By Topic

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

5-9 Aug. 1995

Go

Filter Results

Displaying Results 1 - 25 of 93
  • Author index

    Publication Year: 1995
    Request permission for commercial reuse | PDF file iconPDF (420 KB)
    Freely Available from IEEE
  • Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems

    Publication Year: 1995
    Request permission for commercial reuse | PDF file iconPDF (853 KB)
    Freely Available from IEEE
  • Two-armed bipedal robot that can walk, roll over and stand up

    Publication Year: 1995, Page(s):297 - 302 vol.3
    Cited by:  Papers (26)  |  Patents (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB)

    Focusing attention on flexibility and intelligent reactivity in the real world, it is more important to build, not a robot that won't fall down, but a robot that can get up if it does fall down. This paper presents research on a two-armed bipedal robot, an apelike robot, which can perform biped walking, rolling over and standing up. The robot consists of a head, two arms, and two legs. The control... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Geometric design of hexapod with integrated limb mechanism of leg and arm

    Publication Year: 1995, Page(s):291 - 296 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    This paper introduces a new concept for the integration of locomotion and manipulation. “the integrated limb mechanism” covers the technical fields of both the control integration and the mechanism integration necessary for the practical working robot. Here, a six-bar linkage mechanism with four degrees-of-freedom is introduced as an example of integrated limb mechanism. Kinematic anal... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Performance comparison of various control strategies for a mobile manipulator

    Publication Year: 1995, Page(s):473 - 479 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    This paper concerns the performance comparison of different control structures based on various sensors for an agricultural mobile manipulator. The robot's mobile platform is continuously advancing, pulled by a tractor while the manipulator executes local tasks. Therefore, an existing prototype has been entirely modelled which allowed us to test each control structure using a dynamic simulator. Th... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Integration of parallel arm and legged mechanism

    Publication Year: 1995, Page(s):285 - 290 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    An excavation robot is required to build a large scale underground dome. The excavation robot is developed which is composed of a parallel manipulator and four legged locomotion machine. Although the parallel manipulator has a nice feature of producing large force required for the excavation, cooperative control should be considered to achieve effective excavation. This paper discusses integrated ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Toward a seven axis haptic device

    Publication Year: 1995, Page(s):133 - 139 vol.3
    Cited by:  Papers (17)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1184 KB)

    The development of a haptic interface to address the tasks performed by people with small tools is described. Design issues are considered from the requirements, in terms of actuation, kinematics, motion transmission, sensing, and concept design View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Multi-sensor based planning and control for robotic manufacturing systems

    Publication Year: 1995, Page(s):222 - 227 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    A multi-sensor based planning and control scheme for robotic manufacturing is presented in this paper. The proposed approach fuses sensory information from various sensors at different temporal and spatial scales in an event-based planning and control scheme. By combining the measurement of an encoder sensor, relative spatial information obtained from processing of visual measurement is mapped to ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Dynamic quadruped walking stabilized with trunk motion

    Publication Year: 1995, Page(s):165 - 172 vol.3
    Cited by:  Papers (3)  |  Patents (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (596 KB)

    The authors have started to study on the development of a hydraulically powered quadruped walking robot having a trunk which stabilizes its walking by generating compensation moment to the ground for higher mobility on a flat floor. This paper describes a motion control method of the trunk for moment compensation and results of dynamic simulation for the walking View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Manipulator motion planning for stabilizing a mobile-manipulator

    Publication Year: 1995, Page(s):467 - 472 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    The stability of a vehicle-mounted mobile manipulator has a close relation with the vehicle's motion, the manipulator's posture and motion and the end-effector's force. The purpose of this study is to derive the cooperative motions of the vehicle and the manipulator for a stabilization which is compatible with task operation so that the mobile manipulator can successfully accomplish tasks in envir... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Locomotion configuration of a robust rappelling robot

    Publication Year: 1995, Page(s):280 - 284 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    Robotic rappelling is an intriguing concept for exploration of planetary craters and their Earth analogs, volcanoes. Integrating a tensioned tether to a framewalking robot enables a new statically-stable locomotive capability appropriate for rappelling on steep and rugged terrains. Rappelling with a tether-assisted framewalker also allows efficient execution of multi-level control. These ideas are... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A handling system for randomly placed casting parts using plane fitting technique

    Publication Year: 1995, Page(s):435 - 440 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1240 KB)

    We have developed a vision-based robotic handling system, especially for casting parts. To locate an object, we have focused on identifying its reference plane. The system uses a two-dimensional matching technique to recognize an object and stereo ranging to measure its heights, and then applies a plane fitting technique to decide the three-dimensional orientations. The system can recognize a rand... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • The virtual handle [force-reflecting mechanisms]

    Publication Year: 1995, Page(s):127 - 132 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB)

    Many force-reflecting mechanisms with two to six degrees of freedom have been designed in the past for master-slave and haptic applications. Both serial and parallel mechanisms increase in mechanical, modeling and control complexity at a greater-than-linear rate with additional degrees of freedom. On the other hand, using two or three reduced-dof mechanisms only multiplies the complexity of each i... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Strategy and fundamental algorithms of fusing range image and intensity image for object recognition

    Publication Year: 1995, Page(s):216 - 221 vol.3
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    Fusion of a range image and an intensity image is a key technology for robot vision. This paper presents (1) strategy for the fusion, and (2) some fundamental algorithms of the fusion. The characteristics of the two images are discussed and the strategy of the fusion: “detect surfaces from a range image, and edges and vertices from an intensity image; and then fuse these features in 2D or 3D... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Reflexive responses to slipping in bipedal running robots

    Publication Year: 1995, Page(s):158 - 164 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (780 KB)

    Many robot applications require traversing uneven or unmodeled terrain. This paper explores strategies for one class of difficult terrain: slippery surfaces. We evaluate several reflexive responses to a slip using a dynamically simulated, three-dimensional, bipedal robot. We explore two kinds of reaction strategies. One strategy continues the step, in which the slip occurred. The other lifts the s... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Stability analysis of mobile robot path tracking

    Publication Year: 1995, Page(s):461 - 466 vol.3
    Cited by:  Papers (27)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    This paper presents a new approach that analyzes the stability of a general class of path tracking algorithms taking into account the pure delay in the control loop. The analysis has been done for straight paths and paths of constant curvature. This has sufficient generality since most usual paths can be decomposed in pieces of constant curvature. The method has been applied to the pure pursuit pa... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Behavior-based gait execution for the Dante II walking robot

    Publication Year: 1995, Page(s):274 - 279 vol.3
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (664 KB)

    The Dante project is developing walking robots to explore inside volcanic craters. These robots face many challenges including generating a walking gait in rough, obstacle-filled terrain. For the walking robot Dante II, we implemented a gait controller to address this situation. Our approach is embodied in a network of asynchronous processes that establish a fundamental gait cycle while maintainin... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • On computing optimal planar grasps

    Publication Year: 1995, Page(s):427 - 434 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (620 KB)

    The quality of a grasp can often be measured as the magnitude within which any external wrench is resistible by “unit grasp force”. In this paper, we present a numerical algorithm to compute the optimal grasp on a simple polygon, given contact forces of unit total magnitude. Forces are compared with torques over the radius of gyration of the polygon. Our analysis shows that the optimal... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A low-cost, composite sensor array combining ultrasonic and infrared proximity sensors

    Publication Year: 1995, Page(s):120 - 126 vol.3
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    In this paper we describe our approach to the design of proximity sensor arrays. Each sensing element of the proximity sensor array is a composite sensor, i.e. a sensor which is composed of an in-air ultrasonic rangefinder and an infrared detector. This sensor arrangement is capable, in principle, to achieve a perception of the explored objects that is not necessarily limited to their geometrical ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Feature-based localization using fixed ultrasonic transducers

    Publication Year: 1995, Page(s):210 - 215 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB)

    Describes an approach for mobile robot localization based on geometric features extracted from ultrasonic data. In previous work the authors (1994) proposed a multi-stage approach to sonar data clustering which extracts planar surface features in real time using transducers fixed relative to the mobile platform. The method is efficient, precise, and robust in the face of both measurement noise and... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A control strategy for stable passive running

    Publication Year: 1995, Page(s):152 - 157 vol.3
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB)

    We present a control strategy for a simplified model of a one legged running robot which features compliant elements in series with hip and leg actuators. Proper spring selection and initial conditions result in “passive dynamic” operation close to the desired motion, without any actuation. However, this motion is not stable. The proposed controller is based on online calculations of t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Kaa: an autonomous serpentine robot utilizes behavior control

    Publication Year: 1995, Page(s):250 - 255 vol.3
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB)

    This paper describes the development of an autonomous serpentine robot. This robot is a 12 degree of freedom, untethered, hyper-redundant planar robot, named Kaa. Experiments were conducted in its application to mobility tasks that would be useful in locomotion among parallel pipe structures similar to those found in industrial plants. Kaa utilizes a behavior control system. Unlike classical appro... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Wheel servo control based on feedforward compensation for an autonomous mobile robot

    Publication Year: 1995, Page(s):454 - 459 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    In the paper, we propose a wheel controller with feedforward dynamic compensation. A wheel control system developed for autonomous mobile robots driven by two wheels is described. In the navigation of such mobile robots, large path error occurs mainly due to the disturbance from the floor and the uncompensated dynamics inherent to robot motion. The stable and robust motions in the tracking stage a... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Tactile gestures for human/robot interaction

    Publication Year: 1995, Page(s):7 - 13 vol.3
    Cited by:  Papers (12)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    Gesture-based programming is a new paradigm to ease the burden of programming robots. By tapping in to the user's wealth of experience with contact transitions, compliance, uncertainty and operations sequencing, we hope to provide a more intuitive programming environment for complex, real-world tasks based on the expressiveness of nonverbal communication. A requirement for this to be accomplished ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Development of a transfer supporting equipment

    Publication Year: 1995, Page(s):268 - 273 vol.3
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (764 KB)

    The transfer supporting equipment lifts the sick and disabled from beds, and transports them to the bathroom, toilet or elsewhere. At present, such nursing tasks are almost always manually performed, but the awkward positions involved put tremendous physical strain on the attendants. The equipment described not only takes the load off nurses, but restores the mobility of the sick and handicapped. ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.