRUS-LAB:一个关于外科手术中成像管理和机器人应用的项目
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262531
A. Rovetta
{"title":"MIRUS-LAB: a project on management of imaging and robots utilization in surgery","authors":"A. Rovetta","doi":"10.1109/IROS.1990.262531","DOIUrl":"https://doi.org/10.1109/IROS.1990.262531","url":null,"abstract":"A project on management of imaging and robots utilization in surgery, MIRUS-LAB is under development in Italy. Objectives of the study, aims of the laboratory, the current situation, the scheme of the feasibility phase and the study group are reported in the paper.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"32 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":"114685749","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
Neural network near-optimal motion planning for a mobile robot on binary and varied terrains 基于神经网络的移动机器人二元地形近最优运动规划
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262453
A. Ho, G. Fox
{"title":"Neural network near-optimal motion planning for a mobile robot on binary and varied terrains","authors":"A. Ho, G. Fox","doi":"10.1109/IROS.1990.262453","DOIUrl":"https://doi.org/10.1109/IROS.1990.262453","url":null,"abstract":"Presents an efficient approach to plan a near-optimal collision-free path for a mobile robot on binary or varied terrains. Motion planning is formulated as a classification problem in which class labels are uniquely mapped onto the set of maneuverable robot motions. The neural network motion planner is an implementation of the popular adaptive error backpropagation model. The motion planner learns to plan 'good', if not optimal, collision-free path from supervision in the form of training samples. A multi-scale representational scheme, as a consequence of a vision-based terrain sampling strategy, maps physical problem domains onto an arbitrarily chosen fixed size input layer of an error back propagation network. The mapping does not only reduce the size of the computation domain, but also ensures applicability of a trained network over a wide range of problem sizes.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"50 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":"114762802","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
A flexible algorithm for planning local shortest path of mobile robots based on reachability graph 一种基于可达图的移动机器人局部最短路径规划灵活算法
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262492
Yunhui Liu, S. Arimoto
{"title":"A flexible algorithm for planning local shortest path of mobile robots based on reachability graph","authors":"Yunhui Liu, S. Arimoto","doi":"10.1109/IROS.1990.262492","DOIUrl":"https://doi.org/10.1109/IROS.1990.262492","url":null,"abstract":"Proposes concept called 'local shortest path' for mobile robots, and shows that a more compact V-graph of size O(M/sup 2/+N) can be constructed based on this concept, where M and N are numbers of convex components and convex vertices of polygonal obstacles respectively. In addition, a reachability graph (R-graph) of size O(N*M/sup 2/) registering reachability between vertices on local shortest paths is proposed. The R-graph depends only on obstacles in the environment but not on size of mobile robots. Hence even if the size of the robot or the required safety distance between the robot and obstacles changed, it is possible to plan a path for the robot efficiently by picking up its reachable vertices in the R-graph without need of reconstruction of the R-graph. Finally, the usefulness of the algorithm is ascertained by several simulations.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"27 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":"124902953","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: 16
A three fingered, multijointed gripper for experimental use 实验用的三指多关节夹持器
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262505
W. Paetsch, M. Kaneko
{"title":"A three fingered, multijointed gripper for experimental use","authors":"W. Paetsch, M. Kaneko","doi":"10.1109/IROS.1990.262505","DOIUrl":"https://doi.org/10.1109/IROS.1990.262505","url":null,"abstract":"A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behaviour of the fingers and some experiences with the grasping and manipulation experiments using the presented system are reported.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":" 25","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113951452","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: 46
Open architecture design and inter-task/inter module communication for an autonomous mobile robot 自主移动机器人的开放式体系结构设计与任务/模块间通信
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262488
R. Chatila, R. F. Camargo
{"title":"Open architecture design and inter-task/inter module communication for an autonomous mobile robot","authors":"R. Chatila, R. F. Camargo","doi":"10.1109/IROS.1990.262488","DOIUrl":"https://doi.org/10.1109/IROS.1990.262488","url":null,"abstract":"Introduces the new experimental robot HILARE II. In order to build a mobile robot that will be an experimental testbed for several years, and to study and evaluate several approaches for organizing a robot system, basic architectural concepts have been derived and implemented. The robot system is composed of modules, the structure of which is described, as well as the communication tools they need to interact. These tools enable one to implement and evaluate several control schemes and mobile robot architecture approaches.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"7 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":"125380884","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: 24
Visually guided operations in green-houses 在温室中进行视觉指导操作
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262398
G. Sandini, F. Buemi, M. Massa, M. Zucchini
{"title":"Visually guided operations in green-houses","authors":"G. Sandini, F. Buemi, M. Massa, M. Zucchini","doi":"10.1109/IROS.1990.262398","DOIUrl":"https://doi.org/10.1109/IROS.1990.262398","url":null,"abstract":"A vision system to operate in a greenhouse environment designed for tomato cultivation is presented. The signals sent by two PAL colour cameras are processed by a graphic workstation using a bit-slice microprocessor card for fast image processing. Cultural operations are examined and the proper vision system specifications are defined. Attention is turned on two aspects: localization of main objects (e.g. flowers, fruits) and navigation. As for localization, an algorithm has been developed based on the colour and particularly on the hue component (extracted 3 times per second from a RGB input) for segmentation and on a stereo processing to find the distance of segmented objects. Results are good enough to demonstrate the feasibility of such an approach.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"82 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":"128008067","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: 20
A control method for dynamic biped walking under unknown external force 未知外力作用下两足动物动态行走控制方法
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262498
A. Takanishi, T. Takeya, H. Karaki, I. Kato
{"title":"A control method for dynamic biped walking under unknown external force","authors":"A. Takanishi, T. Takeya, H. Karaki, I. Kato","doi":"10.1109/IROS.1990.262498","DOIUrl":"https://doi.org/10.1109/IROS.1990.262498","url":null,"abstract":"The authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, they perform walking experiments of real-time control with the biped walking robot WL-12RIII which has a newly developed real-time controller. The result shows that the WL-12RIII realized a 0.64(s/step) dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist. The maximum force strength was 100(N) and the time width was 0.3(s). And the validity of this control method and the real-time controller was experimentally supported.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"59 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":"127685122","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: 133
Calibration analysis of a direct drive robot 直驱机器人的标定分析
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262389
C. Kozakiewicz, T. Ogiso, N. Miyake
{"title":"Calibration analysis of a direct drive robot","authors":"C. Kozakiewicz, T. Ogiso, N. Miyake","doi":"10.1109/IROS.1990.262389","DOIUrl":"https://doi.org/10.1109/IROS.1990.262389","url":null,"abstract":"A software-based calibration method is developed to decrease the positioning errors of a SCARA assembly robot caused by static deflection of the robot arm under force and moment load. A robot stiffness model is constructed and used to calculate differential joint angle corrections which are then applied to the inverse kinematic solution of the ideal robot model to compensate for the static deflection errors. Least squares polynomial approximation and a neural network are used for storing the joint correction values and for interpolation. A computer simulation of the calibration method demonstrated a decrease in the average positioning error from 0.43 mm to 0.03 mm and in the range of error from +or-0.35 mm to +or-0.10 mm in the calibrated area.<<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":"125470255","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: 7
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