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Dynamic walk control of a biped robot along the potential energy conserving orbit 两足机器人势能守恒轨道动态行走控制
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262497
S. Kajita, K. Tanie, A. Kobayashi
{"title":"Dynamic walk control of a biped robot along the potential energy conserving orbit","authors":"S. Kajita, K. Tanie, A. Kobayashi","doi":"10.1109/IROS.1990.262497","DOIUrl":"https://doi.org/10.1109/IROS.1990.262497","url":null,"abstract":"To reduce the complex walking dynamics of a biped, a particular class of trajectories derived by application of gravity compensation to an ideal biped model is considered. The trajectories have following properties: (a) the center of gravity of the body moves horizontally, and (b) the horizontal motion of the center of gravity can be expressed by a simple linear differential equation. The trajectory on which the center of gravity moves is named the potential energy conserving orbit. Based on its simple dynamics, the control laws for the dynamic biped walk are formulated. It is shown that the walking motion is determined by the support leg exchange. Moreover, robust realization of the walking control is considered. An experimental walking machine was designed as a nearly ideal biped model.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"41 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":"125619238","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: 35
Lunar base construction robots 月球基地建造机器人
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262415
R. Brooks, P. Maes, M. Matarić, Grinell More
{"title":"Lunar base construction robots","authors":"R. Brooks, P. Maes, M. Matarić, Grinell More","doi":"10.1109/IROS.1990.262415","DOIUrl":"https://doi.org/10.1109/IROS.1990.262415","url":null,"abstract":"President Bush called for the construction of a permanently manned lunar base. All serious plans for such a base require the use of lunar soil as shielding material against the Sun's radiation. Plans rely on the use of a large bulldozer-like vehicle to be driven by an astronaut, either locally or under teleoperation control. Brooks and Flynn (89) proposed an alternate approach to a single large and complex robot based on many small totally autonomous robots which trade off time to achieve the task with lowered complexity and cost of the system. In this paper the authors describe an experimental system they are building with 20 small bulldozers, which work without explicit coordination or communication, but nevertheless cooperate to achieve tasks that will be useful in building a manned lunar base. In particular the authors believe such tasks as digging out trenches in which the habitation units will be placed, stockpiling a supply of loose lunar soil to cover the habitation units, and actually covering them when delivered, can all be carried out by such small bulldozers.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"145 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":"133692205","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: 155
Design, analysis and construction of a prototype parallel link manipulator 并联连杆机械手样机的设计、分析与构造
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262388
T. Arai, K. Cleary, Tatsuya Nakamura, H. Adachi, K. Homma
{"title":"Design, analysis and construction of a prototype parallel link manipulator","authors":"T. Arai, K. Cleary, Tatsuya Nakamura, H. Adachi, K. Homma","doi":"10.1109/IROS.1990.262388","DOIUrl":"https://doi.org/10.1109/IROS.1990.262388","url":null,"abstract":"The paper discusses characteristics mechanism analysis, a design method and an overview of a prototype parallel link manipulator. An evaluation criteria is introduced by analyzing the manipulator statics using the singular value decomposition to realize a well balanced parallel mechanism. Based on this criteria a new configuration is proposed and the basic characteristics of a prototype manipulator are discussed.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"459 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":"131647084","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
Agricultural robots in Japan 日本的农业机器人
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262394
N. Ito
{"title":"Agricultural robots in Japan","authors":"N. Ito","doi":"10.1109/IROS.1990.262394","DOIUrl":"https://doi.org/10.1109/IROS.1990.262394","url":null,"abstract":"The functional mechanism of agricultural robots and their utilizations are introduced. The robots discussed include: the tangerine orange harvesting robot, the robotic fertilizer applicator, the robotic law tractor, the fully automated combine harvester, the transplanter, the driverless tractor, etc.<<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":"116508215","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
Stable contact force control of a link manipulator with collision phenomena 具有碰撞现象的连杆机械臂稳定接触力控制
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262430
Y. Shoji, M. Inaba, T. Fukuda, H. Hosokai
{"title":"Stable contact force control of a link manipulator with collision phenomena","authors":"Y. Shoji, M. Inaba, T. Fukuda, H. Hosokai","doi":"10.1109/IROS.1990.262430","DOIUrl":"https://doi.org/10.1109/IROS.1990.262430","url":null,"abstract":"A methodology using the Lyapunov direct method is proposed to analyze the stability of a one-link manipulator system which is positioned on a flexible wall with collision phenomenon. Experimental results of collision control are included. As collision is a phenomenon with energy loss, it is considered to have a stabilizing effect to a system which includes collision. However, from the point of view of robotics, a controlled system shows poor controllability, if collision occurs. The authors have adopted a Herz-type model with energy loss parameter to express the impact force between the manipulator and the wall. Using this model, they prove the stabilizing effect of collision using the Lyapunov method. An experiment was also carried out to show the possibility of stable control including collision using sensor-based force control. As a result, the stable contact control of the manipulator on the flexible object is assured.<<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":"122767568","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
A system for autonomous execution of hand-eye tasks-an approach to cooperative hand-eye programming and active visions sensing 一种自主执行手眼任务的系统——一种手眼协同编程和主动视觉感知的方法
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262447
Toshio Matsushita, S. Sakane, S. Hirai, Tomornasa Sato, M. Kakikura
{"title":"A system for autonomous execution of hand-eye tasks-an approach to cooperative hand-eye programming and active visions sensing","authors":"Toshio Matsushita, S. Sakane, S. Hirai, Tomornasa Sato, M. Kakikura","doi":"10.1109/IROS.1990.262447","DOIUrl":"https://doi.org/10.1109/IROS.1990.262447","url":null,"abstract":"Describes an integrated system for autonomous execution of hand-eye task which is a part of the results of research in Electrotechnical Laboratory under the Japanese national project 'Advanced Robot Technology'. Two elementary sub-systems to build a hand-eye system have been developed. One is a programming system with knowledge-based description of hand-eye cooperative task, and the other is a planning system for active vision sensing. Valve disassembly and visual inspection tasks were performed as a demonstration.<<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":"124732376","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: 8
Robot trials: an approach to simulation by object language 机器人试验:一种对象语言模拟方法
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262425
C. Fargeon, J. Quin
{"title":"Robot trials: an approach to simulation by object language","authors":"C. Fargeon, J. Quin","doi":"10.1109/IROS.1990.262425","DOIUrl":"https://doi.org/10.1109/IROS.1990.262425","url":null,"abstract":"An autonomous mobile robot is designed to take decisions locally: its behavior is therefore not globally determinist but influenced locally as a function of the situation in which it finds itself. The testing of this type of behavior is therefore complex. Moreover, and in cases such as nuclear power plants where safety is all important, it is necessary to check that the 'back-up' software is truly so under all operational conditions. The purpose of this paper is to present possible solutions to assist in testing the ability of a robot to undertake its mission. The methods of qualification, methods for defining trials and new methods applicable to robot trials in a structured or unstructured environment are described.<<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":"128398864","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
Automatic preshaping for a dextrous hand from a simple description of objects 根据物体的简单描述为灵巧的手自动预成型
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262507
C. Bard, J. Troccaz
{"title":"Automatic preshaping for a dextrous hand from a simple description of objects","authors":"C. Bard, J. Troccaz","doi":"10.1109/IROS.1990.262507","DOIUrl":"https://doi.org/10.1109/IROS.1990.262507","url":null,"abstract":"Human grasping has been studied intensively and has shown that during the reaching phase of grasping, the hand preshapes in order to prepare the 'shape matching' with the object. A preshape represents a class of configurations, among which one is executed by adjusting the fingers against the object. Preshaping is guided by visual data providing with the object description. The expected object modelling for preshaping is very far from classical CAD models: the shape must be described as being rather round, flat, thin, long, among others; size may be, for example, rather small or large. A major issue addressed in this work is the automatic extraction of such a model from low-level visual data. A system for preshaping a planar bi-fingered hand with four joints grasping planar objects is described: the input is a bitmap of the object from which size and shape descriptions are extracted and used for preshape selection; a preshape is executed using a potential field approach.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"2007 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":"125572917","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 stereo vision system for real time obstacle avoidance in unknown environment 基于立体视觉的未知环境实时避障系统
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262486
F. Ferrari, E. Grosso, G. Sandini, M. Magrassi
{"title":"A stereo vision system for real time obstacle avoidance in unknown environment","authors":"F. Ferrari, E. Grosso, G. Sandini, M. Magrassi","doi":"10.1109/IROS.1990.262486","DOIUrl":"https://doi.org/10.1109/IROS.1990.262486","url":null,"abstract":"A stereo vision system for detecting and avoiding obstacles in real time in an unknown environment is described. This is only the low level of the control system architecture of a mobile robot based on the Brook's subsumption architecture. This level is based on a stereo vision algorithm that uses precomputed measurement of the ground floor disparity, and online acquired grey-level stereo images. The floor is supposed to be planar. The algorithm has been successfully implemented on a mobile vehicle, that is capable of moving around in an unpredictable environment, like a laboratory, without collision.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"4 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":"117334289","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
Walking robot with a circulating gait 具有循环步态的行走机器人
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262500
J. Bares, W. Whittaker
{"title":"Walking robot with a circulating gait","authors":"J. Bares, W. Whittaker","doi":"10.1109/IROS.1990.262500","DOIUrl":"https://doi.org/10.1109/IROS.1990.262500","url":null,"abstract":"The Ambler walking robot has been developed specifically for autonomous exploration of planetary and lunar surfaces. The Ambler, which maintains its body on a level trajectory while walking, has unique orthogonal legs that are stacked under the body instead of the traditional animal-like arrangement of legs around the body. The resulting stacked configuration leads to a novel circulating gait that promises to improve mobility in terrains of extreme roughness. The Ambler's level body motion, orthogonal legs, and circulating gait greatly simplify physical control, terrain model construction, and motion planning-all of which are traditional impediments to autonomous travel across rough terrain.<<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":"127679513","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: 50
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