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

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Neural network for human cognitive state estimation 人类认知状态估计的神经网络
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407565
Makoto Takahashi, O. Kubo, M. Kitamura, H. Yoshikawa
{"title":"Neural network for human cognitive state estimation","authors":"Makoto Takahashi, O. Kubo, M. Kitamura, H. Yoshikawa","doi":"10.1109/IROS.1994.407565","DOIUrl":"https://doi.org/10.1109/IROS.1994.407565","url":null,"abstract":"A neural network (NN) has been applied to the human cognitive state estimation based on the set of physiological measures, heart rate, blood pressure, respiration rate, skin potential response (SPR), blink rate and saccadic eye motion rate have been chosen as the representative metrical indices reflecting human mental state. The qualitative tendencies of these measures have been taken as the inputs of the NN. The human cognitive states are categorized into six pre-specified states: (1) information acquisition (IA); (2) memory related (MR); (3) thought (TH); (4) motor action (MA); (5) emotion (EM); and (6) others (OT). The adopted network a is three layer feedforward network trained with a backpropagation algorithm with forgetting. Sets of training data for learning have been collected through laboratory experiments, in which the subjects were induced to undergo a specific sequence of cognitive states. The resultant NN showed superior capability of discriminating human cognitive states based on the pattern of the physiological measures.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"280 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":"115421061","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
Force control for hexapod walking robot with torque observer 基于力矩观测器的六足步行机器人力控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407515
T. Hori, Hisato Kobayashi, K. Inagaki
{"title":"Force control for hexapod walking robot with torque observer","authors":"T. Hori, Hisato Kobayashi, K. Inagaki","doi":"10.1109/IROS.1994.407515","DOIUrl":"https://doi.org/10.1109/IROS.1994.407515","url":null,"abstract":"This paper describes a new force control method for a hexapod walking robot developed for the purpose of transportation in rough terrain. In unstructured terrain such as soil and gravel, walking robots require the force control to keep its stability. Normally, soft surfaces such as soil has hysteresis characteristics. Thus, general force control, which sometimes shows overshoots is not desired. On this point of view, our new force control uses torque observer and avoids overshoot by a simple strategy. And, we also employed a notion of autonomous distributed control. The distributed controllers placed on each leg decide their own manner with referring information from central controller. We also confirmed the validity of our method by several kinds of numerical simulation.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"79 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":"124891693","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
Case studies of vision-based motion planning for robot interception tasks 基于视觉的机器人拦截任务运动规划案例研究
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407579
H. Sutanto, Rajeev Sharma
{"title":"Case studies of vision-based motion planning for robot interception tasks","authors":"H. Sutanto, Rajeev Sharma","doi":"10.1109/IROS.1994.407579","DOIUrl":"https://doi.org/10.1109/IROS.1994.407579","url":null,"abstract":"This paper describes two case studies of motion planning that uses a space called Perceptual Control Surface (PCS) introduced previously as a basis for visually controlling a robot manipulator. The motion planning problems discussed here are limited to dynamic robot hand positioning for interception tasks. Using this approach, a motion planning problem can be regarded as finding a path in robot's PCS which satisfies certain criteria. Qualitatively different tasks correspond to different type of paths in the PCS. These correspondences are discussed and techniques to find these different paths are outlined.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"284 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":"122966144","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
Trajectory control of an air cushion vehicle 气垫飞行器的轨迹控制
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407600
R. Hayashi, K. Osuka, T. Ono
{"title":"Trajectory control of an air cushion vehicle","authors":"R. Hayashi, K. Osuka, T. Ono","doi":"10.1109/IROS.1994.407600","DOIUrl":"https://doi.org/10.1109/IROS.1994.407600","url":null,"abstract":"In this report several propulsion systems of air cushion vehicles are introduced, and a state feedback control law for trajectory control of an air cushion vehicle is proposed. We consider that the vehicle should be controlled so that it may not drift sideways for good driving performance. We apply a Lyapunov-like function to develop a nonlinear state feedback control law. Effectiveness of the nonlinear state feedback control law for an ACV model is verified through numerical simulations.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"246 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":"121673947","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
Selective refinement of 3-D scene description by attentive observation for mobile robot 移动机器人细心观察的三维场景描述的选择性细化
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407527
H. Takizawa, Y. Shirai, J. Miura
{"title":"Selective refinement of 3-D scene description by attentive observation for mobile robot","authors":"H. Takizawa, Y. Shirai, J. Miura","doi":"10.1109/IROS.1994.407527","DOIUrl":"https://doi.org/10.1109/IROS.1994.407527","url":null,"abstract":"This paper describes a navigation method for a mobile robot by attentive observation. A 3D scene description is constructed with the constrained Delaunay triangulation and a path to a given destination is determined from the description. If any reliable path is not found, the unknown image region on the most promising path is observed attentively. The newly obtained data is integrated to the original description and a path is searched for in the new description. The experimental results are shown.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"73 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":"122091559","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
Dynamic task-priority allocation for kinematically redundant robotic mechanisms 运动冗余机器人机构的动态任务优先级分配
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407429
D. Nenchev, Z. Sotirov
{"title":"Dynamic task-priority allocation for kinematically redundant robotic mechanisms","authors":"D. Nenchev, Z. Sotirov","doi":"10.1109/IROS.1994.407429","DOIUrl":"https://doi.org/10.1109/IROS.1994.407429","url":null,"abstract":"This paper presents a flexible redundancy resolution strategy based on the task-priority method. A dynamic task-priority allocation approach has been motivated by the fact that the performance may degenerate for improper fixed-priority assignment to various task components. Recursive local kinematic inversion is applied, which, along with a full task-decomposition approach, guarantees the flexibility of the approach. It is further shown that the damping technique is easily implemented yielding a scheme that performs well also in the neighborhood of singularities. Thereby, the computationally inefficient singular-value-decomposition has been avoided.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"34 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":"122492040","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
Use of visual and tactile data for generation of 3-D object hypotheses 使用视觉和触觉数据生成三维物体假设
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407407
M. Boshra, Hong Zhang
{"title":"Use of visual and tactile data for generation of 3-D object hypotheses","authors":"M. Boshra, Hong Zhang","doi":"10.1109/IROS.1994.407407","DOIUrl":"https://doi.org/10.1109/IROS.1994.407407","url":null,"abstract":"Most existing 3-D object recognition/localization systems rely on a single type of sensory data, although several sensors may be available in a robot task to provide information about the objects to be recognized. In this paper, the authors present a technique to localize polyhedral objects by integrating visual and tactile data. It is assumed that visual data is provided by a monocular visual sensor, while tactile data by a planar-array tactile sensor in contact with the object to be localized. The authors focus on using tactile data in the hypothesis generation phase to reduce the requirements of visual features for localization to a V-junction only. The main concept of this technique is to compute a set of partial pose hypotheses off-line by utilizing tactile data, and then complement these partial hypotheses on-line using visual data. The technique presented is tested using simulated and real data.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"68 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":"123800812","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
Some approaches to context based grasp planning for a multi-fingered gripper 基于上下文的多指抓手抓取规划方法
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407369
M. Seitz, Jochen Kraft
{"title":"Some approaches to context based grasp planning for a multi-fingered gripper","authors":"M. Seitz, Jochen Kraft","doi":"10.1109/IROS.1994.407369","DOIUrl":"https://doi.org/10.1109/IROS.1994.407369","url":null,"abstract":"Dexterous manipulations of a-priori unknown objects by a multi-fingered gripper require a vision assisted planning of suitable grasps. The selection of the optimum grasp is based on context information specifying the goal of manipulation given by the user, constraints due to the gripper geometry and object properties to be perceived by a vision system. The integration of vision into a hand-arm system allows planning and performance for grasping even unregularly shaped objects. The paper presents a context level for classification of specific grasp situations and a planning level for determination of gripping positions and forces. Especially strategies searching for suitable contact points for the gripper are discussed and compared to each other.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"145 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":"123928779","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
Planning and error compensation for finite manipulation of soft-fingered hands 软指手有限操作的规划与误差补偿
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407504
N. Chong, Donghoon Choi, I. Suh
{"title":"Planning and error compensation for finite manipulation of soft-fingered hands","authors":"N. Chong, Donghoon Choi, I. Suh","doi":"10.1109/IROS.1994.407504","DOIUrl":"https://doi.org/10.1109/IROS.1994.407504","url":null,"abstract":"A hierarchical planning strategy for dextrous manipulation of multifingered hands with soft finger contact model is proposed. Dextrous manipulation planning can be divided into a high-level stage which specifies the position/orientation trajectories of the finger-tips on the object and a low-level stage which determines the contact forces and joint trajectories for the fingers. In the low-level stage, various nonlinear optimization problems are formulated according to the contact modes and integrated into a manipulation planning algorithm to find contact forces and joint velocities at each time step. Montana's contact equations (1988) are used for the high-level planning. A real-time compensation tactics to eliminate the trajectory errors of the object resulted from various uncertainties are also developed. Simulation results are presented and illustrated by employing a three-fingered hand manipulating a sphere to demonstrate the validity of the proposed strategy.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"34 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":"126160969","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
R7: a snake-like robot for 3-d visual inspection R7:用于三维视觉检查的蛇形机器人
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407513
M. Lewis, David M. Zehnpfennig
{"title":"R7: a snake-like robot for 3-d visual inspection","authors":"M. Lewis, David M. Zehnpfennig","doi":"10.1109/IROS.1994.407513","DOIUrl":"https://doi.org/10.1109/IROS.1994.407513","url":null,"abstract":"This article describes the design of an 8 degree of freedom snake-like robot, the R7 manipulator. The purpose of the device is to position a CCD camera and to rapidly acquire a sequence of images in an environment containing obstacles that may constrain the motion of the robot. Because of these requirements, it was desirable to minimize the manipulator's size and maximize its speed while preserving accuracy. These goals led to a unique design that is presented here. The device consists of four transmission modules. Each module has 2 degrees of freedom and contains a dual differential drive mechanism. Each module is a little more than 1.0\" in diameter. The coordinated motion of these differential drives produces a prehensile motion of each transmission module. The range of motion of each module is /spl plusmn/90/spl deg/ in yaw and pitch. The smooth prehensile bending easily accommodate fragile cables and wiring harnesses. A benefit of using rigid links, as in this design, is an increase in stiffness of the mechanism. High stiffness aids in rapid positioning. One key feature of the mechanism is the use of low tension cable drive. Cables pass over a series of stationary sheaves and transmit power to transmission units located in each module. The use of a gear reducing transmission allows the use of low tension cables. This paper describes the design of the R7 manipulator and supporting electronics. Also discussed is the numerical solution to the inverse kinematics for this novel manipulator. The robot was built at Hughes Aircraft.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"2 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":"128242733","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: 14
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