By Topic

Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on

Date July 29 2001-Aug. 1 2001

Filter Results

Displaying Results 1 - 25 of 98
  • Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515)

    Publication Year: 2001
    Request permission for commercial reuse | PDF file iconPDF (315 KB)
    Freely Available from IEEE
  • Author index

    Publication Year: 2001, Page(s):x - xiii
    Request permission for commercial reuse | PDF file iconPDF (95 KB)
    Freely Available from IEEE
  • Intelligent interface design in virtual assembly

    Publication Year: 2001, Page(s):131 - 136
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (506 KB) | HTML iconHTML

    Presents an approach to intelligent interface design in virtual assembly. It uses a domain model to represent the activities of mechanical assembly, and a user model to capture the goals of user actions. The design also includes an interaction model to make inferences from the two models for the rendering of artificial guidance and evaluation of assembly plans. A neural network inspired from biolo... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Heuristic methods for randomized path planning in potential fields

    Publication Year: 2001, Page(s):426 - 431
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (593 KB) | HTML iconHTML

    Randomized path planning driven by a potential field is a well established technique for solving complex, many degrees of freedom motion planning problems. In this technique a suitable potential field shapes the search of the path toward the goal. However, randomized path planning can become relatively inefficient when deep local minima are present in the potential field. Indeed, the algorithm usu... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A model for time-delays for teleoperation over the Internet

    Publication Year: 2001, Page(s):236 - 241
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (457 KB) | HTML iconHTML

    The stochastic nature of the communication delay in teleoperation systems makes it hard to predict the behavior of such systems. Although achieving a general-purpose model for the Internet is not easy, if possible at all, stochastic models for specific cases enable us design predictors, which can help in stabilizing the teleoperation systems. In this paper we have developed an initial notion to cr... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design and analysis of one-step-ahead adaptive neural predictive controller

    Publication Year: 2001, Page(s):391 - 395
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB) | HTML iconHTML

    This paper aims at developing an adaptive one-step-ahead neural predictive control scheme for controlling nonlinear unknown systems. We here focus on two issues: controller design and performance analysis. A regularization cost function embodying the plant sensitivity information is proposed, which enhances the estimation accuracy of the plant Jacobian. The local linearization concept is applied t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Dynamic modeling and its analysis for PIG flow through curved section in natural gas pipeline

    Publication Year: 2001, Page(s):492 - 497
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB) | HTML iconHTML

    Dynamic modeling and its analysis for the PIG (pipeline inspection gauge) flow through a 90° curved pipe with compressible and unsteady flow are studied. The PIG dynamics model is derived by using a Lagrange equation under the assumption that it passes through 3 different sections in the curved pipeline such that it moves into, inside and out of the curved section. The downstream and up stream... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Light signaling for social interaction with mobile robots

    Publication Year: 2001, Page(s):137 - 142
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB) | HTML iconHTML

    To give autonomous mobile robots some kind of "social intelligence", they need to be able to recognize and interact with other agents in the world. This paper describes how a light signaling device can be used to identify another individual and to communicate simple information. By having the agents relatively close to each other, they share the same perceptual space, which allows them to sense or... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Tracking control of a mobile robot with kinematic and dynamic constraints

    Publication Year: 2001, Page(s):125 - 130
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB) | HTML iconHTML

    A path tracking control method with both kinematic and dynamic constraints is proposed for a nonholonomic mobile robot. By incorporating a biologically inspired shunting model into the conventional bang-bang control technique, the proposed tracking controller is capable of generating real-time acceleration commands that can produce smooth, continuous robot velocities, and drive the mobile robot to... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design of energy efficient joint profiles for a planar five-link biped robot

    Publication Year: 2001, Page(s):35 - 40
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB) | HTML iconHTML

    Joint profiles for a five-link biped, walking on a horizontal surface, are determined using five constraint functions. These constraint functions are designed to constrain the walking speed, support knee bias angle, and coordinate the motion of the legs, upright posture of the upper body and energy conservation of the bipedal system. It is shown that if only the initial potential energy is given, ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A MATLAB/Simulink-based platform for real-time planning and execution of control techniques applied to mobile robots

    Publication Year: 2001, Page(s):530 - 535
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (407 KB) | HTML iconHTML

    Simulation tools now occupy a place of particular importance in many fields of engineering. Some of these tools have come to be regarded as standard and/or as a point of departure for the replication of results obtained in scientific papers. The present paper describes the use of one of these tools, Matlab/Simulink, used in order to simulate and validate in real time the results concerning the gui... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A new fuzzy genetic algorithm based on population diversity

    Publication Year: 2001, Page(s):108 - 112
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB) | HTML iconHTML

    Proposes a kind of population diversity (PD) measurements and their computational formulas. A quantitative relation between them is proved. The gene and individual are considered as separate units to investigate PD. A fuzzy genetic algorithm is designed using PD measurements developed, in which the fuzzy controller is used to adjust crossover rate and mutation rate dynamically to maintain the prop... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Path planning of 3-D objects using a new workspace model

    Publication Year: 2001, Page(s):420 - 425
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB) | HTML iconHTML

    This paper proposes a collision avoidance algorithm to solve the problem of (local) path planning for a 3D object moving among polyhedral obstacles. The algorithm is based on a generalized potential model of workspace which assumes that the boundary of every 3D object is uniformly charged. According to the proposed approach, the repulsive force and torque between the moving object and the obstacle... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design of a novel compact dexterous hand for teleoperation

    Publication Year: 2001, Page(s):5 - 10
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB) | HTML iconHTML

    This paper focuses on the mechanism design of a novel compact dexterous hand of 3 fingers, 9 joints and 7 DOF (degrees of freedom). The technology of single-motor actuation is used and a kind of compact bilateral clutch is designed to reduce the size of actuation and control part of the hand. Different from most dexterous hand designs, no lengthy tendons are needed in this design since the actuati... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A human scale tele-operating system for microoperation

    Publication Year: 2001, Page(s):230 - 235
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (531 KB) | HTML iconHTML

    In the medical field and in biotechnology application, a new type of human scale teleoperating system that can carry out three-dimensional high-speed micromanipulation has urgently been demanded. It is our purpose to develop a new type of human scale operating system for microoperation that can manipulate a microobject In this paper, we deal with a human scale teleoperating system. In order to ope... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Trajectory planning of mobile robots using DNA computing

    Publication Year: 2001, Page(s):380 - 385
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (394 KB) | HTML iconHTML

    Recently, DNA computers attract attention as computers of next generation taking over the present electronic computers. Computation can be realized by chemical reaction of DNA. This paper presents an optimal trajectory planning method of mobile robots using DNA computing. In this method, a working area of a mobile robot is divided into many sections. Then the shortest trajectory avoiding obstacles... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • An improved design procedure of Lyapunov feedback control

    Publication Year: 2001, Page(s):486 - 491
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB) | HTML iconHTML

    An improved procedure of Lyapunov feedback control is developed. The procedure includes two parts. First, a discontinuous controller is designed. The extended Lyapunov stability theory is used for the stability analysis of the resulting non-smooth control system. Next, the discontinuous terms in the controller are replaced with continuous functions. This weakens the stability but avoids the chatte... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A study on the interface of the Internet-based teleoperation

    Publication Year: 2001, Page(s):326 - 331
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (409 KB) | HTML iconHTML

    Most traditional teleoperation systems adopt a bilateral master-slave structure based on haptic interface devices to render torque/force feedback and generate commands to remote robots. Haptic interface devices with force-reflection are usually bulky, expensive and purpose-specific, which bring up incompatibility and unavailability problems. Furthermore, haptic interface devices introduce contact ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Development of a creeping snake-robot

    Publication Year: 2001, Page(s):77 - 82
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (557 KB) | HTML iconHTML

    Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. Using these snakes' noticeable features into robots is becoming more important for generating a new ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robot box-pushing with environment-embedded sensors

    Publication Year: 2001, Page(s):212 - 217
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (477 KB) | HTML iconHTML

    We address the problem of detecting and pushing stationary objects in a planar environment by using an environment-embedded sensor network and a simple mobile robot. The stationary sensors are used to detect pushable objects. The robot pushes a detected object based on pose information obtained from the sensors over a wireless network. We show that the accuracy of the push operation is correlated ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Human centered architecture by means of Q-learning algorithm and the KEI (knowledge, emotion and intention) model

    Publication Year: 2001, Page(s):189 - 193
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (378 KB) | HTML iconHTML

    It is not sufficient for a robot system to have only the behavior based on what the human has. So, we composed the system for both the human and a robot to learn suitable behaviors. An experiment was performed with the actual robot. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Neural network-based pose estimation for fixtureless assembly

    Publication Year: 2001, Page(s):248 - 253
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB) | HTML iconHTML

    A prototype fixtureless robotic assembly workcell will require a machine vision system to locate randomly fed parts without the use of models or camera calibration. The Feature CMAC artificial neural network has been shown to solve the 3-DOF pose estimation problem for simple target parts. In this paper, the network is extended to handle an unmodified industrial target part. A tradeoff between neu... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A novel non-time based tracking controller for nonholonomic mobile robots

    Publication Year: 2001, Page(s):119 - 124
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB) | HTML iconHTML

    Event based controller design was first proposed by Xi (1993), where a suitable non-time motion reference is introduced to represent the desired and measurable system output. It has been successfully applied to many areas such as robot motion control, multi-robot coordination, force and impact control, robotic teleoperation and manufacturing automation. In this paper, a non-time based tracking con... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Humanoid walk control with feedforward dynamic pattern and feedback sensory reflection

    Publication Year: 2001, Page(s):29 - 34
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (475 KB) | HTML iconHTML

    Since a biped humanoid inherently suffers from instability and always risks itself to tipping over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory reflex. The dynamic pattern is a rhythmic and periodic motion, which satisfies the constraints of dynamic stabilit... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Finite elements, mass-spring-damper systems and haptic rendering

    Publication Year: 2001, Page(s):224 - 229
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (451 KB) | HTML iconHTML

    Haptic feedback can be classified as a branch of robotic force (compliant) control (computation) area. In the traditional force control areas, the objective is to regulate the desired contact force between a robotic agent an environment through design of a control law which has some model of the compliance embedded into it. For the haptic feedback environment, the user interacts with the graphical... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.