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Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Date 17-17 Oct. 1998

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  • Proceedings - 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems [front matter]

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

    Publication Year: 1998 , Page(s): xxxvii - xliv
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    Freely Available from IEEE
  • INSERVUM-a retargetable, intelligent, video-based observation system for service robots

    Publication Year: 1998 , Page(s): 1840 - 1846 vol.3
    Cited by:  Papers (3)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (723 KB)  

    In this paper we describe the architecture of a vision-based workspace monitoring system for different kinds of nonautonomous service robots. Based on a hardware system with a movable color CCD-camera, mounted on a linear sledge above the workspace, we are developing a hierarchical, modular software system with a flexible control which is not restricted to a single application. During the initiali... View full abstract»

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  • On sensor-based roadmap: a framework for motion planning for a manipulator arm in unknown environments

    Publication Year: 1998 , Page(s): 1919 - 1924 vol.3
    Cited by:  Papers (3)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (736 KB)  

    We present a general framework for sensor-based motion planning for an articulated robot arm with many degrees of freedom. We assume a sensor that measures distances in physical space (a range sensor). Inspired by recent work in classical motion planning, the crux of our framework is to represent the connectivity of the configuration space (C-space) with a graph structure, the roadmap. This roadma... View full abstract»

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  • Learning from history for adaptive mobile robot control

    Publication Year: 1998 , Page(s): 1865 - 1870 vol.3
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (624 KB)  

    Learning in the mobile robot domain is a very challenging task, especially in nonstationary conditions. This paper presents an approach that allows a robot to learn a model of its interactions with its operating environment in order to manage them according to the experienced dynamics. The robot is initially given a set of “behavior-producing” modules to choose from, and the algorithm ... View full abstract»

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  • A learning fuzzy decision tree and its application to tactile image

    Publication Year: 1998 , Page(s): 1578 - 1583 vol.3
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    Decision trees play important roles in many fields such as pattern recognition and classification It is because they have simple, apparent and fast reasoning process. This paper develops an algorithm to generate a learning fuzzy decision tree. This algorithm firstly collects enough training data for generating a practical decision tree. It then uses fuzzy statistics to calculate fuzzy sets for rep... View full abstract»

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  • Complete real-time path planning during sensor-based discovery

    Publication Year: 1998 , Page(s): 1399 - 1404 vol.3
    Cited by:  Papers (5)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (648 KB)  

    Sensor-based discovery path planning is problematic because the path needs to be continually recomputed as new information is discovered. A process-based client-server approach is presented that permits concurrent sensor-based map updates, robot localization corrections, as well as concurrent path computation and execution. A harmonic function is constantly recomputed using an iteration kernel on ... View full abstract»

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  • A behavior learning/operating module for mobile robots

    Publication Year: 1998 , Page(s): 1879 - 1884 vol.3
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (548 KB)  

    Robot behavior learning is an emerging research topic in robotics. By incorporating learning capability to robots, engineers are not required to hard-code appropriate actions under every possible situation. Actually, this is an impossible task. In this paper, an architecture of behavior learning/operating module (BLOM) for a robot system is proposed. In the BLOM architecture, several categories of... View full abstract»

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  • Behavior sampling: a recording mechanism for visually based teleoperation

    Publication Year: 1998 , Page(s): 1753 - 1760 vol.3
    Cited by:  Papers (2)  |  Patents (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (984 KB)  

    Proposes a visually based teleoperation with accumulation method and system where the visual and control information sequences are stored and available for syntactically indexed playback. Visually based teleoperation systems heretofore described in the literature unfortunately can only display an instantaneous representation of the control sequence. Past control experience should instead be accumu... View full abstract»

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  • A human-machine interface for teleoperation of arm manipulators in it complex environment

    Publication Year: 1998 , Page(s): 1590 - 1595 vol.3
    Cited by:  Papers (5)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (476 KB)  

    Discusses the feasibility of using configuration space (C-space) as a means of visualization and control in operator-guided real-time motion of a robot arm manipulator. The motivation is to improve performance of the human operator in tasks involving the manipulator motion in an environment with obstacles. Unlike some other motion planning tasks, operators are known to make expensive mistakes in s... View full abstract»

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  • Sensor system for controlling a multifingered gripper on a robot arm

    Publication Year: 1998 , Page(s): 1509 - 1514 vol.3
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (620 KB)  

    In the last few years different multifingered grippers have been developed and a lot of research work has been done in the field of grasping and manipulating objects with such grippers. With the help of fingers it is possible to grasp different objects with different shapes without having to change the gripper. To use a multifingered gripper in industrial applications it has to be mounted on anoth... View full abstract»

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  • Interaction between creature and robot: development of an experiment system for rat and rat robot interaction

    Publication Year: 1998 , Page(s): 1975 - 1980 vol.3
    Cited by:  Papers (4)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (800 KB)  

    In this paper, we introduce a trial to realize interaction between creatures and robots. As the first step, rats were selected as an experimental target as a simplified form of interaction between human and humanoid robots. A rat robot was developed. Infrared transmitter, similar outlook of rat's figure and size, front-wheel steering and rear-wheel driving mechanism were equipped to the robot as t... View full abstract»

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  • Neural fields for local path planning

    Publication Year: 1998 , Page(s): 1431 - 1436 vol.3
    Cited by:  Papers (3)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (648 KB)  

    In this article we introduce a neural field approach for local path planning of an autonomous mobile robot. The robot's heading direction is determined by the localized peak and its velocity by the maximum activation in the field. We emphasize the neural field's ability to keep the path planning stable even in the case of noisy sensor data or varying environments. The theoretical frameworks is val... View full abstract»

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  • A photo-realistic 3-D mapping system for extreme nuclear environments: Chernobyl

    Publication Year: 1998 , Page(s): 1521 - 1527 vol.3
    Cited by:  Papers (7)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (716 KB)  

    We present a stereoscopic mapping system for use in post-nuclear accident operations by the Pioneer robot. First we discuss a radiation shielded sensor array designed to tolerate extended cumulative dose using 4× shielding. Next, we outline procedures to ensure timely, accurate range estimation using trinocular stereo. Finally, we review the implementation of a system for the integration of ... View full abstract»

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  • Learning actions from vision-based positioning in goal-directed navigation

    Publication Year: 1998 , Page(s): 1715 - 1720 vol.3
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (444 KB)  

    We describe a navigation approach, based on a reinforcement learning algorithm, that allows a mobile robot to move in an unknown indoor environment learning autonomously in a few trials the actions for reaching a particular goal location. The control architecture merges visual information and sonar readings to evaluate the state of the system to which the learning algorithm relates the best moveme... View full abstract»

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  • Parameter estimation of unknown rigid objects moving freely in non-gravity field by stereo vision

    Publication Year: 1998 , Page(s): 1455 - 1460 vol.3
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    In this paper, we discuss the estimation method of physical parameters of an unknown rigid object which moves freely in nongravity field by using stereo vision. The physical parameters cannot be estimated by only observing the change of the position and orientation of the object. A known object is shot to the unknown target object, then the collision happens. The collision changes the movement of ... View full abstract»

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  • An adaptive learning approach to control contact force in assembly

    Publication Year: 1998 , Page(s): 1443 - 1448 vol.3
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (480 KB)  

    Robotic assembly operations can be performed by specifying an exact model of the operation. However, the uncertainties involved during assembly make it difficult to conceive such a model. In these cases, the use of a connectionist model can be advantageous. In this paper the design of a neural network controller (NNC) based on unsupervised learning is presented. The NNC consists of two stages, ada... View full abstract»

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  • Fatigue characteristics of McKibben artificial muscle actuators

    Publication Year: 1998 , Page(s): 1776 - 1781 vol.3
    Cited by:  Papers (8)
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    The McKibben artificial muscle is a pneumatic actuator whose properties include a very high force to weight ratio. This characteristic makes it very attractive for a wide range of applications such as mobile robots and prosthetic appliances for the disabled. Typical applications often require a significant number of repeated contractions and extensions or cycles of the actuator. This repeated acti... View full abstract»

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  • A task description language for robot control

    Publication Year: 1998 , Page(s): 1931 - 1937 vol.3
    Cited by:  Papers (54)  |  Patents (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (664 KB)  

    Robot systems must achieve high level goals while remaining reactive to contingencies and new opportunities. This typically requires robot systems to coordinate concurrent activities, monitor the environment, and deal with exceptions. We have developed a new language to support such task-level control. The language, TDL, is an extension of C++ that provides syntactic support for task decomposition... View full abstract»

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  • A visual attention network for a humanoid robot

    Publication Year: 1998 , Page(s): 1968 - 1974 vol.3
    Cited by:  Papers (8)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (696 KB)  

    For a humanoid robot to interact easily with a person, the robot should have human-like sensory capabilities and attentional mechanisms. Particularly useful is an active vision head controlled by a visual attention system that selects viewpoints in the environment as a function of the robot's task. This paper describes a model of human visual attention called FeatureGate, which is a locally connec... View full abstract»

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  • Looking for concepts: unsupervised map construction with unknown sensor configuration

    Publication Year: 1998 , Page(s): 1689 - 1694 vol.3
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (580 KB)  

    The navigation method presented allows a robot to find its position and its route without prior information about its environment. What is going to be used as landmark is initially unknown, and no specific preprocessing of the sensor signals is done. The robot nevertheless extracts meaningful information from its environment and uses it to build a map. Both landmark definitions and map are continu... View full abstract»

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  • Reinforcement learning of dynamic motor sequence: learning to stand up

    Publication Year: 1998 , Page(s): 1721 - 1726 vol.3
    Cited by:  Papers (13)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (564 KB)  

    We propose a learning method for implementing human-like sequential movements in robots. As an example of dynamic sequential movement, we consider the “stand-up” task for a two-joint, three-link robot. In contrast to the case of steady walking or standing, the desired trajectory for such a transient behavior is very difficult to derive. The goal of the task is to find a path that links... View full abstract»

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  • A robust eigenspace method for high-speed massively parallel vision systems

    Publication Year: 1998 , Page(s): 1795 - 1800 vol.3
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    Image processing systems, each consisting of massively parallel photodetectors and digital processing elements on a monolithic circuit, are being developed by several researchers. This approach is promising for applications in robot vision and visual inspection. Some early vision-like processing algorithms, such as edge-detection, smoothing and thinning, are installed in the vision systems. Howeve... View full abstract»

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  • A study on estimation wire obstacle using ultrasonic sensors and planning for avoidance

    Publication Year: 1998 , Page(s): 1622 - 1627 vol.3
    Request Permissions | Click to expandAbstract | PDF file iconPDF (528 KB)  

    The authors studied the planning for wire obstacle avoidance by manipulators. It is difficult to know the location and direction of an obstacle with an ultrasonic sensor, since distance is the only information provided by the sensor. The authors propose here a method for estimating the location and direction of a wire obstacle by using multiple items of information on distance. The authors report ... View full abstract»

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  • An algebra for efficiently solving the continuous collision detection problem

    Publication Year: 1998 , Page(s): 1628 - 1633 vol.3
    Request Permissions | Click to expandAbstract | PDF file iconPDF (548 KB)  

    An efficient object-oriented collision detection engine has been developed being applicable for complex geometrical models defined constructively and for geometrical primitives which representation base on the widely used boundary representation geometric solid modeler ACIS. An approach, which in a fast pre-processing step reduces the model's complexity by efficiently eliminating those objects fro... View full abstract»

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