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Proceedings of IEEE International Conference on Robotics and Automation

22-28 April 1996

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  • Proceedings 1996 IEEE International Conference on Robotics and Automation - Volume 4

    Publication Year: 1996
    Request permission for commercial reuse | PDF file iconPDF (1984 KB)
    Freely Available from IEEE
  • Analysis of probabilistic roadmaps for path planning

    Publication Year: 1996, Page(s):3020 - 3025 vol.4
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (569 KB)

    Provides an analysis of a path planning method which uses probabilistic roadmaps. This method has proven very successful in practice, but the theoretical understanding of its performance is still limited. Assuming that a path /spl gamma/ exists between two configurations a and b of the robot, we study the dependence of the failure probability to connect a and b on (i) the length of /spl gamma/, (i... View full abstract»

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  • Analytical study of Stewart platform workspaces

    Publication Year: 1996, Page(s):3179 - 3184 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (502 KB)

    We apply analytical methods of workspace determination of mechanical systems to Stewart platforms. Four main tools are needed. The modelling gives the relationships between the parameters of the system. Mathematical analysis leads to a universal (i.e. not personal) approach and results. Mathematical optimization is used for the analytical approach to function minimization. The computer algebra use... View full abstract»

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  • Use of first derivative of geometric features in visual servoing

    Publication Year: 1996, Page(s):3413 - 3419 vol.4
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    Visual servoing is based on an array of measurements taken from a set of images and used each time as an error function to compute a control vector. This is applied to the system (robot and camera) and makes it move in order to reach a desired situation, at the end of the task, directly depicted in the image. The originality of this recent work consists in improving the visual servoing approach. T... View full abstract»

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  • A unified approach to inverse and direct kinematics for four kinds of wheeled mobile robots and its applications

    Publication Year: 1996, Page(s):3458 - 3465 vol.4
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (799 KB)

    The development of mechanical structures for wheeled vehicles has a very long history. The forms of vehicles can be classified according to the steering and powering of the vehicle as follows: 1) ordinary car-like robots (including passenger cars, single unit trucks, single unit buses and articulated trucks); 2) dual drive robots (dual drive motors with various casters); 3) synchronous drive and s... View full abstract»

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  • Efficient exploration and recognition of convex objects based on haptic perception

    Publication Year: 1996, Page(s):3508 - 3513 vol.4
    Cited by:  Papers (23)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (712 KB)

    The paper describes an efficient technique for recognition of convex objects from tactile sensing. The technique is based on the development of internal and external volumetric approximations of the unknown object, and exploits an effective feature selection strategy along with early pruning of incompatible objects to improve recognition performance. Exploration strategies conceived for a single-f... View full abstract»

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  • Study on Roller-Walk (basic characteristics and its control)

    Publication Year: 1996, Page(s):3265 - 3270 vol.4
    Cited by:  Papers (34)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB)

    A new leg-wheel hybrid vehicle named “Roller-Walker” is proposed. The Roller-Walker is a vehicle with special foot mechanism which changes to the sole for walking mode and passive wheels for wheel mode. On rugged terrain the vehicle walks in the leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by using the passive wheel in the way of roller-sk... View full abstract»

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  • Visual inspection scheme for use in optical solder joint inspection system

    Publication Year: 1996, Page(s):3259 - 3264 vol.4
    Cited by:  Papers (6)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB)

    An optical solder joint inspection system (OSJIS) has been developed for the automatic visual inspection of soldered parts on the printed circuit boards. Its advantages over existing techniques include the detection of 3-D shape of specular objects with high reliability and high speed. We propose a solder joint inspection scheme for a prototype of the OSJIS. The inspection scheme is composed of tw... View full abstract»

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  • A conical mirror pipeline inspection system

    Publication Year: 1996, Page(s):3253 - 3258 vol.4
    Cited by:  Papers (10)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (704 KB)

    Presents a novel system that provides high quality imaging of the interior surface of pipelines. The imaging device uses a refined conical mirror micro-surface machined from aluminum to image a 360° strip of the pipe in a single frame. A continuous stream of such images is transmitted to the surface where it is stored on a standard video recorder. The image sequences are processed off-line, ul... View full abstract»

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  • Camera and light placement for automated assembly inspection

    Publication Year: 1996, Page(s):3246 - 3252 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (752 KB)

    Visual assembly inspection can provide a low cost, accurate, and efficient solution to the automated assembly inspection problem, which is a crucial component of any automated assembly manufacturing process. The performance of such an inspection system is heavily dependent on the placement of the camera and light source. This article presents new algorithms that use the CAD model of a finished ass... View full abstract»

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  • Digital control through finite feedback discretizability

    Publication Year: 1996, Page(s):3141 - 3146 vol.4
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    State feedback and diffeomorphism on a given nonlinear plant to get finitely discretizable dynamics are used as a first step of a digital design procedure. Links with nilpotent and nilpotentizable Lie algebras are pointed out. The effectiveness of the control procedure is demonstrated on the basis of a case study View full abstract»

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  • Displacement errors in active visual inspection

    Publication Year: 1996, Page(s):3240 - 3245 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    Displacement error is inherent in automated visual inspection systems. This paper discusses the effect of displacement error of the end-effector on the precision measurement of the dimension of an edge line segment. The position and orientation errors of the end-effector are assumed to be normal distributed. A probabilistic analysis in terms of the these errors is developed for the displacement er... View full abstract»

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  • Cue verification for an automatically-guided wheelchair system

    Publication Year: 1996, Page(s):3135 - 3140 vol.4
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    An automatically-guided wheelchair system has been developed at the University of Notre Dame. Like some other automatically-guided vehicles (AGVs), this system uses filtering to combine information from measurements and the state equations to produce accurate ongoing pose estimates. This approach relies on the detection of nonunique passive visual cues placed at known positions throughout the envi... View full abstract»

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  • Robotic office room to support office work by human behavior understanding function with networked machines

    Publication Year: 1996, Page(s):2968 - 2975 vol.4
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    This paper proposes a novel human-robot symbiosis system, named a robotic office room (ROR). The understanding, recording and retrieving of telephone call behavior are successfully demonstrated as a typical example of an office work-supporting function of ROR. A unique object model is proposed, which accumulates information concerning motion of the object. This model enables the system to understa... View full abstract»

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  • Slip detection by tactile sensors: algorithms and experimental results

    Publication Year: 1996, Page(s):3234 - 3239 vol.4
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    Two techniques for slip detection with a rubber-based tactile matrix sensor are presented. The described results have been obtained within a common research activity between the Robotics and Automation Laboratory of the University of Bologna and the Control Laboratory of the Delft University of Technology. The first technique is based on a frequency analysis of the position of the center of force ... View full abstract»

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  • Automated urban vehicles: towards a dual mode PRT (Personal Rapid Transit)

    Publication Year: 1996, Page(s):3129 - 3134 vol.4
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    The concept of public individual transport is now gaining recognition in several countries, thanks to the development of reliable electric vehicles. A type of electric vehicle is needed which can solve the problem of moving empty vehicles. The vehicle has to move by itself and hence use robotics techniques. This paper presents such a vehicle under development at INRIA and focusses on a vision tech... View full abstract»

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  • Human-to-robot skill transfer using the SPORE approximation

    Publication Year: 1996, Page(s):2962 - 2967 vol.4
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    We propose a framework for programming robotic tasks using human-to-robot skill transfer. We assume that there exists a human expert who can accomplish a task in an unstructured environment by using various sensor displays and controls. The human expert performs the desired task a number of times while his/her input/output pairs are being recorded by the robot. The robot then uses this recorded da... View full abstract»

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  • On the expected complexity of random path planning

    Publication Year: 1996, Page(s):3014 - 3019 vol.4
    Cited by:  Papers (13)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    This paper gives an account of the convergence property of potential field based path planning algorithms that use random motions to escape local minima. Their probabilistic convergence is proved and we provide a finite estimate of the convergence time. The proof is based on the study of Markov chains and diffusion processes View full abstract»

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  • Tactile sensing and stiffness control with multifingered hands

    Publication Year: 1996, Page(s):3228 - 3233 vol.4
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (752 KB)

    In this paper we analyze and experimentally measure the benefits of tactile sensing for stiffness control in the presence of uncertainty. There are two parts of the manipulation process where tactile information is helpful: determining the initial object pose as the fingers close to grasp, and tracking the object as it rolls and slides against the fingers during manipulation. The paper begins with... View full abstract»

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  • Path tracking control for Dubin's cars

    Publication Year: 1996, Page(s):3123 - 3128 vol.4
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    The problem of driving a Dubin's car (1957) along a given path is considered. In order to model a realistic road-following problem, the car is supposed to move forward only and to have bounds on the turning radius (Dubin's car). We propose a discontinuous control scheme on the angular velocity of the vehicle, based on the theory of sliding modes, that achieves the goal of tracking an unknown path ... View full abstract»

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  • A visual servoing algorithm using fuzzy logics and fuzzy-neural networks

    Publication Year: 1996, Page(s):3605 - 3612 vol.4
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (668 KB)

    A visual servoing algorithm is proposed for a robot with a camera in hand, where fuzzy logics and fuzzy-neural networks are employed to represent and/or learn camera motion commands to track a moving object in terms of image features and their variations. Specifically, novel image features are suggested by employing a viewing model of perspective projection to estimate relative pitching and yawing... View full abstract»

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  • Nonholonomic motion planning: a polynomial fitting approach

    Publication Year: 1996, Page(s):2956 - 2961 vol.4
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (368 KB)

    Nonholonomic systems are governed by constraints of motion that are nonintegrable differential expressions. The mathematical tools commonly used for investigating such a nonholonomic system are Stroke's theorem, nonlinear control theory and Lie Algebras, and the flatness of the system. In this paper, we show that the problem of steering systems with nonholonomic constraints between any two arbitra... View full abstract»

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  • Analysis of the dynamics of a biped robot with seven degrees of freedom

    Publication Year: 1996, Page(s):3008 - 3013 vol.4
    Cited by:  Papers (3)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    This paper studies the dynamics of a biped walking robot with seven degrees of freedom. The main features of the biped robot include variable length legs and a translatable balance weight in the body. Dynamically stable walking of the biped robot is realized by maintaining the zero moment point (ZMP), which is the virtual total ground reaction point, within the region of the supporting foot during... View full abstract»

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  • A full tactile sensing suite for dextrous robot hands and use in contact force control

    Publication Year: 1996, Page(s):3222 - 3227 vol.4
    Cited by:  Papers (38)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    A full tactile sensing suite for the finger segments and palm of the Utah/MIT dextrous hand is presented. The rubber-based sensors employ capacitance sensing and floating electrodes in the top layer, and contain local electronics for excitation, filtering, analog-to-digital conversion, and serial communication. Experimental results on static, dynamic, and spatial properties are presented. Use of t... View full abstract»

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  • Motion generation and control for parking an autonomous vehicle

    Publication Year: 1996, Page(s):3117 - 3122 vol.4
    Cited by:  Papers (55)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB)

    Practical aspects of motion generation and control for parking a nonholonomic autonomous vehicle are considered. An iterative algorithm for the parallel parking maneuver is proposed. It is based on ultrasonic range data processing. To control the steering angle and longitudinal velocity of the vehicle during the parking maneuver, sinusoidal reference functions are used. To prevent collisions, the ... View full abstract»

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