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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
  • Robot behavior planning with qualitative reasoning

    Publication Year: 1991, Page(s):508 - 513 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (548 KB)

    A qualitative reasoning planner for behavior improvement by selecting and determining robot control parameters to drive manipulation actions has been developed, integrated into a telerobot system, and demonstrated for a match striking task. The planner consists of a qualitative reasoner and a numerical execution history which interact to jointly direct and narrow the search for reliable numerical ... View full abstract»

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  • Coordinated execution of trajectories by multiple mobile robots

    Publication Year: 1991, Page(s):1061 - 1067 vol.2
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    Describes an algorithm for collision avoidance between multiple mobile robots. As robots actually exchange information, algorithms are based on two hypotheses: (i) the working space is decomposed into cells and a limited number of robots is affected to each cell-thus a robot exchanges information only with robots in its vicinity and (ii) the trajectory of a robot is decomposed into sections-thus r... View full abstract»

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  • A spatial recognition method for robots by symbolic processing: a puzzle ring solver

    Publication Year: 1991, Page(s):502 - 507 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    Discusses a specific type of spatial reasoning which may be used for robots to recognize and manipulate the spatially entangled objects. The author first expresses knots and links symbolically. On the symbolic expressions, rule-based spatial reasoning is performed for unknotting knots or for separating links. Finally, the author takes up a Japanese puzzle ring as an example of using this symbolic ... View full abstract»

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  • Tracking flexible objects by multiple robot systems

    Publication Year: 1991, Page(s):309 - 314 vol.1
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    Control issues of multiple robot systems in tracking flexible objects are studied. To simplify the exposition of this very complicated matter, a flexible long beam is considered instead of flexible bodies in a general form. After some mechanical properties of the object are established, a hierarchical control law is suggested View full abstract»

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  • Incremental free-space modelling from uncertain data by an autonomous mobile robot

    Publication Year: 1991, Page(s):1052 - 1058 vol.2
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    Explicit representation of free-space is necessary for mobile robot navigation. This paper presents a fully implemented system that achieves incremental environment modelling for a 2D mobile robot using a laser range-finder. This system produces a surfacic model of objects (polylines and associated uncertainties) and a model of free-space (polygons) taking into account possible appearance and disa... View full abstract»

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  • Qualitative physics for robot task planning. II. Kinematics of mechanical devices

    Publication Year: 1991, Page(s):494 - 500 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    For pt.I see ibid., p.487-93 (1991). As augmentations to syntactical task planning, kinematic models facilitate the specification of robot-level motion strategies for mechanism-oriented manipulation tasks. The paper presents a qualitative geometric reasoning approach to the analysis of robot task kinematics. The qualitative approach permits computationally efficient, approximate, solution of kinem... View full abstract»

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  • Automated shadow mask inspection using DSP

    Publication Year: 1991, Page(s):303 - 306 vol.1
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (192 KB)

    Presents a new shadow mask inspection method which can detect the very small hole defects reliably and rapidly; the shadow mask line image data is periodical. The inspection method mainly depends on the fact that a small defect can be significantly emphasized in terms of the comparison between the image pixels departed by the period. In this paper, this comparison is implemented as the digital fil... View full abstract»

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  • The variable modelling of mobile robot environments

    Publication Year: 1991, Page(s):1044 - 1051 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    The modelling of a mobile robot environment is mainly motivated first to obtain a map of the free space (in order to compute safe trajectories for the vehicle) and second to provide the control loop with feed-back of obstacle information. Here, the authors only consider the problem of local representations for the displacements of a vehicle with two preoccupations: the environment models have to b... View full abstract»

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  • Multisensor-based object recognition using uncertain geometric models

    Publication Year: 1991, Page(s):377 - 382 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    One of the problems in sensor integration is how to design the integration strategy for the given task. The authors deal with model-based object recognition from uncertain geometric observations using uncertain object models. First, they decompose the recognition problem into a hierarchy of statistically well-defined subproblems depending on sensor uncertainties and model uncertainties. A recognit... View full abstract»

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  • Stability of non-holonomic systems

    Publication Year: 1991, Page(s):1260 - 1265 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    Nonholonomic constraints characterize robot systems in rolling contact with the environment as well as space manipulators. In this paper, the authors address the issue of stability of nonholonomic systems. In the past, it has been shown (Neimark and Fufaev, 1972) that an equilibrium manifold, rather than an isolated equilibrium point, exists for these systems. It is shown that Lyapunov's second me... 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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  • Fuzzy rule-based boundary enhancement algorithm for noisy images

    Publication Year: 1991, Page(s):297 - 302 vol.1
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    Presents a new edge relaxation algorithm that enhances the noisy boundary informations in image. The proposed algorithm employs relaxation process that reduces or even eliminates ambiguities of derivative operator response via contextual informations. The contextual informations are the neighborhood patterns of a central edge, which are estimated using fuzzy pattern matching technique. The algorit... 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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  • Single sensor sonar map-building based on physical principles of reflection

    Publication Year: 1991, Page(s):1038 - 1043 vol.2
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    Conventional time-of-flight (TOF) systems generate sonar maps based on the range estimate obtained from the TOF measurement. This paper describes a novel characterization of sonar reflections from a single sensor based on the physical principles of reflection and scattering from surfaces. Considerable improvement over conventional TOF systems is achieved. Different types... View full abstract»

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  • Path tracking control of a manipulator with passive joints

    Publication Year: 1991, Page(s):923 - 928 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    A method is proposed of path tracking control of a manipulator with passive joints, i.e. having no actuators. A desired path is geometrically specified in operational space. The position of the manipulator is controlled to follow the desired path. In this method, a path coordinate system based on the desired path is defined in operational space. The path coordinates consist of a component parallel... View full abstract»

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  • A two dimensional laser rangefinder for robot vision and autonomy

    Publication Year: 1991, Page(s):371 - 376 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    The authors have designed a double modulation laser telemeter in their laboratory. The performance achieved makes this telemeter a true instrumentation device (relative precision 0.5×10-4), with reasonable dimensions and a high measurement rate ability (maximum 50 kHz). Its coaxial design makes scanning an easier task than for triangulation type devices. They report the performanc... View full abstract»

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  • Collision avoidance system concept for mobile servicing system

    Publication Year: 1991, Page(s):1641 - 1646 vol.3
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    The mobile servicing system (MSS) is an integrated mobile remote manipulator system under development by SPAR Aerospace Limited for the Canadian Space Agency. The MSS includes two separate manipulator systems, both possessing kinematic redundancy, and will be used in the construction and maintenance of the International Space Station Freedom. This paper presents the concepts for the collision avoi... View full abstract»

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  • Nonholonomic motion control of an autonomous underwater vehicle

    Publication Year: 1991, Page(s):1254 - 1259 vol.3
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    A submersible can carry limited supply of fuel onboard. Use of control planes along with propeller for major part of its motion can conserve much energy; thus extending the duration of underwater missions. Such an underwater vehicle has nonholomic nature due to its nonlinear kinematic structure. The authors describe the kinematics of an underwater vehicle by six state variables and four inputs, an... 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 (28)
    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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  • Error analysis and optimization of camera calibration

    Publication Year: 1991, Page(s):292 - 296 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (268 KB)

    The relation between the accuracy of calibrated TV camera parameters and the calibration condition is examined by applying a law of propagation, and the optimal calibration condition is proposed where an iterative method is applied to calibrate the parameter values. Furthermore, the variance of the estimated 3D information is determined quantitatively in the case of optimal calibration condition View full abstract»

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  • Exploiting redundancy to reduce impact force

    Publication Year: 1991, Page(s):179 - 184 vol.1
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    Presents strategies for reducing the impact force resulting from the collision of a kinematically redundant manipulator with an object in its environment. The Premultiplier Diagram, a tool used to derive the impact force reduction strategies presented, is introduced and discussed. Two strategies for reducing impact force are then presented. The first strategy involves adding torques to the joints ... View full abstract»

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  • Digital controller implementation for flexible manipulators using the concept of intelligent structures

    Publication Year: 1991, Page(s):952 - 958 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    A new approach called the travelling independent modal space control (TIMSC) is presented for the active control of flexibility in lightweight manipulator systems using the concept of intelligent structures. A procedure for optimal actuator placement in TIMSC is outlined. This approach enhances actuator utilization and limits control spillover effects. The concept is applied on a single link manip... View full abstract»

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  • Learning for mobile robots: environment map acquisition

    Publication Year: 1991, Page(s):1033 - 1037 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    The mapping of environment using sensory information has generated a great deal of interest. This paper presents a technique for learning, which allows the mobile robot to acquire the environment map automatically. The technique is based on the principle of explicitly representing and reasoning about the uncertainty in robot's position and orientation, as well as uncertainty in sensing process. Th... View full abstract»

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  • The practical implementation of advanced digital motion control algorithms to high precision mechanical systems

    Publication Year: 1991, Page(s):917 - 922 vol.2
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    Deals with improving the dynamic performance of precision mechanical systems. The research undertaken over the last three years at Birmingham Polytechnic (UK), has resulted in very dramatic improvements in dynamic performance and in designs which are capable of meeting a very exacting specification. The improvements by several orders of magnitude on a wide range of production machines equates in p... View full abstract»

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