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Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

8-8 Nov. 1996

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  • 1996 IEEE/RSJ International Conference On Intelligent Robots And Systems

    Publication Year: 1996, Page(s):0_3 - xxxv
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  • Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing

    Publication Year: 1996, Page(s):1083 - 1090 vol.3
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    We propose in this paper solutions to avoid robot joint limits and kinematic singularities in visual servoing. We use a control scheme based on the task function approach. It combines the regulation of the selected vision based task with the minimization of a secondary cost function, which reflects the manipulability of the robot in the vicinity of internal or external singularities. Several metho... View full abstract»

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  • Moving obstacle detection using residual error of FOE estimation

    Publication Year: 1996, Page(s):1642 - 1647 vol.3
    Cited by:  Papers (8)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1068 KB)

    The paper presents a simple moving obstacle detection method which used the residual error calculated in uses of focus of expansion (FOE) estimation. Method can be applied to many industrial tasks such as an intelligent machine surveillance system or an obstacle detection system for an autonomous vehicle system. First, the optical flow field is extracted from sequence of dynamic imaged captured by... View full abstract»

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  • Guiding robot motion using zooming and focusing

    Publication Year: 1996, Page(s):1076 - 1082 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1276 KB)

    This work explores hand-eye coordination of robots by using a camera with functions of zooming and focusing. Under the guidance of the camera, a robot hand can arrive at an object to manipulate it in the 3D space. The hand movement is decomposed into the move parallel to the image plane and the move in depth, which are controlled from image position and focus value of the hand. The focal value is ... View full abstract»

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  • Extracting buildings from aerial topographic maps

    Publication Year: 1996, Page(s):1638 - 1641 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    The recovery of 2D information from intensity images, and that of 3D information from range images are the major issues in 3D objects recognition from sensory data. The analysis and interpretation of remote sensing aerial images have important applications. This paper presents an efficient method for the analysis and modeling of such scenes based on range sensory data. Unlike methods using 2D inte... View full abstract»

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  • Preliminary results on grasping with vision and touch

    Publication Year: 1996, Page(s):1068 - 1075 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1288 KB)

    This paper presents initial results in integrating touch with vision for delicate manipulation tasks. A generalizable framework of behavioral primitives for tactile and visual feedback control is proposed. Since vision provides position and shape information at a distance, while tactile provides small-scale geometric and force information, we focus on the complimentary roles of vision and touch. W... View full abstract»

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  • Qualitative detection of 3D motion discontinuities

    Publication Year: 1996, Page(s):1630 - 1637 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (928 KB)

    This paper presents a method for the detection of objects that move independently of the observer in a 3D dynamic scene, Independent motion detection is achieved through processing of stereoscopic image sequences acquired by a binocular, rigidly moving observer. A weak assumption is made about the observer's motion (egomotion), namely that the direction of the translational and rotational componen... View full abstract»

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  • Action-based sensor space categorization for robot learning

    Publication Year: 1996, Page(s):1502 - 1509 vol.3
    Cited by:  Papers (26)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1100 KB)

    Robot learning such as reinforcement learning generally needs a well-defined state space in order to converge. However, to build such a state space is one of the main issues of the robot learning because of the inter-dependence between state and action spaces, which resembles to the well known “chicken and egg” problem. This paper proposes a method of action-based state space construct... View full abstract»

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  • Compensation of friction in mechanical drives for a three fingered robot gripper

    Publication Year: 1996, Page(s):1060 - 1067 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (660 KB)

    Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine-tuning of a controller. This paper gives insight into the frictional behaviour of geared finger links. The behaviour has been approximated by a friction model. Considering t... View full abstract»

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  • The Rocky 7 Mars rover prototype

    Publication Year: 1996, Page(s):1558 - 1564 vol.3
    Cited by:  Papers (42)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (888 KB)

    This paper provides a system overview of a new Mars rover prototype, Rocky 7. We describe all system aspects: mechanical and electrical design, computer and software infrastructure, algorithms for navigation and manipulation, science data acquisition, and outdoor rover testing. In each area, the improved or added functionality is explained in a context of its path to flight, and need within the co... View full abstract»

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  • Time to contact computation with a space-variant retina-like C-mos sensor

    Publication Year: 1996, Page(s):1622 - 1629 vol.3
    Cited by:  Papers (8)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (696 KB)

    The first application of a new generation of space variant sampling visual sensor is described in this paper. Time to contact computation from optic flow is performed using a very simple system consisting of a space variant chip connected through a parallel port to a 486 based PC. Results of experiments will be reported View full abstract»

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  • Robot oriented state space construction

    Publication Year: 1996, Page(s):1496 - 1501 vol.3
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (700 KB)

    The state space of a sensor-based robot in the most previous works has been determined based on human intuitions, however the state space constructed from human viewpoints is not always appropriate for the robot. The robot has a different body, sensors, and tasks, therefore, we consider the robot should have an original internal state space determined based on actions, sensors, and tasks. This pap... View full abstract»

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  • Classification of grasps by multifingered robot hands

    Publication Year: 1996, Page(s):1052 - 1059 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    This research characterizes grasping by multifingered robot hands through an investigation of the space of contact forces between fingers and the grasped object. By decomposing the space of contact forces into four subspaces, we develop a method to determine the dimensions of the subspaces with respect to the connectivity of the object. The relationship we obtain reveals the differences between th... View full abstract»

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  • Precise EV robot: flight model and telerobotic operation for ETS-VII

    Publication Year: 1996, Page(s):1550 - 1557 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1640 KB)

    This paper presents the development and telerobotic operation of the ARH (Advanced Robotic Hand System) which will be the world's first precise extravehicular robot aboard the ETS-VII (Engineering Test Satellite VII). Objectives of the space test are to demonstrate the feasibility of a multiDOF multisensory hand for precise tasks under the severe extravehicular condition of space and to evaluate t... View full abstract»

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  • A hierarchical world model with sensor- and task-specific features

    Publication Year: 1996, Page(s):1614 - 1621 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (948 KB)

    The design of mobile robots which can cope with unexpected disturbances like obstacles or misplaced objects is an active field of research. Such an autonomous robot assesses the situation by comparing data from one or more sensors with an internal representation of its environment. In this paper we present a hierarchically structured world model that combines a general geometric object representat... View full abstract»

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  • Virtual actuator control

    Publication Year: 1996, Page(s):1219 - 1226 vol.3
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB)

    Robots typically have an individual actuator at each joint which can result in a nonintuitive and difficult control problem. In this paper we present a control method in which the real joint actuators are used to mimic virtual actuators which can be more intuitive and hence make the control problem more straightforward. Our virtual actuator control method requires a solution to the force distribut... View full abstract»

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  • Teleoperation characteristics and human response factor in relation to a robotic welding system

    Publication Year: 1996, Page(s):1195 - 1202 vol.3
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    A remote robotic welding system has been built consisting of a six degree-of-freedom master manipulator, a stereo monitoring system, a computer control system and a slave PUMA robot. The hand-eye coordination, the human hand respondent simulation test and the influence of master unbalanced torque on arc welding master-slave teleoperation characteristics are discussed. In this paper, the power spec... View full abstract»

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  • Where to look next and what to look for

    Publication Year: 1996, Page(s):1249 - 1255 vol.3
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (992 KB)

    The authors (1996) introduced the use of multidimensional receptive field histograms for probabilistic object recognition. In this paper we reverse the object recognition problem by asking the question “where should we look?”, when we want to verify the presence of an object, to track an object or to actively explore a scene. This paper describes the statistical framework from which we... View full abstract»

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  • Controlling synchro-drive robots with the dynamic window approach to collision avoidance

    Publication Year: 1996, Page(s):1280 - 1287 vol.3
    Cited by:  Papers (18)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (924 KB)

    This paper proposes the dynamic window approach to reactive collision avoidance for mobile robots equipped with synchro-drives. The approach is derived directly from the motion dynamics of the robot and is therefore particularly well-suited for robots operating at high speed. It differs from previous approaches in that the search for commands controlling the translational and rotational velocity o... View full abstract»

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  • Learning coordination skills in multi-agent systems

    Publication Year: 1996, Page(s):1488 - 1495 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (828 KB)

    While distributed control architectures have many advantages over centralized ones, such as their inherent modularity and fault tolerance, a major problem of such architectures is to ensure the goal-oriented behaviour of the controlled system. This paper presents a framework within which the coordination skills required for goal-orientedness are learned from user demonstrations. The framework is b... View full abstract»

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  • Automatic generation of rules for a fuzzy robotic controller

    Publication Year: 1996, Page(s):1179 - 1186 vol.3
    Cited by:  Papers (3)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    Fuzzy logic is a useful tool for realizing a direct mapping between perceptual situations and control commands in robotic applications that do not require internal representation or planning. It allows explicit programming and automatic learning from suitable training data to be mixed in several ways in order to produce the necessary control rules. Automatic learning enables both the reduction of ... View full abstract»

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  • Vision-based bin-picking: recognition and localization of multiple complex objects using simple visual cues

    Publication Year: 1996, Page(s):1448 - 1457 vol.3
    Cited by:  Papers (47)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1388 KB)

    Vision-based bin-picking is increasingly more difficult as the complexity of target objects increases. We propose an efficient solution where complex objects are sufficiently represented by simple features/cues; thus invariance to object complexity is established. The region extraction algorithm utilized in our approach is capable of providing the focus of attention to the simple cues as a trigger... View full abstract»

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  • Acquisition of an object model by manipulation with a multifingered hand

    Publication Year: 1996, Page(s):1045 - 1051 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    A multifingered hand with touch sensors has grasping and manipulating functions, and has the function of a sensor probe. We have been studying the merging of these two functions, the acquisition of an object model by manipulation with a multifingered hand, and determining the next finger action based on the acquired information. By manipulating objects while acquiring the object models, we expect ... View full abstract»

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  • Predictive display of virtual beam for space teleoperation

    Publication Year: 1996, Page(s):1544 - 1549 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    Time delay reduced significantly the ability of teleoperation. This problem becomes especially serious in case of earth-to-space teleoperation, when the time delay is large. To overcome the problem, a predictive display technique has been proposed for non-contact tasks. However, the effectiveness of this technique has not been verified sufficiently. In this paper we propose a teleoperation system ... View full abstract»

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  • Synthesis of robot-to-human expressive behavior for human-robot symbiosis

    Publication Year: 1996, Page(s):1608 - 1613 vol.3
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    This paper proposes a robot behavior notation named “Behavioral Score” and a methodology of generating “familiar” robot behavior. Behavioral Score, designed with analogies to a musical score, is an effective method of describing and controlling the expressive behavior of a robot. The effectiveness of Behavioral Score is demonstrated by a choreographed robot dance. The metho... View full abstract»

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