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Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)最新文献

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CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot controllab MUFA:用于远程机器人智能导航的多级融合架构
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-12-31 DOI: 10.1109/ROBOT.1999.770021
E. Aude, Gustavo H. M. B. Carneiro, H. Serdeira, Julio T. C. Silveira, M. Martins, E. P. Lopes
{"title":"CONTROLAB MUFA: a multi-level fusion architecture for intelligent navigation of a telerobot","authors":"E. Aude, Gustavo H. M. B. Carneiro, H. Serdeira, Julio T. C. Silveira, M. Martins, E. P. Lopes","doi":"10.1109/ROBOT.1999.770021","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.770021","url":null,"abstract":"This paper proposes a multi-level fusion architecture (MUFA) for controlling the navigation of 12 tele-commanded autonomous guided vehicle (AGV). The architecture combines ideas derived from the fundamental concepts of sensor fusion and distributed intelligence. The focus of the work is the development of an intelligent navigation system for a tricycle drive AGV with the ability to move autonomously within any office environment following instructions issued by client stations connected to the office network and reacting accordingly to different situations found in the real world. The modules which integrate the MUFA architecture are discussed and results of some simulation experiments are presented.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121206803","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
Blind walking of a planar bipedal robot on sloped terrain 平面双足机器人在斜坡上的盲行走
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-05-10 DOI: 10.1109/ROBOT.1999.770008
C. Chew, J. Pratt, G. Pratt
{"title":"Blind walking of a planar bipedal robot on sloped terrain","authors":"C. Chew, J. Pratt, G. Pratt","doi":"10.1109/ROBOT.1999.770008","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.770008","url":null,"abstract":"Simple intuitive control strategies can be used to compel bipedal robots to walk over sloped terrain. We describe an algorithm for walking dynamically and steadily over sloped terrain with unknown slope gradients and transition locations. The algorithm is developed based on geometric considerations. The overall algorithm is very simple and does not require the biped to have an extensive sensory system for walking over moderate slopes. The ground is detected blindly using only foot contact switches. Using a few simple strategies, we have compelled a simulated 7-link planar biped to walk up and down slopes and over rolling terrain.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115134725","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: 65
Visibility-based pursuit-evasion: the case of curved environments 基于可见性的追捕-逃避:弯曲环境的案例
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-05-10 DOI: 10.1109/ROBOT.1999.770350
S. LaValle, J. Hinrichsen
{"title":"Visibility-based pursuit-evasion: the case of curved environments","authors":"S. LaValle, J. Hinrichsen","doi":"10.1109/ROBOT.1999.770350","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.770350","url":null,"abstract":"We consider the problem of visually searching for an unpredictable target that can move arbitrarily fast in a simply-connected, curved, two-dimensional environment. A complete algorithm is presented that is guaranteed to find the elusive target if it is possible for a single pursuer. The key to the algorithm is a cell decomposition based on critical visibility events that occur because of inflections and bitangents of the environment boundary. We have implemented the cell decomposition algorithm, and show several computed examples. The technique is an extension and simplification of a previous technique for searching a polygonal environment. Our solution can also be considered as a step towards a unified approach to pursuit-evasion strategies that have little dependency on the representation of the environment.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115310213","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: 123
The development of a rapid prototyping machine system for manufacturing automation 面向制造自动化的快速原型机系统的开发
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-05-10 DOI: 10.1109/ROBOT.1999.774066
R. Luo, Wei Zen Lee
{"title":"The development of a rapid prototyping machine system for manufacturing automation","authors":"R. Luo, Wei Zen Lee","doi":"10.1109/ROBOT.1999.774066","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.774066","url":null,"abstract":"A rapid prototyping machine system which combines three axes PC-based controller with thermal extrusion method is presented. The main features of this system are to build up a physical object model through the extrusion of thin thermal plastic material and building it up layer by layer. User can use this system to turn CAD model into physical object model. Hardware design includes three axes working table, a thermal extrusion head, and a PC-based control system. The rapid prototyping system software includes CAD-model slicing process and 2D-layer cross sectional fill generation algorithms. The process begins with the design of a conceptual geometric CAD model of an object. The cross sectional STL format data is interfaced to the rapid prototyping machine system. The system can be extended to use other plastic materials from the thermal extrusion head and build up the model layer by layer.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115349995","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
Tracking control of wheeled mobile robots with unknown dynamics 未知动力学轮式移动机器人的跟踪控制
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-05-10 DOI: 10.1109/ROBOT.1999.773997
Wenjie Dong, W. Huo
{"title":"Tracking control of wheeled mobile robots with unknown dynamics","authors":"Wenjie Dong, W. Huo","doi":"10.1109/ROBOT.1999.773997","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.773997","url":null,"abstract":"This paper considers the tracking problem of nonholonomic wheeled mobile robots with unknown dynamics. A new adaptive robust global dynamic controller is presented based on the canonical form of the wheeled mobile robots. This novel controller has low dimension and no singular points. Simulations show the effectiveness of the control scheme.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116780720","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: 22
A hierarchical method to improve the productivity of a multi-head surface mounting machine 一种提高多头表面贴装机生产率的分层方法
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-05-10 DOI: 10.1109/ROBOT.1999.770418
S. H. Lee, B. Lee, T. Park
{"title":"A hierarchical method to improve the productivity of a multi-head surface mounting machine","authors":"S. H. Lee, B. Lee, T. Park","doi":"10.1109/ROBOT.1999.770418","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.770418","url":null,"abstract":"This paper considers the problem of minimizing the assembly time of multi-head surface mounting machines. The problem is decomposed into a hierarchy of related subproblems. Since all subproblems in the hierarchy are known to be of a combinatorial nature and computationally intractable, we develop heuristics which are based on dynamic programming and the nearest neighbour travelling salesman problem technique. We implement the method as a computer program and perform computer simulations. The results are compared to a heuristic that is currently in use.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"284 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116855147","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: 26
Operating in configuration space significantly improves human performance in teleoperation 在构型空间中操作可以显著提高人在远程操作中的表现
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-05-10 DOI: 10.1109/ROBOT.1999.770435
I. Ivanisevic, V. Lumelsky
{"title":"Operating in configuration space significantly improves human performance in teleoperation","authors":"I. Ivanisevic, V. Lumelsky","doi":"10.1109/ROBOT.1999.770435","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.770435","url":null,"abstract":"Discusses the use of configuration space (C-space) as a means of visualization and control in teleoperation of robot arm manipulators. The motivation is to improve operator performance in tasks involving manipulator motion in a complex three-dimensional (3D) environment with obstacles. Unlike other motion planning tasks, operators are known to make expensive mistakes in arm control, due to deficiencies of human spatial reasoning. The advantage of C-space is that in it the arm becomes a point, a case which humans are much better equipped to handle. To make such operation possible, a tool is proposed that reduces motion in 3D C-space to that in 2D C-space. It is then shown on results from testing 18 human subjects that translating the problem of a three-link 3D arm manipulator motion into C-space improves the operator performance remarkably, by a factor of 2 to 4, compared to usual work space control.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116961745","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
The distributed controller architecture for a master arm and its application to teleoperation with force feedback 主臂分布式控制器结构及其在力反馈遥操作中的应用
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-05-10 DOI: 10.1109/ROBOT.1999.769971
Sooyong Lee, Jangwook Lee, Dae-Sung Choi, Munsang Kim, Chongwon Lee
{"title":"The distributed controller architecture for a master arm and its application to teleoperation with force feedback","authors":"Sooyong Lee, Jangwook Lee, Dae-Sung Choi, Munsang Kim, Chongwon Lee","doi":"10.1109/ROBOT.1999.769971","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.769971","url":null,"abstract":"For robot teleoperation, many researches have attempted to control the slave robot from remote site using a master arm. A new concept of the distributed controller architecture for the master arm is introduced. To reduce possible non-uniform time delay and to have higher position command update rate, the host controller with the distributed satellite controllers are developed. Each satellite controller measures the corresponding joint angle, while the host controller performs initial calibration, inverse kinematics calculation, and position commands generation. The host controller and the satellite controllers are networked via the SPI (serial peripheral interface) protocol, with maximum speed of 5Mbps. For force feedback, the host controller solves the joint torque relations based on kinematics of the master arm, and the satellite controller controls each of the joint torque. This distributed controller greatly reduces calculation and control loads and makes the electrical wiring very simple.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117104709","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: 16
Mobile robot localization based on an omnidirectional stereoscopic vision perception system 基于全向立体视觉感知系统的移动机器人定位
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-05-10 DOI: 10.1109/ROBOT.1999.772545
C. Drocourt, L. Delahoche, C. Pégard, A. Clerentin
{"title":"Mobile robot localization based on an omnidirectional stereoscopic vision perception system","authors":"C. Drocourt, L. Delahoche, C. Pégard, A. Clerentin","doi":"10.1109/ROBOT.1999.772545","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.772545","url":null,"abstract":"Presents a system of absolute localization based on the stereoscopic omnidirectional vision. To do it we use an original perception system which allows our omnidirectional vision sensor SYCLOP to move along a rail. The first part of our study deals with the problem of building the sensorial model with the help of the two stereoscopic omnidirectional images. To solve this problem we propose an approach based on the fusion of several criteria which will be made according to Dempster-Shafer rules. The second part is devoted to exploiting this sensorial model to localize the robot thanks to matching the sensorial primitives with the environment map. We analyze the performance of our global absolute localization system on several robot elementary moves, in different environments.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117147088","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
Distributed control of flexible transfer system (FTS) using learning automata 基于学习自动机的柔性传递系统分布式控制
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) Pub Date : 1999-05-10 DOI: 10.1109/ROBOT.1999.769937
T. Fukuda, K. Sekiyama, Y. Hasebe, Y. Hasegawa, S. Shibata, Hironobu Yamamoto, Y. Inada
{"title":"Distributed control of flexible transfer system (FTS) using learning automata","authors":"T. Fukuda, K. Sekiyama, Y. Hasebe, Y. Hasegawa, S. Shibata, Hironobu Yamamoto, Y. Inada","doi":"10.1109/ROBOT.1999.769937","DOIUrl":"https://doi.org/10.1109/ROBOT.1999.769937","url":null,"abstract":"This paper proposes a flexible transfer system (FTS) as one of the self-organizing manufacturing systems. The FTS is composed of autonomous robotic modules, which transfer a palette carrying an object. Through the self-organization of a multilayer strategic vector field corresponding to a task, the FTS can generate quasi-optimal transfer path in fully distributed way. We apply the learning automata for path generation algorithm. Simulation is conducted to evaluate the basic performance of the system and the results show the feasibility of application. Also, the developed hardware is explained.","PeriodicalId":440564,"journal":{"name":"Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117152260","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
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