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Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Date 12-16 Sep 1994

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  • Supervisory robotic control under vision guidance

    Publication Year: 1994, Page(s):2030 - 2035 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    Advanced robotic applications often require a robot to work as a part of an integrated system. Supervisory control of the robot in such cases readily permits incorporation of external sensing systems such as vision. To handle communication between a host and robot controller more effectively, we have developed multilevel commands within the host programming environment. An example application is p... View full abstract»

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  • Towards obtaining all possible contacts-growing a polyhedron by its location uncertainty

    Publication Year: 1994, Page(s):1788 - 1795 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    This paper provides a general and exact method of growing a polyhedral object in three-dimensional Cartesian space to take into account its orientation and position uncertainties. The work is particularly motivated by the need for automatically recognizing contact situations among objects in spite of uncertainties. The technique of growing surface elements of a polyhedron by uncertainty can be use... View full abstract»

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  • Using perception to plan incremental adaptations

    Publication Year: 1994, Page(s):1780 - 1787 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    A robot system operating in an environment in which there is uncertainty and change needs to combine the ability to react with the ability to plan ahead. In a previous paper we proposed a solution to the problems of integrating planning and reaction: cast planning as adaptation of a reactive system. The planner, asynchronously tuning the reactor, decides on the appropriate parts of the reactor to ... View full abstract»

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  • An objective-based stochastic framework for manipulation planning

    Publication Year: 1994, Page(s):1772 - 1779 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (856 KB)

    We consider the problem of determining robot manipulation plans when sensing and control uncertainties are specified as conditional probability densities. Traditional approaches are usually based on worst-case error analysis in a methodology known as preimage backchaining. We have developed a general framework for determining sensor-based robot plans by blending ideas from stochastic optimal contr... View full abstract»

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  • Hardware and software architecture for intelligent robot control-an approach to dual control architecture

    Publication Year: 1994, Page(s):2146 - 2151 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    A new “dual control” robot control architecture is proposed. This control architecture endows a robot with human-like intelligent control capability similar to that of the human cerebrum. This improves robot adaptability to unpredictable circumstances, and allows a higher level of adaptability than conventional sensory feedback control, which depends on robot local sensory information,... View full abstract»

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  • Orientation estimate for mobile robots using gyroscopic information

    Publication Year: 1994, Page(s):1867 - 1874 vol.3
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    An error model for a solid-state gyroscope developed previously by the authors is included in a Kalman filter for improving the orientation estimate of a mobile robot. Orientation measurement with the error model is compared to the performance when no error model is incorporated in the system. The results demonstrate that without error compensation, the error in localization is between 5-15°/m... View full abstract»

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  • Feasibility study of disassembly task based on topological operations-consideration in 2-dimensional space

    Publication Year: 1994, Page(s):2131 - 2138 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    An automatic generation of assembly or disassembly sequence is a significant problem for an automatic assembly using robotic manipulators. This problem can be separated into following three stages. 1. Extraction of all feasible assembly/disassembly tasks. 2. Generation of all assembly/disassembly sequence. 3. Decision of optimal sequence. As for the stages 2 and 3, one of the efficient strategy ba... View full abstract»

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  • Slippage control in hand prostheses by sensing grasping forces and sliding motion

    Publication Year: 1994, Page(s):1803 - 1809 vol.3
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    Controlling grasp and avoiding object slippage is very important in hand prosthetic systems. At present the amputee must use vision to monitor grasp, and adjust grasping force based on this estimate. We investigate the problem of measuring normal and tangential forces at the gripper-object interface, and design a slip tactile sensing system for this purpose. In this paper we discuss the design, fa... View full abstract»

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  • Statistical estimation algorithms for ultrasonic detection of surface features

    Publication Year: 1994, Page(s):1845 - 1852 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    For several applications of interest in the robotic field, range sensing is often accomplished by means of single ultrasonic sensors. Additional information about the objects' surface, such as the orientation relative to the sensing device, has to be extracted by means of ultrasonic sensor arrays. So far, a few researchers have dealt with the problem of determining also the local curvature of curv... View full abstract»

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  • Analysis of space manipulators with non-specific reference links

    Publication Year: 1994, Page(s):1539 - 1545 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    In previous works on modeling of space manipulators, the satellite base or spacecraft is assumed to be at one end of the chain and the robot end-effector at the other. In this paper, a general model allowing any link on a floating kinematic chain to be either the spacecraft or the end-effector is developed and characterized. Properties discovered in the past about space manipulators are generalize... View full abstract»

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  • Task description, decomposition, and allocation in a distributed autonomous multi-agent robot system

    Publication Year: 1994, Page(s):1516 - 1523 vol.3
    Cited by:  Papers (13)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (740 KB)

    In this paper a new intelligent control architecture for autonomous multi-robot systems is presented. Furthermore, the paper deals with task description, task distribution, task allocation and coordination of the system components. The main advantage of the new control architecture is the distributed execution of tasks or subtasks by components of the multi-robot system. The components are able to... View full abstract»

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  • Intelligent robotic reusable manufacturing for environment conscious

    Publication Year: 1994, Page(s):1986 - 1991 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    Some existing production technologies cause environmental deterioration. It becomes a key issue to save and use resources effectively from the view point of environment protection. Therefore, trends of technologies are now changing from improving the productivity to improving the recycling. This paper presents robotic technology for automatic reusable manufacturing that more effective usage of res... View full abstract»

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  • Case studies of vision-based motion planning for robot interception tasks

    Publication Year: 1994, Page(s):2072 - 2079 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    This paper describes two case studies of motion planning that uses a space called Perceptual Control Surface (PCS) introduced previously as a basis for visually controlling a robot manipulator. The motion planning problems discussed here are limited to dynamic robot hand positioning for interception tasks. Using this approach, a motion planning problem can be regarded as finding a path in robot's ... View full abstract»

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  • A supervisory system for the URMAD robotic unit

    Publication Year: 1994, Page(s):1687 - 1694 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    This paper reports part of the work related to the design and development of the URMAD system, a mobile robotic unit purposely devised to assist the severely disabled in a household environment. A supervisory system based on distributed decision making and functional distribution has been designed and implemented on a VME/OS9 architecture. This system is capable of executing typical domestic tasks... View full abstract»

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  • Performance evaluation of a novel fault tolerance training algorithm

    Publication Year: 1994, Page(s):2111 - 2116 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    This paper presents a performance evaluation of a novel algorithm for fault tolerance training of artificial neural networks (ANNs). The proposed algorithm is based on a genetic algorithms technique. A realistic, and practical fault model is adopted, it reflects the failures that arise during hardware realization of ANNs, regardless of the hardware platform used in the implementation. Using this f... View full abstract»

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  • Static friction coefficient determination by force sensing and its application

    Publication Year: 1994, Page(s):1639 - 1646 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    One of the essential parts of dextrous manipulation with fingers is the use of sliding motion. Sliding manipulation techniques can fulfil tasks, such as a change of contact point between fingers and objects, a change in the location of objects without losing contact under unknown object-fingertip surface conditions or the determination of an optimal grasp force in order to avoid losing grasped obj... View full abstract»

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  • A scalable optimizer for automatically generated manipulator motions

    Publication Year: 1994, Page(s):1796 - 1802 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    Starting from a collision-free robot path-given by an automatic motion planner or by a human programmer-the proposed method shortens and smoothes this path by using iteratively a few local, elementary geometric operations. The fast path-optimization process is interruptable at any time, thus always getting the best result obtainable within a certain amount of time. This property is especially usef... View full abstract»

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  • Intelligent low-cost mobility

    Publication Year: 1994, Page(s):1708 - 1715 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (752 KB)

    Autonomous low-cost mobility of robots has been a challenging problem for quite a long time. In this paper the typical problems of sonar based autonomous navigation and the authors' solutions to overcome them are discussed. The authors have created, robust modules for sonar data fusion and safe steering which significantly improve known methods. There are furthermore robot control behaviors which ... View full abstract»

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  • A laboratory test bed for space robotics: the VES II

    Publication Year: 1994, Page(s):1562 - 1569 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (684 KB)

    The dynamic interaction between a space robotic manipulator and its base in micro-gravity can make it difficult to control and lead to system performance degradation. Control and planning algorithms proposed in the past to compensate for this dynamic interaction have lacked sufficient experimental evaluation. A laboratory test bed is described which was developed and built to emulate the dynamic b... View full abstract»

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  • A proposal for cooperative robot “Gunryu” composed of autonomous segments

    Publication Year: 1994, Page(s):1532 - 1538 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    This paper proposes the concept, and explains the characteristics, of a new group robot “Gunryu”, each segment of which has autonomy but at the same time moves and operates cooperatively with the other segments. Next, the mechanisms of a primary model, GR-1, which is comprised of two prototype robot units, are introduced and the conditions for operational experiments are given View full abstract»

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  • Real world application of a low-cost high-performance sensor system for autonomous mobile robots

    Publication Year: 1994, Page(s):1840 - 1844 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    Commercially successful autonomous mobile robot systems demand the development of new methodologies for dealing with “real world” requirements of very low cost and very high performance sensing technology for use in the constantly changing, dynamic, unstructured environments in which society expects such robots to operate unsupervised on a daily basis. This paper presents a new modular... View full abstract»

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  • Impact estimation of a space robot at capturing a target

    Publication Year: 1994, Page(s):1570 - 1577 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    Capturing a target by a robot hand in space inevitably causes impulsive forces on the contact points. Such forces possibly give undesirable effects to both spacecraft. The authors' purpose is to study the relationships between the initial relative velocities of the hand to the target and the resulting contact impulse. The authors consider the effects of the servo stiffness and the desired joint ra... View full abstract»

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  • Reflex-like control for the coupled tendon-driven manipulator

    Publication Year: 1994, Page(s):1810 - 1815 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    The reflex-like feedback control similar to a spinal reflex of the human muscular control system is applied to the tendon-driven manipulator. The reflex-like control is realized by the state feedback of driving force, joint angle and angular velocity. The effects of the reflex-like control are discussed by an analysis of a linearized model and the simulation of a nonlinear system. It is found that... View full abstract»

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  • Collision free minimum time trajectory planning for manipulators using global search and gradient method

    Publication Year: 1994, Page(s):2184 - 2191 vol.3
    Cited by:  Papers (4)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    A method for a time optimal collision free trajectory planning problem is proposed. In this paper, the dynamics of manipulator and obstacles are considered. This type of optimal trajectory planning problem is very difficult and complicated one because of the nonlinearity of manipulator dynamics and existence of obstacles. Generally, it results in a multimodal optimization problem. The proposed met... View full abstract»

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  • Concepts of a distributed real-time knowledge base for teams of autonomous systems

    Publication Year: 1994, Page(s):1508 - 1515 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (676 KB)

    Flexible planning and control of a factory requires concepts for the representation of the local and global knowledge of the autonomous systems working in teams. Therefore, we developed a distributed real-time knowledge base that facilitates teamwork of autonomous systems in flexible manufacturing environments. The knowledge base consists of several local knowledge bases cooperating with each othe... View full abstract»

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