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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

20-20 May 1998

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  • Proceedings 1998 IEEE International Conference On Robotics And Automation

    Publication Year: 1998, Page(s):i - li
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    Freely Available from IEEE
  • Author index

    Publication Year: 1998, Page(s):liii - lxv
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    Freely Available from IEEE
  • Positioning of vehicle on undulating ground using GPS and dead reckoning

    Publication Year: 1998, Page(s):3443 - 3448 vol.4
    Cited by:  Papers (23)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    A method of positioning vehicles on undulating ground is proposed. This method uses GPS data and internal sensor data (fiber optic gyro, roll pitch sensor, and wheel encoders) and improves the positioning accuracy by compensating the error of each sensor data. A prototype of autonomous mower using this positioning method was developed and its positioning performance was evaluated. The experimental... View full abstract»

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  • Achieving integrity in an INS/GPS navigation loop for autonomous land vehicle applications

    Publication Year: 1998, Page(s):3437 - 3442 vol.4
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    The objective of this paper is to introduce and investigate the issue of integrity in an INS/GPS navigation loop for autonomous land vehicle applications. The paper briefly outlines the standard fusion algorithm for the INS/GPS loop, while the focus is on the detection of possible faults both before and during the fusion process. The concept of fault detection focuses on the low frequency faults o... View full abstract»

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  • An incremental version of growth distance

    Publication Year: 1998, Page(s):3671 - 3677 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB)

    A fast algorithm is presented for computing the growth distance between a pair of convex objects in three dimensional space. The growth distance has been introduced by Ong et al. (1996) as a measure of both separation and penetration between objects. This article presents an approach to the growth distance computation using geometrical consideration. Under appropriate conditions, the computational... View full abstract»

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  • Goal-oriented behaviour-based visual navigation

    Publication Year: 1998, Page(s):3431 - 3436 vol.4
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (840 KB)

    We describe a mobile robot system that performs goal-oriented visual navigation using a behaviour-based architecture. The system was constructed as a result of our previous research (Zelinsky et al. (1995)) into behaviour-based mobile robot systems. Since the system is implemented using real-time vision it is able to navigate in dynamic and unknown environments. The most important feature of this ... View full abstract»

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  • Toward real-time 2D localization in outdoor environments

    Publication Year: 1998, Page(s):2827 - 2832 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (668 KB)

    We present an approach to refine the pose estimate of an outdoor mobile robot evolving on flat terrains cluttered with obstacles. We propose an algorithm to extract relevant obstacle contour lines on the basis of stereo-vision data. The algorithm is very robust with respect to the uncertainties on the data, and do not require a very fine and precise obstacle extraction procedure. We explain how th... View full abstract»

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  • Landmark perception planning for mobile robot localization

    Publication Year: 1998, Page(s):3425 - 3430 vol.4
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    This paper presents a fuzzy perception planner that takes into account the time cost, the suitability of every landmark detection and the different uncertainties the robot encounters along its path for mobile robot localization. The sensor used is a camera with a motorized zoom on a pan and tilt platform and the artificial landmarks are circles detected through normalized gray scale correlation. A... View full abstract»

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  • On the hybrid workpiece localization/envelopment problems

    Publication Year: 1998, Page(s):3665 - 3670 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    This paper defines a hybrid localization/envelopment problem, develops a formulation of the hybrid localization/envelopment problem, and presents a simple algorithm for computing its solutions. First, we show that when the finished surfaces of a workpiece are inadequate to fully constrain the rigid motions of the workpiece, then the remaining set of free motions must form a subgroup G0 ... View full abstract»

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  • A base force/torque sensor approach to robot manipulator inertial parameter estimation

    Publication Year: 1998, Page(s):3316 - 3321 vol.4
    Cited by:  Papers (10)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint friction and actuator dynamics. The manipulator is mounted on a six-axis force/torque sensor. Sensor measurements and joint velocities recorded during manipulator motion are used to identify the inertial parameters. The unmodeled joint friction and actuator dynamics do not d... View full abstract»

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  • EMG-based human-robot interface for rehabilitation aid

    Publication Year: 1998, Page(s):3492 - 3497 vol.4
    Cited by:  Papers (48)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (540 KB)

    This paper proposes the concept of a human-robot interface as rehabilitation aid and develops the prototype system. The prototype system aims to be used as a controller for the robotic manipulator and as rehabilitation system for the handicapped person. In order to adapt the system to the characteristics of the operator's electromyogram (EMG) signal, the EMG pattern discrimination method using the... View full abstract»

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  • A geometric approach of form tolerance formulation and evaluation

    Publication Year: 1998, Page(s):3646 - 3651 vol.4
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    We first present a unified geometric formulation of form tolerances using an extended least-squares (E-LSQ) approach. Then, using properties of configuration space of symmetric features an iterative algorithm is developed to solve the E-LSQ problem. Simulation results show that the algorithm not only keeps computational efficiency of the least-squares approach, but also possesses of computational ... View full abstract»

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  • On design of sequential sensor fusion system

    Publication Year: 1998, Page(s):3400 - 3406 vol.4
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    Most algorithms currently proposed for sensor integration implicitly assume that the signals from all sensors are synchronized, but this does not hold in real situations. The paper proposes to handle time-variant sensor combination systems by a sequence, and formulates a method to verify that the designed sequence is stable, together with a method to predict theoretically the performance of the de... View full abstract»

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  • Design and kinematic analysis of the wire parallel mechanism for a robot pose measurement

    Publication Year: 1998, Page(s):2941 - 2946 vol.4
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    This paper presents a wire parallel mechanism designed and manufactured for a robot pose measurement which can be used for a robot calibration. It consists of six parallel links using wires. The position and orientation of a robot are obtained from the wire lengths measured in the wire parallel mechanism. The complex nonlinear equations of the forward kinematics of a parallel mechanism are solved ... View full abstract»

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  • An oscillation analysis on distributed autonomous robotic system

    Publication Year: 1998, Page(s):2846 - 2851 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    We assume that analyses of collective property is necessary for the establishment of swarm control theory. This paper deals an oscillation as one of the intrinsic collective properties of distributed autonomous robotic systems. The oscillation is a very important property, which influences the entire system performance. Factors which cause the oscillation include an information delay, fluctuation ... View full abstract»

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  • Triangulation based fusion of ultrasonic sensor data

    Publication Year: 1998, Page(s):3419 - 3424 vol.4
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (580 KB)

    Ultrasonic sensors are still one of the most widely used sensors in mobile robotics. A notorious problem in the use of sonar data is the lack of good spatial resolution, which typically results in a high uncertainty in the resulting map of the environment. In the paper a triangulation technique is used for filtering of data so as to obtain an improved grid map of the environment. The basic techniq... View full abstract»

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  • INS-based identification of quay-crane spreader yaw

    Publication Year: 1998, Page(s):3310 - 3315 vol.4
    Cited by:  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    A crucial problem in crane control is to identify exactly the position and orientation of the load in space. This paper describes a new non-contact method for determining the crane load location by means of an inertial navigation system (INS) and a Kalman filter. The Kalman filter estimates the spreader position, which is not observed by the INS. Experiments were conducted on a 1/15th geometric sc... View full abstract»

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  • Motion control of the NTUA robotic snake on a planar surface

    Publication Year: 1998, Page(s):2977 - 2982 vol.4
    Cited by:  Papers (1)  |  Patents (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    We extend our previous work (1997, 1998) on steering a robotic snake and we now address the problems of (i) stabilization about an arbitrary configuration and (ii) tracking an arbitrary trajectory. For stabilization we apply three different algorithms for the kinematic model derived in the previous work. Comparisons of the three feedback stabilizing controls are made. Trajectory tracking is firstl... View full abstract»

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  • Development of an 8 DOF robotic orthosis for assisting human upper limb motion

    Publication Year: 1998, Page(s):3486 - 3491 vol.4
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    We developed a robotic orthosis capable of helping human forearm motion. This orthosis was carefully designed such that mechanical safety for human beings could be ensured. A power assist control scheme for the robotic orthosis is proposed. The performance of the developed system is examined by several experiments View full abstract»

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  • A high speed 3D radar scanner for automation

    Publication Year: 1998, Page(s):2777 - 2782 vol.4
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (652 KB)

    A high speed three dimensional radar scanner capable of providing the high resolution range maps necessary for outdoor mobile robotic vehicles is described in this paper. Unlike traditional laser rangefinder based scanners, this sensor is intended to operate in real world environments plagued with dust, fog, and rain. The 94 GHz pulsed time-of-flight radar system has a peak repetition rate of 250 ... View full abstract»

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  • Disturbance attenuation and load decoupling with H positive joint torque feedback

    Publication Year: 1998, Page(s):3613 - 3618 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB)

    Positive joint torque feedback can compensate the detrimental effects of load torques on position tracking performance. However, with (real world) nonideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. An H joint torque feedback is proposed which takes the dynamics and uncertainty of the actuato... View full abstract»

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  • Decentralized control of cooperating mobile manipulators

    Publication Year: 1998, Page(s):2916 - 2921 vol.4
    Cited by:  Papers (35)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    This paper addresses the design and control of autonomous mobile platforms manipulating and transporting a grasped object. Each platform is equipped with a manipulator arm. In order to hold an object in a stable grasp, the arms have to apply and maintain appropriate contact forces to ensure force closure. We describe an architecture and a real time control system that allow the coordinated control... View full abstract»

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  • Selection of image features for robot positioning using mutual information

    Publication Year: 1998, Page(s):2819 - 2826 vol.4
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (720 KB)

    The authors and Venaille (1996) developed a prototype for visual robot positioning, based on global image descriptors and neural networks. Now, a procedure to automatically select subsets of image features most relevant to determine pose variations along each of the six degrees of freedom (DOFs) has been incorporated into the prototype. This procedure is based on a statistical measure of variable ... View full abstract»

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  • Computation of kinetostatic performances of robot manipulators with polytopes

    Publication Year: 1998, Page(s):3241 - 3246 vol.4
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    The kinetostatic analysis of manipulator performances at the end effector (EE) has traditionally been based on the computation of the so-called manipulability ellipsoids rather than on polytopes which are more accurate a representation. A reason why polytopes have received less attention is their being less tractable from a computational viewpoint. This paper presents an effective computation tool... View full abstract»

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  • Generating robust trajectories in the presence of ordinary and linear-self-motion singularities

    Publication Year: 1998, Page(s):3228 - 3234 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities. The resulting trajectories are close to minimum time, given an inverse kinematic solution for the path and bounds on joint velocities and accelerations. The algorithm has complexity O(M log M), with respect to the number of joint coordinates M, and works using &l... View full abstract»

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