Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)最新文献

Spatial characteristics of human hand impedance in multi-joint arm movements 多关节手臂运动中人手阻抗的空间特征

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407441

T. Tsuji, Kazuhiro Goto, Shouzou Moritani, M. Kaneko, P. Morasso

引用次数: 42

Selecting grasp pattern far multiple robotic manipulators holding a rigid object based on motion-oriented coordinability measure 基于运动协调度量的多机器人抓取刚体抓取方式选择

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407446

Yalou Huang, G. Lu

引用次数: 0

Integration of topological and geometrical planning in a learning mobile robot 学习型移动机器人拓扑与几何规划的集成

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407416

F. Wallner, M. Kaiser, H. Friedrich, R. Dillmann

{"title":"Integration of topological and geometrical planning in a learning mobile robot","authors":"F. Wallner, M. Kaiser, H. Friedrich, R. Dillmann","doi":"10.1109/IROS.1994.407416","DOIUrl":"https://doi.org/10.1109/IROS.1994.407416","url":null,"abstract":"The problem of adapting mobile robot navigation to changes in the environment is usually approached by modifying an internal world model. Descriptions on different levels of abstraction provide the information necessary for navigation and therefore influence the robot's behaviour. The effect of such indirect adaptation is limited. The approach presented in this paper describes a new technique for direct integration of navigation experience in path planning. Thus, not only the world knowledge, but also the planning behaviour is improved over time. Experiments are carried out on a robot which is controlled by a layered architecture. It is integrated in a multirobot control environment which is described. The focus of the article is towards improving the higher navigation levels. The main idea being presented is the realization of adaptive behaviour not only on the level of reflexes, but also with respect to the planning capabilities of the robot. The application of learning techniques allows to continuously improve the estimation of plan costs and therefore the inherent strategy of the topological planner. It is illustrated that a combined learning of world description and navigation allows fast and sophisticated reaction to new environmental conditions.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117088403","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

Slip detection by a tactile neural network 基于触觉神经网络的滑动检测

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407387

G. Canepa, Matteo Campanella, D. Rossi

引用次数: 12

Investigation of polyhedral shape representations and connectionist techniques in haptic object recognition 触觉物体识别中多面体形状表征及连接技术的研究

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407386

S. Caselli, C. Magnanini, F. Zanichelli

引用次数: 9

A dynamic biped walking robot based on the momentum mechanism with flexible beams 一种基于柔性梁动量机构的动态双足步行机器人

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407512

Yoshiyulu Nakano, Komei Chono, Kenichi Yoneda, H. Kameishi

引用次数: 4

Robotic surgery and planning for corrective femur osteotomy 机器人手术和股骨矫正截骨计划

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407490

J. Moctezuma, J. Bernasch, Gabriele Lohmann, A. Schweikard, F. Gosse

引用次数: 5

Vision-based human interface with user-centered frame 基于视觉的人机界面，以用户为中心的框架

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407586

Y. Kuno, Masao Sakamoto, K. Sakata, Y. Shirai

引用次数: 20

Learning, tracking and recognition of 3D objects 学习，跟踪和识别三维物体

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407405

Joachim Denzler, Rüdiger Bess, J. Hornegger, H. Niemann, D. Paulus

{"title":"Learning, tracking and recognition of 3D objects","authors":"Joachim Denzler, Rüdiger Bess, J. Hornegger, H. Niemann, D. Paulus","doi":"10.1109/IROS.1994.407405","DOIUrl":"https://doi.org/10.1109/IROS.1994.407405","url":null,"abstract":"In this contribution we describe steps towards the implementation of an active robot vision system. In a sequence of images taken by a camera mounted on the hand of a robot, we detect, track, and estimate the position and orientation (pose) of a three-dimensional moving object. The extraction of the region of interest is done automatically by a motion tracking step. For learning 3-D objects using two-dimensional views and estimating the object's pose, a uniform statistical method is presented which is based on the expectation-maximization-algorithm (EM-algorithm). An explicit matching between features of several views is not necessary. The acquisition of the training sequence required for the statistical learning process needs the correlation between the image of an object and its pose; this is performed automatically by the robot. The robot's camera parameters are determined by a hand/eye-calibration and a subsequent computation of the camera position using the robot position. During the motion estimation stage the moving object is computed using active, elastic contours (snakes). We introduce a new approach for online initializing the snake on the first images of the given sequence, and show that the method of snakes is suited for real time motion tracking.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115197651","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: 19

Real world application of a low-cost high-performance sensor system for autonomous mobile robots 自主移动机器人低成本高性能传感器系统的实际应用

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407609

V. Burhanpurkar

引用次数: 6