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IEEE Transactions on Robotics and Automation

Issue 3 • Date Jun 1991

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Displaying Results 1 - 18 of 18
  • Process planning: a knowledge-based and optimization perspective

    Publication Year: 1991, Page(s):257 - 266
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (744 KB)

    Process planning for a part involves preparation of a plan that outlines the processing route, operations, machine tools, and so on. The decomposition of the process-planning task into eight phases is discussed. For each phase, problems and suitable solution approaches are discussed. Most process-planning problems are solved using a knowledge-based approach or a combination of optimization and kno... View full abstract»

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  • Adjusting step length for rough terrain locomotion

    Publication Year: 1991, Page(s):289 - 298
    Cited by:  Papers (82)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1008 KB)

    The task of controlling step length in the context of a dynamic biped robot that actively balances itself as it runs is discussed. Three methods for controlling step length, each of which adjusts a different parameter of the running cycle, are discussed. The adjusted parameters are forward running speed, running height, and duration of ground contact. All three control methods are successful in ma... View full abstract»

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  • Generation of free gait-a graph search approach

    Publication Year: 1991, Page(s):299 - 305
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (676 KB)

    A method is presented for the generation of a free gait for the straight-line motion of a quadruped walking machine. It uses a heuristic graph search procedure based on the A* algorithm. The method essentially looks into the consequences of a move to a certain depth before actually committing to it. Deadlocks and inefficiencies are thus sensed well in advance and avoided View full abstract»

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  • A six-degree-of-freedom magnetically levitated variable compliance fine-motion wrist: design, modeling, and control

    Publication Year: 1991, Page(s):320 - 332
    Cited by:  Papers (105)  |  Patents (29)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1244 KB)

    A high-performance six-degree-of-freedom magnetically levitated fine-motion wrist with programmable compliance is described. Design considerations, a discussion of the major elements of the device, and issues of modeling, kinematics, dynamics, and control are presented. A prototype wrist which has been built and controlled successfully is discussed. Experimental results, including high bandwidth p... View full abstract»

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  • The effect of monocular target blur on simulated telerobotic manipulation

    Publication Year: 1991, Page(s):372 - 376
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB)

    A simulation involving three types of telerobotic tasks that require information about the spatial position of objects is reported. This is similar to the results of psychophysical experiments examining the effect of blur on stereoacuity. It is suggested that other psychophysical experimental results could be used to predict operator performance for other telerobotic tasks. It is demonstrated that... View full abstract»

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  • Segmentation via manipulation

    Publication Year: 1991, Page(s):306 - 319
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1740 KB)

    A paradigm of iterative, interactive scene segmentation and simplification of random heaps of unknown objects via vision and manipulation is introduced. The scene simplification is based on the graph operations of vertex and edge removal. These operations are defined isomorphic to the pick and push manipulation actions. Sensors are used as graph generators and the manipulator is used as the decomp... View full abstract»

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  • Hidden Markov model for dynamic obstacle avoidance of mobile robot navigation

    Publication Year: 1991, Page(s):390 - 397
    Cited by:  Papers (52)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (620 KB)

    Models and control strategies for dynamic obstacle avoidance in visual guidance of mobile robots are presented. Characteristics that distinguish the visual computation and motion control requirements in dynamic environments from that in static environments are discussed. Objectives of the vision and motion planning are formulated, such as finding a collision-free trajectory that takes account of a... View full abstract»

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  • Motion planning with six degrees of freedom by multistrategic bidirectional heuristic free-space enumeration

    Publication Year: 1991, Page(s):267 - 277
    Cited by:  Papers (52)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1028 KB)

    A general and efficient method is presented that uses a configuration space for planning a collision-free path among known stationary obstacles for an arbitrarily moving object with six degrees of freedom. The basic approach is to restrict the free space concerning path planning and to avoid executing unnecessary collision detections. The six-dimensional configuration space is equally quantized in... View full abstract»

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  • Impedance control with adaptation for robotic manipulations

    Publication Year: 1991, Page(s):408 - 415
    Cited by:  Papers (67)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (640 KB)

    Two adaptive impedance control algorithms are presented. In this treatment, it is assumed that some parameters in the manipulator dynamics may be uncertain, and the measurements from the wrist force sensor utilized are imprecise. By introducing the concept of target-impedance reference trajectory (TIRT), which characterizes a desired dynamic relation of the end-point with the environment and a ref... View full abstract»

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  • Geometric uncertainties in polyhedral object recognition

    Publication Year: 1991, Page(s):361 - 371
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (876 KB)

    It is shown, by direct geometric construction, that previously published uncertainty bounds on the location of polygonal or polyhedral objects can be tightened considerably. The improvement of the bounds is a result of considering the cross-coupling between rotational and translation uncertainties in the interpretation of the sensor data. Both two-dimensional and three-dimensional uncertainty boun... View full abstract»

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  • Learning impedance parameters for robot control using an associative search network

    Publication Year: 1991, Page(s):382 - 390
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (860 KB)

    An evaluation of the associative search network (ASN) learning scheme when used for learning control parameters for robot motion is presented. The control method used is impedance control in which the controlled variables are the dynamic relations between the motion variables of the robot manipulator's tip and the forces exerted by the tip. The main task used is that of wiping a surface whose geom... View full abstract»

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  • Path planning for mobile manipulators for multiple task execution

    Publication Year: 1991, Page(s):403 - 408
    Cited by:  Papers (44)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    The planning problem for a mobile manipulator system that must perform a sequence of tasks defined by position, orientation, force, and moment vectors at the end-effector is considered. Each task can be performed in multiple configurations due to the redundancy introduced by mobility. The planning problem is formulated as an optimization problem in which the decision variables for mobility (base p... View full abstract»

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  • Vision-based automatic theodolite for robot calibration

    Publication Year: 1991, Page(s):351 - 360
    Cited by:  Papers (12)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (964 KB)

    An automatic partial-pose measurement system for robot calibration, called the vision-based automatic theodolite (VBAT), is described. It uses low-resolution rotation stages and resolution enhancement from a vision system to determine the line of sight to a spherical illuminated target. Automatic tracking, focusing, and centering provide the calibration system with speed, reliability, and repeatab... View full abstract»

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  • The vector field histogram-fast obstacle avoidance for mobile robots

    Publication Year: 1991, Page(s):278 - 288
    Cited by:  Papers (562)  |  Patents (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1088 KB)

    A real-time obstacle avoidance method for mobile robots which has been developed and implemented is described. This method, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a two-dimensional Cartesian histogram grid as a world model. This world model is upda... View full abstract»

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  • Weld pool edge detection for automated control of welding

    Publication Year: 1991, Page(s):397 - 343
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (812 KB)

    A vision system that determines the edges of the weld pool in sequences of gas-tungsten-arc welding images acquired by a coaxial viewing system is described. The vision system uses a transformation that maps the edge of a weld pool into a vertical line. The weld pool edge is detected in the transform domain by using a directional filter, which retains only intensity changes of interest, and a one-... View full abstract»

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  • Mobile robot localization by tracking geometric beacons

    Publication Year: 1991, Page(s):376 - 382
    Cited by:  Papers (393)  |  Patents (114)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (636 KB)

    The application of the extended Kaman filter to the problem of mobile robot navigation in a known environment is presented. An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterizat... View full abstract»

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  • Shortest path planning in discretized workspaces using dominance relation

    Publication Year: 1991, Page(s):342 - 350
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (808 KB)

    A method of partitioning a workspace using rectilinear visibility in 3-D or higher space is presented. Unlike the case of 2-D space where the shape of a partition is a rectangle, the shape of a partition in 3-D or higher space is arbitrary. The existence of dominance relations between the partitioned regions is proven. This relation is then utilized to efficiently solve the shortest path planning ... View full abstract»

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  • Scheduling job operations in an automatic assembly line

    Publication Year: 1991, Page(s):333 - 341
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    The problem of scheduling job operations in an automatic assembly line used for manufacturing a small to medium volume of mixed workparts is addressed. An assembly line model is discussed. This model differs from the classical flow shop model in the following three aspects: there are no buffers at machine stations; constraints associated with the material transport system are included; and, for ea... View full abstract»

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Aims & Scope

This Transactions ceased production in 2004. The current retitled publications areIEEE Transactions on Automation Science and Engineering and IEEE Transactions on Robotics.

Full Aims & Scope