Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)最新文献_第9页

Mechanism and control of propeller type wall-climbing robot 螺旋桨爬壁机器人的机构与控制

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407625

A. Nishi, H. Miyagi

引用次数: 23

Unified approach for teleoperation of virtual and real environment for skill based teleoperation 基于技能的遥操作中虚拟环境与现实环境的统一方法

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407520

K. Kosuge, K. Takeo, T. Fukuda, Tunehiko Sugiura, Akira Sakai, Koji Yamada

{"title":"Unified approach for teleoperation of virtual and real environment for skill based teleoperation","authors":"K. Kosuge, K. Takeo, T. Fukuda, Tunehiko Sugiura, Akira Sakai, Koji Yamada","doi":"10.1109/IROS.1994.407520","DOIUrl":"https://doi.org/10.1109/IROS.1994.407520","url":null,"abstract":"This paper proposes an alternative control scheme for a teleoperation system which consists of a master arm, a slave arm and a virtual environment. For a given task, the operator manipulates a virtual environment and executes the task, a skill for the task is extracted through the manipulation, and the skill is transferred to the remote site to execute the task in real. First, the authors consider the design of a control algorithm for a master arm manipulating the virtual environment so that the system has a given dynamics for the operator and the environment. Then the authors consider the design of a control algorithm for the master-slave system manipulating the real environment so that the system has the same dynamics given to the manipulator of the virtual environment. By designing a control scheme, with which the master arm with a real environment and the master arm with a virtual environment have the same dynamics, the skill extracted from the operation of the virtual environment would be applied to the real task using the slave arm. The proposed control system is applied to an experimental master-slave manipulator and experimental results illustrate the effectiveness of the system.<<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":"131350029","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

Determination of 3-D pose of a flexible object by stereo matching of curvature representations 利用曲率表示的立体匹配确定柔性物体的三维姿态

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407590

Jong-Eun Byun, T. Nagata

引用次数: 9

Dynamics and control of multi-arm space robots during chase and capture operations 多臂空间机器人在追逐和捕获过程中的动力学与控制

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407648

E. Papadopoulos, S. Moosavian

引用次数: 65

Telerobotics with large time delays-the ROTEX experience 具有大时间延迟的遥控机器人- ROTEX经验

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407368

G. Hirzinger, K. Landzettel, C. Fagerer

{"title":"Telerobotics with large time delays-the ROTEX experience","authors":"G. Hirzinger, K. Landzettel, C. Fagerer","doi":"10.1109/IROS.1994.407368","DOIUrl":"https://doi.org/10.1109/IROS.1994.407368","url":null,"abstract":"The paper discusses delay-compensating techniques when operating a space robot from ground or from a another remote spacecraft. These kind of techniques have been a key element in the space robot technology experiment ROTEX that has successfully flown with shuttle COLUMBIA end of April 93. During this \"spacelab-D2\"-mission for the first time in the history of space flight a small, multisensory robot (i.e. provided with modest local intelligence) has performed prototype tasks on board a spacecraft in different operational modes, namely preprogrammed (and reprogrammed from ground), remotely controlled (teleoperated) by the astronauts, but also remotely controlled from ground via the human operator as well as via machine intelligence. In these operational modes the robot successfully closed and opened connector plugs (bayonet closure), assembled structures from single parts and captured a free-floating object. This paper focuses on the powerful delay-compensating 3D-graphics simulation (predictive simulation) concepts that were realized in the telerobotic ground station and which allowed the authors to compensate delays of up to 7 sec e.g. when grasping the floating object fully automatically from ground.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"97 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":"116157569","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: 28

Estimating camera motion precisely from omni-directional images 从全向图像精确估计摄像机运动

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407472

Shigang Li, M. Chiba, S. Tsuji

{"title":"Estimating camera motion precisely from omni-directional images","authors":"Shigang Li, M. Chiba, S. Tsuji","doi":"10.1109/IROS.1994.407472","DOIUrl":"https://doi.org/10.1109/IROS.1994.407472","url":null,"abstract":"A human being often looks around to locate him/herself from the arrangement of surrounding objects. Here, the authors propose an idea to determine camera motion by line correspondence in omni-directional images. An omni-directional image has a 360 degree view and contains much more information than those taken by a conventional imaging method. Since the camera motion is estimated from line displacements in images and the line displacements change due to line arrangement in space and camera motion, an omni-directional view makes it possible to select a better line combination for estimating more accurate motion. Experimental results show that camera motion can be estimated more accurately using lines surrounding the camera in omni-directional images than using lines in a narrow view. First, the authors use lines surrounding the camera to determine the camera rotational component and find the true solution from multiple ones by voting from multiple line combinations. Then, the authors select an optimal line combination to estimate the translation component by examining their linear independence. Simulation and real-world experimental results are given.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"105 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":"121105312","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: 5

Binocular tracking based on virtual horopters 基于虚拟直升机的双目跟踪

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407582

S. Rougeaux, N. Kita, Y. Kuniyoshi, S. Sakane, F. Chavand

引用次数: 29

A tactile sensing system for dexterous manipulation 用于灵巧操作的触觉感应系统

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407503

B. Gery, S. Gottschlich

{"title":"A tactile sensing system for dexterous manipulation","authors":"B. Gery, S. Gottschlich","doi":"10.1109/IROS.1994.407503","DOIUrl":"https://doi.org/10.1109/IROS.1994.407503","url":null,"abstract":"One factor that limits the range of tasks that robots can perform robustly is the scarcity of useful sensors available to provide feedback to the robot control system. While much progress has been made with vision sensors and force/torque sensors, tactile sensing systems have fallen behind, and so general-purpose tactile sensing systems are not commercially available. The aim of this work is therefore to produce a tactile sensing system that could be manufactured inexpensively, could be used on a wide variety of robotic systems, and would provide the kind of output typically required in dexterous manipulation applications. Such a tactile sensing system will be presented in this paper. The tactile transducers used in this system are based on semiconductive ink technology that allows transducers of any size, shape, and resistance range to be produced merely by altering the ink printing process and substrate geometry. Each sensor outputs three pieces of information that are useful in robotic manipulation-two parameters indicating the location of a contact point on the transducer and one parameter specifying the amount of force being exerted at the contact point. So that the sensing system could support transducers of different shapes and sizes, the analog interface circuitry of this system has been designed to be fully programmable, and also includes circuitry to enable self-calibration with appropriate software.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"29 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":"133571957","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: 5

Closed-loop kinematic calibration of the Sarcos Dextrous Arm Sarcos灵巧臂的闭环运动学标定

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407373

L. Giugovaz, J. Hollerbach

引用次数: 13

Robotic drilling under force control: execution of a task 在力控制下的机器人钻孔:执行任务

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI: 10.1109/IROS.1994.407640

G. Alici, R. Daniel

引用次数: 20