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

12-16 Sept. 1994

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  • Binocular tracking based on virtual horopters

    Publication Year: 1994, Page(s):2052 - 2057 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (695 KB)

    This paper presents a stereo active vision system which performs tracking tasks on smoothly moving objects in complex backgrounds. Dynamic control of the vergence angle adapts the horopter geometry to the target position and allows to pick it up easily on the basis of stereoscopic disparity features. We introduce a novel vergence control strategy based on the computation of "virtual horopters" to ... View full abstract»

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  • Active Antenna-basic considerations on the working principle

    Publication Year: 1994, Page(s):1744 - 1750 vol.3
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    This paper addresses a new active sensor system (Active Antenna) motivated by insect's antenna. The antenna can be characterized by its “flexibility” and “active motions”. Based on these observations on insect's antenna, the authors' discuss an active sensor system composing of only four components, an insensitive flexible antenna, a position sensor, a torque sensor, and an... View full abstract»

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  • Realtime range imaging using adjustment-free photo-VLSI-silicon range finder

    Publication Year: 1994, Page(s):1751 - 1758 vol.3
    Cited by:  Papers (4)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    Presents a range imaging VLSI sensor which gives a range image of a scene with high robustness and high accuracy at a video frame rate. No adjustment is required. Photodiodes and operational circuits are integrated into each pixel of the range imaging VLSI sensor to function as analog/digital micro-rangefinders. The 2D array of the micro-rangefinders, the range imaging VLSI sensor, acquires frames... View full abstract»

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  • 3-D range sensor using fiber grating for recognition of autonomous mobile robot's passage space

    Publication Year: 1994, Page(s):1759 - 1763 vol.3
    Cited by:  Papers (3)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB)

    A 3-D range sensor system for an autonomous mobile robot is reported. It is important for a mobile robot to recognize spaces of passage. In this sensor system, the passage space is detected with an active vision sensor using a fiber grating, laser diode, and CCD camera. The fiber grating vision sensor can easily obtain 3-D information about the object. In the authors' system, the object is the flo... View full abstract»

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  • Mobile robots in complex environments: a three-layered hierarchical path control system

    Publication Year: 1994, Page(s):1891 - 1898 vol.3
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    Autonomous navigation in unknown cluttered environments is one of the corner-stones of future applications of mobile robots. The complexity even of seemingly simple problems like point-to-point travel, to be solved in real-time, calls for a hierarchical system architecture. The authors present a three-layered path control system with three modules “global planning”, “local naviga... View full abstract»

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  • Randomized preprocessing of configuration space for path planning: articulated robots

    Publication Year: 1994, Page(s):1764 - 1771 vol.3
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB)

    This paper describes the application of a recent approach to path planning for robots with many degrees of freedom (DOF) to articulated robots moving in two or three dimensional static environments. The planning approach, which itself is not restricted to articulated robots, consists of a preprocessing and a planning stage. The preprocessing is done only once for a given environment and generates ... View full abstract»

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  • Navigation with constraints for an autonomous mobile robot

    Publication Year: 1994, Page(s):1899 - 1905 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    This paper describes a navigation planning algorithm for a mobile robot capable of autonomous navigation in a quasi-structured, partially known and dynamic environment. This algorithm uses a description of the environment containing both operational and geometric information. An interactive program permits an operator to create the description of the environment composed of structural elements suc... 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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  • Trajectory control of an air cushion vehicle

    Publication Year: 1994, Page(s):1906 - 1913 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    In this report several propulsion systems of air cushion vehicles are introduced, and a state feedback control law for trajectory control of an air cushion vehicle is proposed. We consider that the vehicle should be controlled so that it may not drift sideways for good driving performance. We apply a Lyapunov-like function to develop a nonlinear state feedback control law. Effectiveness of the non... 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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  • 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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  • On a proof of the deadlock-free property in an on-line path-planning by using world topology

    Publication Year: 1994, Page(s):1946 - 1953 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    In this paper, we propose a new type of two sensor-based path-planning algorithms running in a 2D uncertain world. In almost all previous sensor-based path-planning algorithms, the automaton comes close to the goal asymptotically when it leaves an obstructed obstacle. Consequently there is no obstacle where the automaton can hit in future at worst and then the automaton arrives at the goal finally... 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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  • Velocity bounds for motion planning in the presence of moving planar obstacles

    Publication Year: 1994, Page(s):1914 - 1921 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    This paper is concerned with motion planning for a mobile robot operating in a planar environment with multiple arbitrarily moving obstacles. The robot and obstacles are rigid bodies of arbitrary shapes. All rigid motion-rotation and translation-is considered for the obstacles; the robot can move only by translation. The robot has no advance information about the obstacles' shapes or motion, and o... View full abstract»

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  • Robotic drilling under force control: execution of a task

    Publication Year: 1994, Page(s):1618 - 1625 vol.3
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    This paper presents the analysis and characterisation of force controlled robotic drilling. We demonstrate that a robot manipulator can perform drilling if enough contact thrust-force is provided between a workpiece and drill, and is controlled properly. It is shown that the key parameters for robotic drilling are the drill rotational speed and thrust force. We believe that this implementation of ... 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 (5)
    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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  • 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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  • Generation of optimal configuration for a redundant manipulator with a trained neural network

    Publication Year: 1994, Page(s):2139 - 2145 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    Redundant manipulators have more degrees of freedom than what is absolutely necessary for performing a task. The extra degrees of freedom can be used for avoiding obstacles or to optimize certain performance indices like manipulability or task compatibility. Maximizing manipulability keeps the manipulator away from singularities and provides more velocity transmission ratios in all directions. Opt... View full abstract»

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  • Vision-controlled robotic tracking and acquisition

    Publication Year: 1994, Page(s):2000 - 2006 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (428 KB)

    A vision-controlled robot conveyor tracking system is presented here. The vision system utilizes a constant in-time sensing field. In its normal mode of operation, this system takes a picture, analyses the image, recognises the object, extracts position information from it. Utilising this information along with the velocity information from the conveyor belt, the robot maneuvers to track and grasp... View full abstract»

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  • Automation and robotics technology testbed for external servicing

    Publication Year: 1994, Page(s):1954 - 1963 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    This paper presents the Automation and Technology testbed for External Servicing (ARTES) developed by Tecnospazio on behalf of European Space Agency Technology Center (ESTEC). ARTES was conceived as a ground testbed to perform technology assessment of components, control concepts, algorithms and operational procedures for future Space robots for external servicing. Sensor based robotic control, fo... View full abstract»

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  • Increasing access with a low-cost robotic wheelchair

    Publication Year: 1994, Page(s):1663 - 1667 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    Many people who are mobility impaired are incapable, for a variety of reasons, of using an ordinary wheelchair. In some instances, a power wheelchair also cannot be used, usually because of the difficulty the person has in controlling it (often due to additional disabilities). This paper describes a low-cost robotic addition to a power wheelchair that assists the rider of the chair in avoiding obs... View full abstract»

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  • Cooperation of mobile robots by event transforms into local space-time

    Publication Year: 1994, Page(s):1501 - 1507 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    Crossings represent a classical example for the conflict regions of mobile robot systems. Two robots in a crossing situation are considered where the priorities and sequences of passing have been determined beforehand. Communication and sensing are regarded as an ideal combination of data sources for the collision avoidance control process. Nevertheless, in this case, temporal uncertainties have t... 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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  • 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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  • Control of robotic manipulators using a CMAC-based reinforcement learning system

    Publication Year: 1994, Page(s):2117 - 2122 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    A practical learning control system is described in this paper, which is applicable to the control of complex robotic systems. In the controller, a stochastic reinforcement learning algorithm is used to learn functions with continuous outputs as control signals. The authors present a CMAC-based network incorporating stochastic real-valued units that learns to perform an underconstrained positionin... View full abstract»

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