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
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    Freely Available from IEEE
  • 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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  • An algorithm for the steering control of mobile robots

    Publication Year: 1990, Page(s):781 - 786 vol.2
    Cited by:  Papers (2)
    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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  • Model-sensor fusion for mobile robots

    Publication Year: 1990, Page(s):775 - 780 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (332 KB)

    The paper addresses the motion planning problem for mobile robots evolving in ill-structured and dynamic environments. The main part of this work deals with the problem of the model-sensor cooperation, that is to maintain the world consistency when real information provided by sensors View full abstract»

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  • 6 DOF manipulators absolute positioning accuracy improvement using a neural-network

    Publication Year: 1990, Page(s):635 - 640 vol.2
    Cited by:  Papers (1)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (348 KB)

    An absolute positioning accuracy improvement method, using an artificial neural network, has been developed. In this method, an artificial neural network is used with a conventional inverse kinematics computation module in parallel. The network automatically learns the manipulator model errors. When a manipulator carries out tasks, both the network and the inverse kinematics computation module rec... 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 (22)
    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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  • An interactive robot workstation for applications in rehabilitation

    Publication Year: 1990, Page(s):977 - 983 vol.2
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (580 KB)

    A novel approach to controlling robots has been developed which forms the basis of an interactive robotic workstation for use in educational and vocational settings by severely physically disabled individuals. In such settings, the intelligence of the disabled person is supplemented with the manipulation power of a robot in order to carry out activities such as game-play, cookery, science experime... View full abstract»

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  • Resolved motion control of redundant robot manipulators by neural optimization networks

    Publication Year: 1990, Page(s):627 - 634 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (324 KB)

    An effective resolved motion control method of redundant manipulators is proposed to minimize the energy consumption and to increase the dexterity while satisfying the physical actuator constraints. The method employs the neural optimization networks, where the computation of Jacobian matrix is not required. Specifically, end-effector movement resulting from each joint differential motion is first... 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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  • Biorobotics in a new artificial leg

    Publication Year: 1990, Page(s):971 - 976 vol.2
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (532 KB)

    Deals with the conceptual design and the realization of a prototype of a new artificial leg. The prosthesis is realized with a sensorization and motion control, performed with the support of a microprocessor, located inside the prosthesis. The engineering concepts are a consequence of fundamental robotics principles, and the biomechanics data are integrated in the software programs, in order to of... View full abstract»

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  • Automatic planning of pick and place operations in presence of uncertainties

    Publication Year: 1990, Page(s):33 - 40 vol.1
    Cited by:  Papers (2)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (552 KB)

    Describes a system that plans automatically `pick and place' tasks. It takes into consideration the strong interdependencies existing between the different steps of the `pick and place' task. The system deals explicitly with the interactions between grasp planning, transfer motions and approach motions. Besides, it makes use, at several steps during the planning phase, of a module that propagates ... View full abstract»

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  • An extension of neural network direct controller

    Publication Year: 1990, Page(s):619 - 626 vol.2
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (364 KB)

    Many studies have been undertaken in order to apply both the flexibility and learning ability of neural networks to dynamic system controllers. The paper proposes several kinds of neural network direct controllers as extensions to that previously proposed. They are an open loop type controller, in which the plant output information is not needed to realize the dynamics and the neural network direc... View full abstract»

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  • A flexible algorithm for planning local shortest path of mobile robots based on reachability graph

    Publication Year: 1990, Page(s):749 - 756 vol.2
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (572 KB)

    Proposes concept called `local shortest path' for mobile robots, and shows that a more compact V-graph of size O(M2+N) can be constructed based on this concept, where M and N are numbers of convex components and convex vertices of polygonal obstacles respectively. In addition, a reachability graph (R-graph) of size O(N* ... 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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  • Control of robot using coupled torque between joints

    Publication Year: 1990, Page(s):963 - 968 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (328 KB)

    In high speed motion, the coupling inertia torques and nonlinear velocity torques of a robot arm are the major components of the dynamic forces and often cause that one of the motors exceeds its torque limit. The experiment outlined in the paper utilizes `the coupled torques' to decrease the required torque of the motor. The authors have developed a direct-drive robot arm with 3 degrees of freedom... View full abstract»

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  • A nonconvex cost optimization approach to tracking multiple targets

    Publication Year: 1990, Page(s):25 - 31 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (452 KB)

    The problem of tracking multiple targets in the presence of displacement noise and clutter is formulated as a nonconvex optimisation problem. The form of the suggested cost function is shown to be suitable for the graduated nonconvexity algorithm, which can be viewed as deterministic annealing. The method is first derived for the two-dimensional (spatial/temporal) case, and then generalized to the... 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 (6)  |  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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  • Memory-based control for recognition of motion environment and planning of effective locomotion

    Publication Year: 1990, Page(s):303 - 308 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (392 KB)

    Points out the importance of memory-based schemes for motion control of robots. In memory-based control schemes, all values concerning robot motion are stored in memory of digital computers instead of modeling the robot motion and the environment around the robot. The authors propose a memory-based control scheme which is suitable for locomotion of robots in unknown environment. At the first step ... View full abstract»

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  • Fingertip position planning for a multifingered hand

    Publication Year: 1990, Page(s):859 - 864 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (296 KB)

    Discusses problems relating to planning fingertip positions of a multifingered hand. The fundamental problem is to compute a fingertip range within which the fingers can exert equilibrium forces. In two dimensions, the effect of changing a fingertip position along an edge is equivalent to the effect of changing fingertip forces of the fingers fixed at both ends of the edge. When the object to be g... View full abstract»

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  • An intelligent multi-response off-line quality control for semiconductor manufacturing

    Publication Year: 1990, Page(s):609 - 616 vol.2
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (664 KB)

    A Taguchi-based off-line quality control method is a cost-effective quality-improvement technique that uses experimental-design methods for efficient characterization of a product or process, combined with a statistical analysis of its variability, with the ultimate purpose of its minimization, so that more stable and higher quality products can be obtained. The paper presents a generalized perfor... 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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  • Towards a real-time navigation strategy for a mobile robot

    Publication Year: 1990, Page(s):743 - 748 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (356 KB)

    Describes the design of a real-time obstacle avoidance and navigation strategy for a mobile robot, using simulated time of flight infrared data. Algorithms have been developed in order to overcome the undesirable effect of potential traps within the field, and a new approach for dealing with sensing whilst moving is demonstrated. The authors show simulated results of a vehicle moving under artific... View full abstract»

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  • Autonomous plant maintenance robot (mechanism of Mark IV and its actuator characteristics)

    Publication Year: 1990, Page(s):471 - 478 vol.1
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (396 KB)

    Deals with the new mechanism of a maintenance robot, Mark IV. The Mark IV has a mechanism capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces. The main features of Mark IV are as follows: (i) the robot has a multi-joint structure, so that it has better adaptabilities to surface curvatures of pipelines and storage tanks; (ii) the joint of the robot has shape memory al... 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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  • Graphs with variable edge costs: a model for scheduling a vehicle subject to speed and timing restraints

    Publication Year: 1990, Page(s):73 - 79 vol.1
    Cited by:  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (416 KB)

    Consider a graph with a range of costs associated with each vertex and each edge of the graph. The author studies paths in such graphs where the cost of each edge of the path must be chosen within the range of costs for that edge and the sum of the chosen costs of the edges from the start of the path to any vertex in the path must belong to the range of allowable costs for that vertex. He shows th... View full abstract»

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