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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

3-6 July 1990

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Displaying Results 1 - 25 of 140
  • Proceedings. IROS '90. IEEE International Workshop on Intelligent Robots and Systems '90. Towards a New Frontier of Applications (Cat. No.90TH0332-7)

    Publication Year: 1990
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    Freely Available from IEEE
  • An architecture for the supervision of fuzzy controllers

    Publication Year: 1990, Page(s):919 - 924 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    A new approach to the supervision of fuzzy controllers is presented. The supervision loop is designed to overcome some of the problems that remain unsolved, such as time-varying plants, high nonlinear plants or fine tuning of the linguistic terms given by the expert in a fuzzy controller. The supervision concept is based on the continuous adjustment of the mathematical functions used for the defin... View full abstract»

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  • Intelligent adaptive identification for control systems: case studies

    Publication Year: 1990, Page(s):913 - 918 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    An intelligent adaptive identification (IAI) approach is presented that primarily integrates expert systems technology with identification methodology for control systems. The concept of characteristic recognition is proposed in terms of qualitative and quantitative identifications. The IAI system is currently implemented in a Lisp based expert system shell for designs and analyses of control syst... View full abstract»

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  • Position estimation for a mobile robot in an unstructured environment

    Publication Year: 1990, Page(s):159 - 166 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    Presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A digital elevation map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground sur... View full abstract»

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  • Object pose estimation based on one-degree-of-freedom sensor

    Publication Year: 1990, Page(s):903 - 910 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    A method for determining the six degrees-of-freedom geometric relation between two objects is described. It is based on utilizing a combination of a simple fibre-optic proximity sensor and robot motions. The basic principle is to estimate the six translational and orientational parameters describing the geometric relation between two objects with Newton's method. Experimental tests show that the m... View full abstract»

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  • Calibration analysis of a direct drive robot

    Publication Year: 1990, Page(s):213 - 220 vol.1
    Cited by:  Papers (2)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (756 KB)

    A software-based calibration method is developed to decrease the positioning errors of a SCARA assembly robot caused by static deflection of the robot arm under force and moment load. A robot stiffness model is constructed and used to calculate differential joint angle corrections which are then applied to the inverse kinematic solution of the ideal robot model to compensate for the static deflect... View full abstract»

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  • A 21/2-D algorithm for the shortest path search running on 2-D hardware

    Publication Year: 1990, Page(s):553 - 557 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (368 KB)

    Presents an algorithm for individuating the shortest path in a 3D space in which the obstacles are described by means of range data. Such an algorithm runs on 2D hardware which is normally used for image processing tasks avoiding the development of expensive 3D hardware. This is possible because the procedure is split in two different 2D processes. Main advantages of the technique are: no pre-proc... View full abstract»

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  • An approach to obstacle recognition for autonomous mobile robots

    Publication Year: 1990, Page(s):151 - 158 vol.1
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (748 KB)

    Dynamic vision may be utilized for detecting and classifying objects that could be obstacles for a mobile robot. Methods for accomplishing this are introduced. They have been implemented on a multiprocessor vision system and tested in outdoor environments. If conditions are fairly favorable obstacles are reliably recognized and false alarms (e.g. caused by shadows) are rejected. Among the main pro... View full abstract»

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  • A motion planner for car-like robots based on a mixed global/local approach

    Publication Year: 1990, Page(s):765 - 773 vol.2
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (788 KB)

    Deals with the problem of motion planning for a car-like robot (i.e. nonholonomic mobile robot whose turning radius is lower bounded). The main contribution is the introduction of a new metric in the configuration space R2×S1 of such a system. This metric is defined from the length of the shortest paths in the absence of obstacles. The authors study the relations betwee... View full abstract»

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  • Analysis of computer-controlled pneumatic servo system for robotic applications

    Publication Year: 1990, Page(s):897 - 902 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    The paper analyzes the time and frequency response characteristics of direct-drive pneumatic actuators for their potential use in robotic position control applications. A linearized mathematical model of the actuator is derived and the control policy is analyzed from an optimal control perspective. The analysis shows that pneumatic actuators are practical for use in servo-control systems. The main... View full abstract»

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  • Development of a flexible dual-arm manipulator testbed for space robotics

    Publication Year: 1990, Page(s):375 - 381 vol.1
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    Describes a flexible dual-arm robot that has been developed as a testbed for the study on space robotic technologies such as flexible arm control, control of coupling vibration, control of cooperating dual arms, and teleoperation of robots with multiple arms. The robot is called ADAM (Astronautical Dual Arm Manipulator). After discussing the aim of the development, specifications of the robot are ... View full abstract»

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  • Design, analysis and construction of a prototype parallel link manipulator

    Publication Year: 1990, Page(s):205 - 212 vol.1
    Cited by:  Papers (15)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    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 manipulato... View full abstract»

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  • Control and command of a six degrees of freedom active electrical orthosis for paraplegic patient

    Publication Year: 1990, Page(s):987 - 991 vol.2
    Cited by:  Papers (4)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    Describes the walking machine developed as part of the European project CALIES (Computer Aided Locomotion by Implanted Electrical stimulation) with the collaboration of the robotic team of the CEA. The version is an `active electrical orthosis' mostly conceived to train the paraplegic patients to deambulate and to simulate the different control strategies View full abstract»

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  • 3D object recognition using a mobile laser range finder

    Publication Year: 1990, Page(s):673 - 677 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    Presents a 3D object recognition system with emphasis on an optimum placement strategy for a mobile 3D range sensor. The theoretical aspects leading to the development of the 3D sensor placement paradigm are presented and described. The authors use a triangulation type laser of range finder in which a CCD based imaging device is utilized to view a plane of laser light bounced from a sweeping mirro... View full abstract»

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  • Simulation of visual sensory information in an advanced robot programming environment

    Publication Year: 1990, Page(s):547 - 552 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    The off-line simulation of robot tasks will play an increasingly important role in the development of robot applications, particularly as they diversify into more complex and unstructured domains. In these domains the availability of good sensory information becomes vital to the success of the task, off-line simulation must therefore simulate not only the robot movements but also the sensory infor... View full abstract»

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  • Constructing maps for indoor navigation of a mobile robot by using an active 3D range imaging device

    Publication Year: 1990, Page(s):143 - 148 vol.1
    Cited by:  Papers (5)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    Presents the related mapping algorithm starting from acquisition of geometrical knowledge from the environment by using a 3D range imaging device. From 3D range images an abstract and compact description of available free motion space is extracted (free space polygon). Subsequent free space polygons are merged into a common map. The effectiveness and correct operation of the presented algorithm is... View full abstract»

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  • Robot motion planning: the case of nonholonomic mobiles in a dynamic world

    Publication Year: 1990, Page(s):757 - 764 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (676 KB)

    The authors present a trajectory planner whose purpose is to determine a smooth trajectory C which is maneuver free and collision free with respect to the static obstacles of the world. C is made up of straight segments and of circular arcs connected so that C is of class C1 and the circular transitions are determined by building and searching a part... View full abstract»

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  • A tactile sensor system for revolute joints of manipulators

    Publication Year: 1990, Page(s):891 - 896 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (264 KB)

    Deals with a tactile sensor system for revolute joints of manipulators in order to detect contacts with obstacles. It has the ability to detect, in a sampling period, more than one location of contact switches which are turned ON even on a signal line. In the paper, the structure and the principle of the tactile sensor are described, followed by the analysis of the circuit and experimental results... View full abstract»

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  • A 3-D scene interpreter for indoor navigation

    Publication Year: 1990, Page(s):695 - 701 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    A 3D scene interpreter for visual navigation of a mobile robot is presented. The interpreter provides a partial understanding of scene contents. With the help of a priori knowledge and world constraints, it can be used for route planning and obstacle avoidance. The interpreter consists of data-driven low and intermediate-level stages and a model-driven high-level analysis stage. The high-level ana... View full abstract»

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  • Nuclear telerobotics and dextrous controllers

    Publication Year: 1990, Page(s):363 - 371 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (724 KB)

    Two new fields of development at AEA Technology's Harwell Laboratory are described, covering telerobotics and hand controllers for the nuclear industry. The first development describes the production of a nuclear engineered advanced telerobot (NEATER) for applications in decommissioning and waste handling. It is a re-engineered industrial robot based on the Staubli-Unimation PUMA 762 clean room ma... View full abstract»

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  • SYMTOM: an algebraic robotic manipulator modelling program

    Publication Year: 1990, Page(s):197 - 204 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB)

    A symbolic computation software package for a robotic manipulator has been developed using computer mathematics system MACSYMA. This software, SYMTOM, has the capabilities of solving symbolically dynamics, kinematics, and Jacobian matrix, and it is connected with the TOMCAT system developed by the authors as a CAD for a robotic manipulator. This new CAD system provides the most simplified symbolic... View full abstract»

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  • A health care robot for patients

    Publication Year: 1990, Page(s):985 - 986 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    Describes a health care robot for patients in hospitals. It is important and helpful in health cares to visualize and recognize the conditions of patients. The authors developed a health care robot for patients. This robot has an audio announcement system and a vision system. When the patient's condition becomes worse, the robot calls doctors or nurses. In this manner, this robot can assist doctor... View full abstract»

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  • A good extension method of free space in an uncertain 2D workspace by using an ultrasonic sensor

    Publication Year: 1990, Page(s):665 - 671 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    In a robot workspace expressed explicitly by a quadtree representation that controls free regions and other regions, good algorithms have been presented which generates a fast collision-free path and a sequence of collision-free motions between the given start and goal for a mobile robot with complicated shape. Thus it is important to represent explicitly the workspace quadtree by using some senso... View full abstract»

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  • Tele-existence master-slave system for remote manipulation

    Publication Year: 1990, Page(s):343 - 348 vol.1
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    A tele-existence master-slave system for remote manipulation experiments is designed and developed, and an evaluation experiment of a tele-existence master-slave system is conducted. By making a comparison of a tele-existence master-slave system with a conventional master-slave system, efficacy of the tele-existence master-slave system is verified and the superiority of the tele-existence method i... View full abstract»

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  • A method for fast computation of collision-free robot movements in configuration-space

    Publication Year: 1990, Page(s):5 - 12 vol.1
    Cited by:  Papers (8)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    Some algorithms for a fast and efficient computation of collision-free robot gross-motions are presented. A technique based on a lookup-table for mapping obstacles into configuration-space, is shown. Some algorithms for the generation of the distance-field in configuration space, which were derived from well-known methods but adapted for c-space, are described and compared with respect to their ef... View full abstract»

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