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

3-6 July 1990

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  • 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
    Request permission for commercial reuse | PDF file iconPDF (57 KB)
    Freely Available from IEEE
  • A three fingered, multijointed gripper for experimental use

    Publication Year: 1990, Page(s):853 - 858 vol.2
    Cited by:  Papers (27)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper can be used to develop and evaluate different approaches of stab... View full abstract»

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  • Visual navigation of autonomous on-road vehicle

    Publication Year: 1990, Page(s):175 - 180 vol.1
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    Presents a visual navigation algorithm for autonomous on-road vehicles. The purpose of the research is to realize an autonomous vehicle navigation system which works as an intelligent driving support system. The basic structure of such autonomous vehicle navigation system is described first. Then, a vehicle control algorithm based on the visual tracking of fixed targets and path planning is propos... View full abstract»

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  • Contact point detection for grasping of an unknown object using joint compliance

    Publication Year: 1990, Page(s):845 - 851 vol.2
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB)

    Focuses on a scheme for searching a contact point between a multifingered hand and an unknown object. Instead of mounting a distributed tactile sensor all over the finger links, the authors propose an active touch approach using joint compliance. The algorithm is composed of two phases. One is the approach phase, in which each finger is opened widely and approaches to an object until a part of a f... View full abstract»

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  • Automated devices to grow and transplant seedlings

    Publication Year: 1990, Page(s):243 - 248 vol.1
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    Transplanting seedlings is important in agriculture. Automating activities involved in transforming seeds or plant materials into transplanted seedlings can help reduce costs. Research activities related to automating procedures are discussed: containers to grow and ship seedlings, which facilitate automation; short, sturdy seedlings for machine handling; and experimental machines including a seed... View full abstract»

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  • Visually guided operations in green-houses

    Publication Year: 1990, Page(s):279 - 285 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    A vision system to operate in a greenhouse environment designed for tomato cultivation is presented. The signals sent by two PAL colour cameras are processed by a graphic workstation using a bit-slice microprocessor card for fast image processing. Cultural operations are examined and the proper vision system specifications are defined. Attention is turned on two aspects: localization of main objec... View full abstract»

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  • Active sensing in vision-based stereotyped motion

    Publication Year: 1990, Page(s):167 - 174 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (896 KB)

    TV camera is constrained in its visual angle, function of pattern recognition and processing speed. To meet these problems, an active sensing paradigm is applied on such vision-based stereo-typed motions as moving along a sign pattern, moving for sighting and following a person. In each stereo-typed motion the active sensing paradigm is defined by fixed control patterns of locomotion and TV camera... View full abstract»

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  • Communication in the autonomous and decentralized robot system ACTRESS

    Publication Year: 1990, Page(s):835 - 840 vol.2
    Cited by:  Papers (28)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (428 KB)

    The new concept for an advanced robot system, ACTRESS (ACTor-based robots and equipments synthetic system), has been designed for the automation of high level tasks. The system assumes that multiple robots and equipments, which are called robotors in general, work independently or cooperatively by communicating each other, depending on the task requirements. The paper discusses the distributed rob... View full abstract»

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  • An intelligent automated system for determining peanut quality

    Publication Year: 1990, Page(s):237 - 241 vol.1
    Cited by:  Papers (1)  |  Patents (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    A decreasing labor force and consumer demands for increased food quality has initiated development of an intelligent automated system for determining peanut quality. The system under development has the goal of removing all subjectivity involved in inspecting peanuts with minimal labor input. The system currently includes damage detection, bulk and single kernel moisture determination, positive sa... View full abstract»

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  • Artificial intelligence application in carcass beef grading automation

    Publication Year: 1990, Page(s):271 - 278 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    The carcass grading process can be divided into two subprocesses: gathering of relevant information through visual observations and decision-making based on the relevant information to assign the final yield and quality grades. Both subprocesses require expert knowledge in terms of what information is needed and how to use set rules for deducing the final grades. An automated meat grading system s... View full abstract»

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  • Dynamic walk control of a biped robot along the potential energy conserving orbit

    Publication Year: 1990, Page(s):789 - 794 vol.2
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    To reduce the complex walking dynamics of a biped, a particular class of trajectories derived by application of gravity compensation to an ideal biped model is considered. The trajectories have following properties: (a) the center of gravity of the body moves horizontally, and (b) the horizontal motion of the center of gravity can be expressed by a simple linear differential equation. The trajecto... View full abstract»

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  • Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface

    Publication Year: 1990, Page(s):323 - 330 vol.1
    Cited by:  Papers (45)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (688 KB)

    The authors introduce a control method for dynamic biped walking stabilized by trunk motion on a sagitally uneven surface, that is for a biped walking robot which has a trunk to stabilize its walking, and its effectiveness as supported by walking experiments using a biped walking robot. This control method is based on the introduction of a new concept called a virtual surface, to consider the ZMP ... 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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  • Analysis and evaluation of cellular robotics (CEBOT) as a distributed intelligent system by communication information amount

    Publication Year: 1990, Page(s):827 - 834 vol.2
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    Deals with a method of construction of complicated systems based on cells having simple functions. This system is called a cellular robotic system (CEBOT). CEBOT is a kind of a distributed intelligence system which has been considered as one of the next generation artificial intelligence system. Each cell has its own knowledge and database. Each cell can carry out tasks by using its own knowledge ... 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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  • 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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  • CMAC toward intelligent robot: motion and calibration

    Publication Year: 1990, Page(s):517 - 526 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    The cerebellar model arithmetic controller (CMAC), a kind of neuro-net based adaptive control function generator, has been successfully applied to the problems of inverse kinematic motion of two DOF manipulator and direct inverse calibration of three and six DOF PUMA 560 robots. Since CMAC-net autonomously maps and generalizes a desired system function via learning, CMAC allows no knowledge in mod... View full abstract»

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  • A force/torque sensor-based technique for robot harvesting of fruits and vegetables

    Publication Year: 1990, Page(s):231 - 235 vol.1
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (276 KB)

    In the harvest of many fruits and vegetables, it is important to cut the peduncle at a certain length, and not just to pull the fruit away, because this may damage the plant or the fruit during the harvest. In this paper, a method for the detection of the peduncle of close-to-spherical fruits and vegetables in robot harvesting is presented. An experimental set-up, consisting of a compliant three-f... View full abstract»

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  • Image-guided robotics for the automation of micropropagation

    Publication Year: 1990, Page(s):265 - 270 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    Describes a robots workstation used as a test bed for evaluating tools and techniques for automating the technique of micropropagation. A number of novel plant manipulation tools have been developed. These tools are mounted on a Cartesian geometry robot driven by stepper motors to perform the required harvesting, cutting and planting movements. Overall robot direction is provided by a program whic... View full abstract»

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  • How many degrees-of-freedom does a biped need?

    Publication Year: 1990, Page(s):297 - 302 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    One of the primary motivations for designing a biped robot is to perform tasks in environments that are too dangerous for human beings. To be a satisfactory substitute for a human being the robot must be able to enter a region originally designed for human access and perform tasks that are not already automated and normally require the capabilities of a person. One measure of the success of a bipe... View full abstract»

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  • An algorithm for the steering control of mobile robots

    Publication Year: 1990, Page(s):781 - 786 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB)

    Presents a method that combines the path planning and the steering control of autonomous mobile robots (AMR) in uncertain environments. The two problems are solved independently, using off-line and on-line procedures respectively, the link between them being established by a set of critical points defined along the trajectory. The path planner evaluates these points by modeling the free space usin... View full abstract»

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  • Foot trajectory for a quadruped walking machine

    Publication Year: 1990, Page(s):315 - 322 vol.1
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    Deals with the foot trajectory design for a quadruped walking machine. A quadruped walking machine requires both uneven terrain walking and high-speed flat surface walking capability. The static walking method was used for uneven terrain walking and the dynamic walking method for flat plane walking. In the dynamic walking case, the relative speed between the foot and the ground causes loss of body... 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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  • Fusing dynamic vision and landmark navigation for autonomous driving

    Publication Year: 1990, Page(s):113 - 119 vol.1
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    Basic concepts for navigation and orientation of autonomous mobile systems are the main subject of this paper. Landmark navigation helps to integrate singular observations into a global world model. In a vision-guided vehicle, observations may stem from dynamic vision allowing the control of movements by a video camera in real-time. The paper describes the combination of both approaches to an homo... 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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