Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on

11-11 Nov. 2002

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  • Proceedings of the Third International Workshop on Robot Motion and Control. RoMoCo'02 (IEEE Cat. No.02EX616)

    Publication Year: 2002
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  • Author index

    Publication Year: 2002, Page(s):447 - 448
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    Freely Available from IEEE
  • Voice control of dual-drive mobile robots-survey of algorithms

    Publication Year: 2002, Page(s):387 - 392
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (551 KB) | HTML iconHTML

    Presents a survey of the algorithms applied to voice control of electromechanical appliances, especially voice controlled mobile robots or intelligent wheelchairs for handicapped people. The second part of the paper is devoted to voice recognition algorithms. Besides a short voice processing algorithms review, the need of voice recognition results verification method was pointed out. The method pr... View full abstract»

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  • Prototypes of walking machines: motion synthesis

    Publication Year: 2002, Page(s):83 - 86
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (325 KB) | HTML iconHTML

    The paper discusses development work related to the gait synthesis of walking machines prototypes. The problem of the influence of the leg posture on the leg-end/ground interaction is presented. It is shown that, by the choice of leg posture, the expected ground friction coefficient which prevents leg slippage can be controlled. The design of tip-over motion is shown. View full abstract»

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  • Representing 3D shape from video

    Publication Year: 2002, Page(s):381 - 386
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (398 KB) | HTML iconHTML

    We present an algorithm which, taking as input positions of features (corners) in every single frame of an image sequence and the sequence itself, will generate an image of a three dimensional object optimally textured. Optimally means that for each constituent triangle of the created mesh, the texture of the best resolution will be chosen. The spatial shape of the object shown in the video sequen... View full abstract»

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  • Slow locomotion of a three-link system along a horizontal plane

    Publication Year: 2002, Page(s):77 - 81
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (294 KB) | HTML iconHTML

    We continue to investigate the possibility of slow (quasi-static) locomotion of multi-link systems along a horizontal plane owing to changing configurations. We have shown previously that the quasi-static motion of a two-link system, occurring when the angle between its links varies, is uncontrollable and that the trajectories of the system's vertices are uniquely defined by the initial position o... View full abstract»

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  • Redundant manipulators motion through singularities based on modified Jacobian method

    Publication Year: 2002, Page(s):331 - 336
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (410 KB) | HTML iconHTML

    This paper presents a method which allows one to pass transversally through singularities of corank 1 for redundant manipulators. The method modifies a Jacobian matrix of the manipulator's forward kinematics to retrieve its full rank at singularities. The method is computationally inexpensive and conceptually simple. It is well suited for real time control and practical implementations. The method... View full abstract»

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  • Color vision based person following with a mobile robot

    Publication Year: 2002, Page(s):375 - 380
    Cited by:  Papers (2)  |  Patents (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (531 KB) | HTML iconHTML

    Describes a vision based interface that enables the mobile robot to detect and follow a person through office environments. The proposed algorithm works by estimating the separate distributions of colors on a person's face and shirt. Using heuristics on vertical alignment of face and shirt color as well as bordering on each other, we are able to extract the person reliably and to guide the robot t... View full abstract»

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  • Kinematic modeling of terrain adapting wheeled mobile robot for Mars exploration

    Publication Year: 2002, Page(s):291 - 296
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (465 KB) | HTML iconHTML

    Wheeled robot movement over unstructured terrain is usually referred to as roving. A primary target for a roving mission is surface reconnaissance and survey for in-situ data collection. Planetary roving is a direct way of exploring Mars, and allows Earth based scientists to directly contact the rock and soils on the planet. This paper discusses the kinematics and mechanical design aspects of one ... View full abstract»

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  • CLAWAR: modular robots for the future

    Publication Year: 2002, Page(s):73 - 76
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (380 KB) | HTML iconHTML

    In the design and manufacture of robots there has been little sharing of technologies or components. Applications differ, but there is also a large degree of overlap and it is important that the robot designers acknowledge this and develop some infrastructure where experience gained in one area can be transferred to another. It is this interaction and cross-fertilisation that could open the way fo... View full abstract»

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  • Deformation parameters in dynamic event recognition

    Publication Year: 2002, Page(s):325 - 330
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (384 KB) | HTML iconHTML

    The elements of the spatio-temporal knowledge representation for dynamic environments are presented. An event is a finite set of objects that move in a given time along specified routes. The pattern is a set of "similar" events. Similarity based on the mathematical notion of similitude is proposed. View full abstract»

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  • Managing advanced manufacturing and automated systems. Some concepts and results of their implementation

    Publication Year: 2002, Page(s):261 - 268
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (491 KB) | HTML iconHTML

    Hybrid automation, robotics and computer-based technologies have changed the organization of production. This requires a new approach in company management. In this paper a set of new management concepts is presented as well as some results of survey concerning the popularity, objectives and effectiveness of use of these concepts in manufacturing companies. View full abstract»

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  • RobIn Heart in 2002 - actual state of Polish Cardio-Robot

    Publication Year: 2002, Page(s):33 - 38
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (509 KB) | HTML iconHTML

    Presented in this article is the project of manipulator, named RobIn Heart, which is run by Foundation of Cardiac Surgery Development in Zabrze, Poland, in cooperation with specialists from the Technical University of Lodz and Warsaw University of Technology which assumes the realisation of original prototype of a robot for usage in cardiac surgery and development of surgery operation planning sys... View full abstract»

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  • A method for discrete self-localization using image analysis

    Publication Year: 2002, Page(s):369 - 374
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (469 KB) | HTML iconHTML

    A method for discrete self-localization of an autonomous mobile system was proposed. One of its many possible implementations was designed, that uses a camera subsystem, which delivers sensor information about the environment reduced to an n-elementary measurement vector. Three different algorithms of image analysis were proposed and implemented. The self-localization approach with three different... View full abstract»

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  • A modular architecture for formation control

    Publication Year: 2002, Page(s):285 - 290
    Cited by:  Papers (11)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (421 KB) | HTML iconHTML

    We present a four layer architecture for coordinating a team of mobile robots equipped with range sensors and wireless network cards, and the task of navigating to a desired location in a desired formation. We develop graph-based algorithms for discovery, and cooperative control. Discovery involves the use of sensory information to organize the robots into a mobile network allowing each robot to e... View full abstract»

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  • Human-centered robotics and haptic interaction: from assistance to surgery, the emerging applications

    Publication Year: 2002, Page(s):137 - 139
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (312 KB) | HTML iconHTML

    Robots are moving towards applications beyond the structured environment of a manufacturing plant, making their way into the everyday world that people inhabit. The discussion focuses on the models, strategies, and algorithms associated with the basic capabilities needed for robots to work, interact, and cooperate with humans. In addition to the new capabilities they bring to the physical robot, t... View full abstract»

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  • Remarks regarding PD joint space control of manipulators using the eigenfactor quasi-coordinate velocity vector

    Publication Year: 2002, Page(s):67 - 72
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (419 KB) | HTML iconHTML

    This paper presents some remarks concerning PD control in joint space of a manipulator in terms of eigenfactor quasi-coordinate velocity (EQV). Presented control is new in a sense that it is derived in terms of variables based on the eigenvalues and eigenvectors of the manipulator mass matrix. New control was tested on 3-DOF 3D DDArm robot. This paper presents also a comparison between PD control ... View full abstract»

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  • Optimization of power consumption of anthropomorphic robots driven by electromotor

    Publication Year: 2002, Page(s):113 - 117
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (310 KB) | HTML iconHTML

    The object of our research is electromechanical controlled biped walking robot. The purpose of the work is to develop numerical parametrical optimization methods for control of walking robot by taking account of transient in the circuits of electric drive. The criterion of optimization is the minimum of electromechanical work. With classical variational control methods, for the simplest model of o... View full abstract»

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  • Motion planning in endogenous configuration space

    Publication Year: 2002, Page(s):231 - 236
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (410 KB) | HTML iconHTML

    We consider a motion planning problem for the mobile manipulator composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The problem consists of driving the end effector to a desirable location in the task space, and avoiding simultaneously a collision of the end effector with obstacles present in the task space. Our main objective is to demonstrate that a nat... View full abstract»

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  • From traffic flow simulations to collision avoidance module for mobile robot - cellular automata with fuzzy rules approach

    Publication Year: 2002, Page(s):303 - 308
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (399 KB) | HTML iconHTML

    A discrete automaton model is introduced with fuzzy rules to simulate one-way traffic flow. Results of simulations are consistent with the so-called fundamental diagram (flow versus density), as is observed in real free-way traffic. The fuzzy controller approach makes it possible to efficiently control mobile robots to avoid collisions. The 1D automaton can be easily extended to a two dimensional ... View full abstract»

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  • Design of decoupled sliding mode control for the PUMA 560 robot manipulator

    Publication Year: 2002, Page(s):45 - 50
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (308 KB) | HTML iconHTML

    This paper presents the design of a decupled sliding mode control algorithm for the PUMA 560 robot arm position control. The Lagrange-Euler model of the robot is used for calculation of control law. Computer simulations of the robot with the decoupled sliding mode control and exact and non-exact model are described. The control algorithm is simple and has a good robustness with respect to the robo... View full abstract»

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  • Discrete sliding mode control with uncertain modelling applied to robot manipulator

    Publication Year: 2002, Page(s):147 - 151
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (309 KB) | HTML iconHTML

    This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the feature... View full abstract»

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  • Design of the mechatronic system with help of UML diagrams

    Publication Year: 2002, Page(s):243 - 248
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (421 KB) | HTML iconHTML

    The Unified Modelling Language (UML) is a language that helps to visualize, design and document models of large and complex systems. Terminology and notation of visual modelling can be used as common high level object oriented language for design of the mechatronic systems. View full abstract»

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  • Scalable multi-robot formations using local sensing and communication

    Publication Year: 2002, Page(s):319 - 324
    Cited by:  Papers (5)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (443 KB) | HTML iconHTML

    In this paper, the solution of a multi-robot formation task is presented. All robots use only local sensing and local communication as an additional tool for the whole system performance. We assume the solution to be local, robust to the size of the multi-robot team, stable in the case of occurrence of obstacles and able to support many formation shapes. Local inter-robot communication enables the... View full abstract»

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  • Development of brachiating control system for reconfigurable brachiating space robot

    Publication Year: 2002, Page(s):255 - 259
    Cited by:  Papers (2)  |  Patents (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract |PDF file iconPDF (390 KB) | HTML iconHTML

    This paper presents a summary of the designed brachiating control system for a reconfigurable brachiating space robot (RBR). RBR that has been studied at NASDA, Tokyo Institute Of Technology, KEIO University for the next generation space robot, following the robot arm on Engineering Test Satellite VII (ETS-VII) and the JEM remote manipulator system (JEMRMS) in Japan. RBR has distributed controller... View full abstract»

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