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Active sensing in vision-based stereotyped motion 基于视觉的刻板运动主动感知
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262383
H. Mori
{"title":"Active sensing in vision-based stereotyped motion","authors":"H. Mori","doi":"10.1109/IROS.1990.262383","DOIUrl":"https://doi.org/10.1109/IROS.1990.262383","url":null,"abstract":"TV camera is constrained in its visual angle, function of pattern recognition and processing speed. To meet these problems, an active sensing paradigm is applied on such vision-based stereo-typed motions as moving along a sign pattern, moving for sighting and following a person. In each stereo-typed motion the active sensing paradigm is defined by fixed control patterns of locomotion and TV camera panning-tilting. By utilizing a stereo-typed motion with active sensing or its fixed sequence, the robot can decrease searching failures and localization errors of sign patterns and can shorten processing time. By implementing the active sensing on the mobile robot, Harunobu-4, it was able to perform geometrical pattern-paved sidewalk and to turn a corner near which poles or walls stand.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"28 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":"128121439","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
Design and implementation of a system that generates assembly programs from visual recognition of human action sequences 一个系统的设计和实现，该系统通过对人类动作序列的视觉识别来生成装配程序
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262444
Y. Kuniyoshi, H. Inoue, M. Inaba
{"title":"Design and implementation of a system that generates assembly programs from visual recognition of human action sequences","authors":"Y. Kuniyoshi, H. Inoue, M. Inaba","doi":"10.1109/IROS.1990.262444","DOIUrl":"https://doi.org/10.1109/IROS.1990.262444","url":null,"abstract":"The authors propose a teaching method, called 'teaching by showing' in which a human instructor shows an intended task to a robot by simply performing it himself. As an important point in realization of the method, a theory for visual recognition of human action sequences is presented. Then they give a full description of a system that observes an example task by vision and automatically generates a robot program to execute the task. Results of experiments on assembly tasks in blocks world are also presented.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"134 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":"133875691","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: 56
Fusing dynamic vision and landmark navigation for autonomous driving 融合动态视觉和地标导航的自动驾驶
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262376
K. Kuhnert
{"title":"Fusing dynamic vision and landmark navigation for autonomous driving","authors":"K. Kuhnert","doi":"10.1109/IROS.1990.262376","DOIUrl":"https://doi.org/10.1109/IROS.1990.262376","url":null,"abstract":"Basic concepts for navigation and orientation of autonomous mobile systems are the main subject of this paper. Landmark navigation helps to integrate singular observations into a global world model. In a vision-guided vehicle, observations may stem from dynamic vision allowing the control of movements by a video camera in real-time. The paper describes the combination of both approaches to an homogeneous system which is implemented in the experimental vehicle ATHENE. Considerations on the appropriate knowledge representation, the data structures, and aspects relevant to real-time implementation of the various maps or control systems are presented.<<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":"133900818","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: 18
On human performance in teleoperation 关于人在远程操作中的表现
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262372
V. Lumelsky
{"title":"On human performance in teleoperation","authors":"V. Lumelsky","doi":"10.1109/IROS.1990.262372","DOIUrl":"https://doi.org/10.1109/IROS.1990.262372","url":null,"abstract":"Recent experimental attempts in building teleoperated master-slave arm manipulators revealed a serious difficulty that goes beyond the better understood issues of control, sufficiency of input information, and data processing. Namely, a human operator has difficulty in interpreting input information and consequently in teleoperation decision-making. The problem becomes more pronounced when the slave arm has to operate in a complex environment where every point of the arm body is subject to potential collision. This paper traces the source of the difficulty to the limitations in human abilities for space orientation and interpretation of geometrical data, and suggests a solution that capitalizes on recent developments in sensor-based motion planning for whole-sensitive robot arms. This results in a hybrid system in which global planning is done by a human operator, whereas local collision-free motion is controlled by an assisting 'autopilot'.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"2 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":"117331837","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
Automatic planning of pick and place operations in presence of uncertainties 在不确定的情况下自动规划取放操作
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262366
I. Mazon, R. Alami, Pascal Violero
{"title":"Automatic planning of pick and place operations in presence of uncertainties","authors":"I. Mazon, R. Alami, Pascal Violero","doi":"10.1109/IROS.1990.262366","DOIUrl":"https://doi.org/10.1109/IROS.1990.262366","url":null,"abstract":"Describes a system that plans automatically 'pick and place' tasks. It takes into consideration the strong interdependencies existing between the different steps of the 'pick and place' task. The system deals explicitly with the interactions between grasp planning, transfer motions and approach motions. Besides, it makes use, at several steps during the planning phase, of a module that propagates and evaluates position uncertainties in a 'pick and place' context. The authors describe the different modules included in the system and show how the controller invokes them and how it manages their interaction. Finally, they discuss several control strategies which can be implemented in order to solve a 'pick and place' planning problem.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"16 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":"115358862","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
Resolved motion control of redundant robot manipulators by neural optimization networks 利用神经优化网络解决冗余机器人机械手的运动控制问题
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262465
W. Hyun, I. Suh, Joonhong Lim
{"title":"Resolved motion control of redundant robot manipulators by neural optimization networks","authors":"W. Hyun, I. Suh, Joonhong Lim","doi":"10.1109/IROS.1990.262465","DOIUrl":"https://doi.org/10.1109/IROS.1990.262465","url":null,"abstract":"An effective resolved motion control method of redundant manipulators is proposed to minimize the energy consumption and to increase the dexterity while satisfying the physical actuator constraints. The method employs the neural optimization networks, where the computation of Jacobian matrix is not required. Specifically, end-effector movement resulting from each joint differential motion is first separated into orthogonal and tangential components with respect to a given desired trajectory. Then the resolved motion is obtained by neural optimization networks in such a way that: (1) the linear combination of the orthogonal components should be null; (2) the linear combination of the tangential components should be the differential length of the desired trajectory; (3) the differential joint motion limit is not violated, and (4) the weighted sum of the square of each differential joint motion is minimized. The weighting factors are controlled by a newly defined joint dexterity measure as the ratio of the tangential and orthogonal components.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"33 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":"114490137","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
Tele-existence master-slave system for remote manipulation 用于远程操作的远程存在主从系统
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262409
S. Tachi, H. Arai, T. Maeda
{"title":"Tele-existence master-slave system for remote manipulation","authors":"S. Tachi, H. Arai, T. Maeda","doi":"10.1109/IROS.1990.262409","DOIUrl":"https://doi.org/10.1109/IROS.1990.262409","url":null,"abstract":"A tele-existence master-slave system for remote manipulation experiments is designed and developed, and an evaluation experiment of a tele-existence master-slave system is conducted. By making a comparison of a tele-existence master-slave system with a conventional master-slave system, efficacy of the tele-existence master-slave system is verified and the superiority of the tele-existence method is demonstrated quantitatively.<<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":"116060170","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: 60
Contact point detection for grasping of an unknown object using joint compliance 接触点检测，利用关节顺应性抓取未知物体
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262504
M. Kaneko, K. Tanie
{"title":"Contact point detection for grasping of an unknown object using joint compliance","authors":"M. Kaneko, K. Tanie","doi":"10.1109/IROS.1990.262504","DOIUrl":"https://doi.org/10.1109/IROS.1990.262504","url":null,"abstract":"Focuses on a scheme for searching a contact point between a multifingered hand and an unknown object. Instead of mounting a distributed tactile sensor all over the finger links, the authors propose an active touch approach using joint compliance. The algorithm is composed of two phases. One is the approach phase, in which each finger is opened widely and approaches to an object until a part of a finger link is in contact with the object. The other is the detection phase, in which each finger posture is changed with slip while maintaining contact between object and finger. Using two selected postures during the detection phase, one can compute the intersecting point which leads to an approximate contact point. With a suitable combination of compliant joints and position-controlled joints, a finger link has the capability of changing its posture while maintaining contact with an object over a small angular displacement at a particular joint. This motion is essential in the contact point detection phase. The proposed algorithm is confirmed through simple experiments using a two-fingered robot hand.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"26 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":"114702442","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
Advanced robot control in industrial and non-traditional applications 先进的机器人控制在工业和非传统应用
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262390
E. Niedermayr, K. Kempkens, N. Roth
{"title":"Advanced robot control in industrial and non-traditional applications","authors":"E. Niedermayr, K. Kempkens, N. Roth","doi":"10.1109/IROS.1990.262390","DOIUrl":"https://doi.org/10.1109/IROS.1990.262390","url":null,"abstract":"Describes a new method for real-time robot pose error compensation based on joint-specific error models. The compensation method uses the kinematic model description based on general rotation matrices and is well suited to treat all different kinds of kinematic and other errors, e.g. drive train, elastic deformation. Some results of the new compensation method are shown. An algorithm is presented which optimizes the robot's movement using the existing robot controller by adjusting suitable parameters of the considered path planner, taking into account the robot's dynamics as well as information about objects to be moved.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"376 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":"123388060","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
A linearly-mapping stereoscopic visual interface for teleoperation 用于远程操作的线性映射立体视觉界面
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262421
Linda M. Strunk, T. Iwamoto
{"title":"A linearly-mapping stereoscopic visual interface for teleoperation","authors":"Linda M. Strunk, T. Iwamoto","doi":"10.1109/IROS.1990.262421","DOIUrl":"https://doi.org/10.1109/IROS.1990.262421","url":null,"abstract":"Proposes a new type of visual interface system for teleoperated systems. Remote operations, particularly those in space, require robotic devices that are capable of performing a variety of complex mechanical manipulations with a high degree of precision and reliability. These devices must also be able to act and react accordingly to unforeseen circumstances that arise as a result of the unpredictable nature of space. Since fully autonomous motion for robots in space environments is not yet realizable, these systems must be controlled by direct dialogue through an ergonometrically designed user interface. Effective display, that includes accurate depth perception, of the remote scene is essential and vitally important for these interfaces. Although stereoscopic vision systems have been in existence for several years, most produce non-linearly mapped (distorted) images. The system proposed in the paper produces linearly-mapped images, thus facilitating the execution of teleoperated tasks.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"316 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":"125139732","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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