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Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

3-5 Nov. 1991

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  • Proceedings IROS '91. IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. Intelligence for Mechanical Systems (Cat. No.91TH0375-6)

    Publication Year: 1991
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    Freely Available from IEEE
  • Applying means-ends analysis to spatial planning

    Publication Year: 1991, Page(s):80 - 85 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    Existing methods for robot planning fall far behind human capabilities: they require approximations of shapes, and they cannot generate plans which involve moving obstacles to clear a path for the moving object. The authors explore the hypothesis that means-ends analysis based on a world model involving mental imagery allows more human-like solutions. The method is based on a way or representing p... View full abstract»

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  • Planning/executing six d.o.f. robot motions in complex environments

    Publication Year: 1991, Page(s):91 - 96 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    This paper deals with the problem of planning safe trajectories for a manipulator robot moving in an environment including both static obstacles and objects (other robots, conveyors) whose positions may change during the interval of time separating two planning steps. In order to solve this problem for a general manipulator having six degrees of freedom, the authors have developed and implemented ... View full abstract»

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  • Fast mobile robots in ill-structured environments

    Publication Year: 1991, Page(s):793 - 798 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB)

    This paper addresses the design, development and implementation of a fast mobile robot (> 5m/s) evolving in a crowded and ill-structured environment. It then considers the intelligent observation of ill-structured environments. The purpose of the experiments carried out is to emphasize some aspects of the motion planning problem, namely fast collision avoidance procedures, low level control loops ... View full abstract»

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  • 'Instinctive' cellular robots for environmental monitoring in a limited workspace

    Publication Year: 1991, Page(s):1211 - 1214 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (373 KB)

    Presents an approach to the implementation of the concept of 'distributed robotic system' (DRS), based on the notions of 'instinctive' response and cooperation. The proposed DRS is composed of cellular robotic units which operate in a constrained unstructured environment and are dedicated to environmental monitoring. This specific application, of potentially wide practical interest, poses a number... View full abstract»

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  • Compliant motion control of redundant manipulators

    Publication Year: 1991, Page(s):137 - 142 vol.1
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    Two control schemes, called extended hybrid control and extended impedance control respectively, are developed for assuring the compliant motion of redundant manipulators. In the two control schemes, the basic compliant motion task is accomplished while the redundancy is utilized to realize some additional constraints which optimize any user-defined objective functions. Further, real-time implemen... View full abstract»

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  • Observing motion by multiple visual tracking agents

    Publication Year: 1991, Page(s):128 - 133 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    This paper describes a method to observe a moving object with multiple visual tracking agents. When a robot vision watches an object, it employs several tracking agents to monitor key features of the object. Each tracking agent is controlled by its visual feedback. In order to perform robust tracking, the authors introduce constraint control between agents. This method is effective in observing a ... View full abstract»

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  • Decentralized algorithms and architecture for tracking and identification

    Publication Year: 1991, Page(s):1095 - 1100 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    Present two algorithms for tracking and identification in decentralized multi-sensor systems. Decentralized architectures have many benefits in terms of modularity, speed and robustness. The state estimation (tracking) algorithm is a decentralized Kalman filter (DKF) based on the extended Kalman filter. Identification is achieved by the decentralized Bayesian identification (DBI) algorithm, which ... View full abstract»

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  • A model for observing a moving agent

    Publication Year: 1991, Page(s):123 - 127 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    The authors address the problem of observing a moving agent. In particular, they propose a system for observing a manipulation process, where a robot hand manipulates an object. A discrete event dynamic system framework is developed for the hand/object interaction over time and a stabilizing observer is constructed. Low-level modules are developed for recognizing the `events' that cause state tran... View full abstract»

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  • A verified architecture for sensor fusion

    Publication Year: 1991, Page(s):1089 - 1094 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    An architecture for the control of a multi-sensor mobile robot is proposed. The architecture is based on the subsumption approach, but with limited sharing of data between behaviours. The mechanisms were developed with the aid of the formal CSP notation, and critical parts have been proved deadlock free View full abstract»

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  • A theory of intelligent machine systems

    Publication Year: 1991, Page(s):3 - 9 vol.1
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    A theoretical model is proposed consisting of six basic elements: actuators, sensors, sensory processing, world modeling, behavior generation and value judgment. These elements are integrated into a hierarchical system architecture wherein control bandwidth decreases about an order of magnitude from level to level, goals expand in scope and planning horizons expand in space and time about an order... View full abstract»

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  • On the usefulness of optical flow for robotic part manipulation

    Publication Year: 1991, Page(s):117 - 122 vol.1
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    This paper describes experience gained in using optical flow fields, arising from constrained camera motion, to estimate range information, for robotic part manipulation. Several key issues in robot vision are addressed. These include the computation of optical flow, computation of depth, interpolation of depth values, model construction, object recognition, and pose estimation. The paper provides... View full abstract»

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  • Real-time 3D-tracking using acoustics-vision data fusion

    Publication Year: 1991, Page(s):1083 - 1088 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (428 KB)

    The study of perception, an essential junction for autonomous robotics, has lead to new developments in the fields of modelization, data fusion and control. This paper describes a real-size real-time heterogeneous data fusion algorithm implementation on a surveillance robot, which has become necessary to validate these emerging techniques in a realistic environment. The two heterogeneous sensors c... View full abstract»

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  • Qualitative physics for robot task planning. I. Grammatical reasoning and commonsense augmentations

    Publication Year: 1991, Page(s):487 - 493 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    Presents a qualitative reasoning approach to synthesizing robot motion plans from task-level specifications. This method relies on representing the knowledge about robot manipulation as a task grammar augmented with a domain-dependent task analyzer. The task analyzer tests constraints for deriving suboperations pertaining to a higher-level operation and performs commonsense reasoning about the man... View full abstract»

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  • Development of expert controller for steam temperature regulation in power plants

    Publication Year: 1991, Page(s):1333 - 1337 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (272 KB)

    The use of expert, knowledge based controllers in regulating the different parameters in the power plant has attracted increased interest. In the paper, controller designs based on approximate reasoning, for control in drum type boilers is presented. The requirements are faster and more accurate responses during the low load and transitory behaviour of the power system. The design draws upon sever... View full abstract»

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  • Adding a man-machine interface to an architecture for mobile robots

    Publication Year: 1991, Page(s):1577 - 1582 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    This paper describes a man/machine interface and its integration into a more general architecture for incompletely autonomous mobile robots. The architecture is composed of four levels, the functional level, the control level, the planner level, and the man/machine level. This architecture provides reactivity, execution monitoring and planning. Arguments are given to motivate the need for a man/ma... View full abstract»

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  • Visual servoing by a fuzzy reasoning method

    Publication Year: 1991, Page(s):111 - 116 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    A visual servoing method is proposed for eye-in-hand robots. It employs a self-organizing fuzzy controller. There is defined a Jacobian that is not a function of a relative position of the object but is a function of the image features. Instead of obtaining an analytic form of the proposed Jacobian, a self-organizing fuzzy controller is then proposed to alleviate difficulties in real-time implemen... View full abstract»

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  • Fuzzy compliance robot control

    Publication Year: 1991, Page(s):1628 - 1631 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (172 KB)

    Proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, one needs more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adaptive controllers have difficulty in realtime processing. So in order to overcome it, the authors adop... View full abstract»

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  • A feasible collision-free and deadlock-free path-planning algorithm in a certain workspace where multiple robots move flexibly

    Publication Year: 1991, Page(s):1074 - 1079 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    Proposes a good collision-free and deadlock-free path-planning algorithm for multiple robots. The multiple robots act together in a same workspace simultaneously so as not to collide with each other and also not to be at a deadlock. Thus, some path-planning algorithms running in a known workspace where several robots move dynamically have been presented. However, they request much calculation time... View full abstract»

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  • H control of a flexible robotic arm (effect on parameter uncertainties on stability)

    Publication Year: 1991, Page(s):959 - 964 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (252 KB)

    Describes the stability of a flexible robotic arm when its mathematical model contains parameter uncertainties. The authors employ the H∞ control method which includes the LQ optimal control, and is robust. To estimate the stability domain of a closed-loop system, one must find the rate at which the system matrix A and the control matrix B change when a parameter changes. These ra... View full abstract»

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  • A study on the brachiation type of mobile robot (heuristic creation of driving input and control using CMAC)

    Publication Year: 1991, Page(s):478 - 483 vol.2
    Cited by:  Papers (32)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    Deals with a new type of dynamically moving mobile robot modeling a gibbon, namely a long armed ape, that moves branch to branch swinging its body like a pendulum. The manner of moving like a gibbon is called brachiation. The authors present the method to control the brachiation robot and show the results of simulation using a 2-link-model robot. The most difficult subject in this study is how to ... View full abstract»

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  • Coordinated dynamic control for multiple robotic mechanisms handling an object

    Publication Year: 1991, Page(s):315 - 320 vol.1
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    A cooperative dynamic hybrid position/force control method for a set of robot arms or a multifingered robot hand handling a single object with or without its motion being constrained by its environment is shown. The method takes the manipulator dynamics and object dynamics into consideration and controls the motion of an object under constraint as well as constraint force when the object motion co... View full abstract»

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  • Expert rule acquisition and refinement by GA-an approach to multidimensional problems

    Publication Year: 1991, Page(s):1325 - 1330 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (368 KB)

    Describes a genetic algorithm (GA) based approach to realize expert knowledge acquisition and refinement in a real world problem: parameter value determination for metal shaft grinding where several trade-offs exist among operational conditions to obtain expected surface finish. Causal relations are encoded to strings in ⟨condition⟩: ⟨action⟩ form and implemented as a rule base... View full abstract»

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  • A biped walking robot having a ZMP measurement system using universal force-moment sensors

    Publication Year: 1991, Page(s):1568 - 1573 vol.3
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (368 KB)

    Concerns the use of the zero moment point (ZMP) as a criterion in order to distinguish the stability of walking for a biped walking robot. If the ZMP during walking can be measured, it is possible for a biped walking robot to realize stabler walking by a control method that makes use of the measured ZMP. A method of measuring the ZMP throughout the whole walking phase is proposed, and a newly deve... View full abstract»

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  • Fuzzy internal models in vision systems modelling

    Publication Year: 1991, Page(s):105 - 110 vol.1
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    The authors study internal-model representations in the framework of control theory and of visual system modelling. It is shown that the control of rapid orienting movements of the visual axis in space (saccadic system) can be modelled as a control system based on internal models. Moreover, a fuzzy approach is found to be very well adapted for the modelling of some parts of the saccadic system (re... View full abstract»

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