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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

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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  • Determination of 3-D pose of a flexible object by stereo matching of curvature representations

    Publication Year: 1994, Page(s):1992 - 1999 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    For automatic handling of a flexible object such as an electric wire, cable or rope it is necessary to determine the 3-D pose of the object. However, it is difficult to achieve this because of the intrinsic flexibility of the flexible object. We use the k-curvature representation to describe the skeleton image of a flexible object. Moreover, we present two fast stereo matching methods to determine... View full abstract»

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  • Dynamics and control of multi-arm space robots during chase and capture operations

    Publication Year: 1994, Page(s):1554 - 1561 vol.3
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 KB)

    Studies the motion control of a multi-arm free flying space robot chasing a passive object in close proximity. Free-flyer kinematics are developed using a minimum set of body-fixed barycentric vectors. Using a general and a quasi-coordinate Lagrangian formulation, two dynamics models are derived. Control algorithms are developed that allow coordinated tracking control of the manipulators and the s... 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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  • A laboratory test bed for space robotics: the VES II

    Publication Year: 1994, Page(s):1562 - 1569 vol.3
    Cited by:  Papers (12)
    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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  • Recognition and localization of solid objects by a monocular vision system for robotic tasks

    Publication Year: 1994, Page(s):2007 - 2014 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    In this paper, we present a model-based vision system using a CCD camera mounted on the end-effector of an industrial robot. We describe an autonomous monocular vision system which is used as a feedback signal to control the position and orientation of the manipulator with respect to a dynamic object part of a 3D scene. Without any previous knowledge of the part's placement or motion, this visual ... 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 (10)
    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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  • 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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  • Vision based navigation for an office messenger robot

    Publication Year: 1994, Page(s):2015 - 2022 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    Prototype office messenger robot with a new vision-based navigation/maneuvering system which implements the habitat constraint vision theory proposed by the Massachusetts Institute of Technology (MIT) has been built. The vision system is used for two objectives: to avoid collisions and find safe passage in a dynamically changing environment (maneuvering and short-range navigation); and to identify... 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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  • A mobile robot for on-site construction of masonry

    Publication Year: 1994, Page(s):1701 - 1707 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    This article gives insight into a research project aiming at the on-site manufacturing of masonry with the assistance of an automatic mobile robot. Regarding an application orientated realisation, a commercial construction machine is modified and converted into a bricklaying robot. The paper describes the kinematic structure of the robot, the sequence of the automated construction of masonry and a... View full abstract»

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  • Practical coordination control between satellite attitude and manipulator reaction dynamics based on computed momentum concept

    Publication Year: 1994, Page(s):1578 - 1585 vol.3
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    This paper presents a practical control method for the robot satellite attitude to cope with manipulator reaction on free-floating space robots, developing the computed-momentum based reaction compensation (CMRC) concept. The author proposes versions of the CMRC control schemes based on angular momentum conservation in floating multi-link systems, practical schemes which require far less computati... 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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  • 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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  • 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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  • Vision-based human interface with user-centered frame

    Publication Year: 1994, Page(s):2023 - 2029 vol.3
    Cited by:  Papers (5)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (580 KB)

    This paper presents a vision-based human-computer interface system that enables the user to move a target object in 3D CG world by moving his/her hand. Unlike conventional systems, the system does not need any camera calibration. In addition, it uses a user-centered frame so that the user can control the object by hand motions matched with human intuition. For example, the user can move the object... 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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  • 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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  • On the dynamics and control of ETS-7 satellite and its robot arm

    Publication Year: 1994, Page(s):1586 - 1593 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    ETS-7 is the 7th engineering test satellite of NASDA (National Space Development Agency of Japan) to be launched in 1997. The satellite has a 6-DOF robot arm for space robot technology experiments. Mass of the payload varies from a few kg to 400 kg and mass of the satellite is about 2.2t. Therefore a dynamic interaction between the robot arm motion and the satellite attitude motion is not negligib... 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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  • Off-line programming for the aircraft cleaning robot “SKYWASH”

    Publication Year: 1994, Page(s):1972 - 1979 vol.3
    Cited by:  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    “SKYWASH” is the name of a robot system washing the outer surface of aircraft. Aircraft have to be washed in regular cycles for appearance and surface corrosion reasons. With two “SKYWASH” systems in parallel operation a reduction of ground time per washing event by factor 3 for wide body aircraft and factor 2 for narrow body can be achieved. All programmes are generated of... 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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  • 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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  • 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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  • A lazy algorithm for planning motions in contact

    Publication Year: 1994, Page(s):2152 - 2159 vol.3
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    Planning the motion of objects in contact is an important stage of the analysis of mechanical assembly tasks. This paper concerns with the case of a polyhedron moving within a polyhedral environment. It presents an algorithm to plan the motion of a convex polyhedron translating and rotating in contact with a neither necessarily convex nor connected polyhedral obstacle. This algorithm uses a new de... View full abstract»

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