Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

8-8 Nov. 1996

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  • 1996 IEEE/RSJ International Conference On Intelligent Robots And Systems

    Publication Year: 1996, Page(s):0_3 - xxxv
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    Freely Available from IEEE
  • Optimal 3D viewing with adaptive stereo displays for advanced telemanipulation

    Publication Year: 1996, Page(s):1007 - 1014 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (698 KB)

    A method of optimal 3D viewing based on adaptive displays of stereo images is presented for advanced telemanipulation. The method provides the viewer with the capability of accurately observing a virtual 3D object or local scene of his/her choice with minimum distortion. The viewer is allowed to define a virtual 3D object or local scene at a desired depth as a scaled version of a real 3D object or... View full abstract»

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  • Surface-based geometric modeling using task-oriented teaching trees

    Publication Year: 1996, Page(s):1015 - 1022 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (707 KB)

    In robot motion planning, geometric modeling plays an important role. Generally the shapes of objects such as factory products can be stored in a computer software database, so the elements that need to be decided are positions and orientations. In this paper surface-based geometric modeling using a task-oriented teaching tree is proposed. In this modeling, combinations of surfaces for deciding po... View full abstract»

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  • Virtual reality based teleoperation which tolerates geometrical modeling errors

    Publication Year: 1996, Page(s):1023 - 1030 vol.3
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (643 KB)

    It is well known that teleoperation with time delay causes force feedback control to become unstable. Therefore, bilateral control could not be used in such applications as space teleoperation with time delay. Force feedback information is, however, very important for the operator when performing contact tasks. Recently, virtual reality has been introduced to support force feedback based teleopera... View full abstract»

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  • Application of intelligent monitoring for super long distance teleoperation

    Publication Year: 1996, Page(s):1031 - 1037 vol.3
    Cited by:  Papers (25)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (905 KB)

    Time delay and limited communication capacity are the primary constraints in super-long distance telerobotic systems such as space telerobotic systems. Intelligent monitoring is efficient for this problem to provide a function which selects important scenes to help the operator through a monitoring camera. We constructed a telerobotic testbed which includes a connection through the international I... View full abstract»

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  • Determination of contact forces in grasping

    Publication Year: 1996, Page(s):1038 - 1044 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (499 KB)

    The determination of contact forces between a grasped object and fingers of a robot hand is treated in this research. In previous research on fingertip grasps, the underlying assumption is generally that the fingers can apply any required force. In cases of enveloping or power grasps, the latter assumption does not always hold because same components of the contact forces may not be controllable. ... View full abstract»

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  • Acquisition of an object model by manipulation with a multifingered hand

    Publication Year: 1996, Page(s):1045 - 1051 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (728 KB)

    A multifingered hand with touch sensors has grasping and manipulating functions, and has the function of a sensor probe. We have been studying the merging of these two functions, the acquisition of an object model by manipulation with a multifingered hand, and determining the next finger action based on the acquired information. By manipulating objects while acquiring the object models, we expect ... View full abstract»

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  • Classification of grasps by multifingered robot hands

    Publication Year: 1996, Page(s):1052 - 1059 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (633 KB)

    This research characterizes grasping by multifingered robot hands through an investigation of the space of contact forces between fingers and the grasped object. By decomposing the space of contact forces into four subspaces, we develop a method to determine the dimensions of the subspaces with respect to the connectivity of the object. The relationship we obtain reveals the differences between th... View full abstract»

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  • Compensation of friction in mechanical drives for a three fingered robot gripper

    Publication Year: 1996, Page(s):1060 - 1067 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (737 KB)

    Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine-tuning of a controller. This paper gives insight into the frictional behaviour of geared finger links. The behaviour has been approximated by a friction model. Considering t... View full abstract»

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  • Preliminary results on grasping with vision and touch

    Publication Year: 1996, Page(s):1068 - 1075 vol.3
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1360 KB)

    This paper presents initial results in integrating touch with vision for delicate manipulation tasks. A generalizable framework of behavioral primitives for tactile and visual feedback control is proposed. Since vision provides position and shape information at a distance, while tactile provides small-scale geometric and force information, we focus on the complimentary roles of vision and touch. W... View full abstract»

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  • Guiding robot motion using zooming and focusing

    Publication Year: 1996, Page(s):1076 - 1082 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1337 KB)

    This work explores hand-eye coordination of robots by using a camera with functions of zooming and focusing. Under the guidance of the camera, a robot hand can arrive at an object to manipulate it in the 3D space. The hand movement is decomposed into the move parallel to the image plane and the move in depth, which are controlled from image position and focus value of the hand. The focal value is ... View full abstract»

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  • Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing

    Publication Year: 1996, Page(s):1083 - 1090 vol.3
    Cited by:  Papers (34)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (720 KB)

    We propose in this paper solutions to avoid robot joint limits and kinematic singularities in visual servoing. We use a control scheme based on the task function approach. It combines the regulation of the selected vision based task with the minimization of a secondary cost function, which reflects the manipulability of the robot in the vicinity of internal or external singularities. Several metho... View full abstract»

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  • Visual servoing for micro mass axis alignment device

    Publication Year: 1996, Page(s):1091 - 1096 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (606 KB)

    This paper describes a new observation system for monitoring the operation of a micro machine, and a controller based on the visual servoing method for controlling a micro machine. The application considered is the splicing of optical fibre ribbons. The proposed observation system has only one CCD camera. However, it can be converted into a stereo vision system by using two mirrors. By using the n... View full abstract»

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  • Adaptive hybrid visual servoing/force control in unknown environment

    Publication Year: 1996, Page(s):1097 - 1103 vol.3
    Cited by:  Papers (16)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (723 KB)

    This paper describes an adaptive hybrid visual servoing/force controller to realize visual servoing while the manipulator exerts contact force on a surface. The proposed controller has a hybrid structure of visual servoing control and force control. Because it has an online estimator for the parameters of the camera-manipulator system and the one for the parameters of the unknown constraint surfac... View full abstract»

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  • Visual servoing based on the use of binocular visual space

    Publication Year: 1996, Page(s):1104 - 1111 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (619 KB)

    We propose a simple visual servoing scheme based on the use of binocular visual space. When we use a hand-eye system which has a similar kinematic structure to a human being, we can approximate the transformation from a binocular visual space to a joint space of the manipulator as a linear time-invariant mapping. This relationship makes it possible to generate joint velocities from image observati... View full abstract»

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  • A fleet of autonomous and cooperative mobile robots

    Publication Year: 1996, Page(s):1112 - 1117 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1005 KB)

    We present and discuss a generic cooperative scheme for multirobot cooperation. It is based on an incremental and distributed plan-merging process. We discuss the properties of this cooperative scheme (coherence, detection of dead-lock situations) as well as the class of applications for which it is well suited. We also discuss how this paradigm "fills the gap" between centralized planning and dis... View full abstract»

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  • Global and local path planning in natural environment by physical modeling

    Publication Year: 1996, Page(s):1118 - 1125 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1030 KB)

    In the field of robotics, some autonomous vehicles work in natural sites. One problem for the autonomous system is to plan a path to the goal. A usual method uses potential fields to find a global path. With this method, obstacles must be clearly defined. But this is not the case in such natural environments. A new physically based potential method is introduced to find paths such as, for instance... View full abstract»

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  • Motion planning on rough terrain for an articulated vehicle in presence of uncertainties

    Publication Year: 1996, Page(s):1126 - 1133 vol.3
    Cited by:  Papers (10)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1252 KB)

    This paper addresses motion planning for a mobile robot moving on a rough terrain. Simeon and Dacre-Wright proposed (1993) a geometrical planner for a particular architecture of robot, based on a discrete search technique operating in the (x, y, /spl theta/) configuration space of the robot, and on the evaluation of elementary feasible paths between two configurations. The overall efficiency of th... View full abstract»

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  • Incorporating terrain uncertainties in autonomous vehicle path planning

    Publication Year: 1996, Page(s):1134 - 1140 vol.3
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (796 KB)

    While inherent uncertainty in obstacle location for autonomous vehicle path planning has been investigated previously, terrain map uncertainty has largely been ignored. The terrain map is constructed via a priori data that in general, is incorrectly utilized as "perfect information". In this paper a probabilistic approach using empirical loss functions is developed to incorporate terrain map uncer... View full abstract»

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  • Robot motion planning: multi-sensory uncertainty fields enhanced with obstacle avoidance

    Publication Year: 1996, Page(s):1141 - 1148 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (977 KB)

    Robot motion planning is being approached in this paper by estimating the uncertainty of its configuration that is computed by the robot sensors. Since mobile robotic platforms are usually equipped with a variety of range sensors, measurements returned from all sensors are employed for the above estimation. The notion of sensory uncertainty fields (SUFs), recently proposed, is being extended to in... View full abstract»

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  • Neural network-based modeling of robot action effects in conceptual state space of real world

    Publication Year: 1996, Page(s):1149 - 1156 vol.3
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (721 KB)

    This paper gives the concept of an autonomous robotic agent that is capable of showing both machine learning and reactive behavior. The first methodology is used to collect information about the environment and to plan robot actions based on this information while the robot is performing tasks. Processing and storing information obtained during several task executions is called lifelong learning. ... View full abstract»

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  • New skill learning paradigm using various kinds of neurons

    Publication Year: 1996, Page(s):1157 - 1164 vol.3
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (609 KB)

    Modeled from human neurons, various types of artificial neurons are developed and applied to control algorithm. In this paper, the weights and structure of feedforward neural network controller are updated using new skill learning paradigm which consists of supervisory controller, chaotic neuron filter and associative memory. The pattern of system nonlinearity along the desired path is extracted w... View full abstract»

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  • Fuzzy matching for robot localization

    Publication Year: 1996, Page(s):1165 - 1170 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (438 KB)

    A fuzzy pattern matching algorithm is presented in this paper. This algorithm is employed to recognize landmarks placed in a robot working environment. A robot localization system with a map-based-navigation is designed by applying the fuzzy pattern matching algorithm. The robot localization will have a reliable robot vision system since robustness of this algorithm. Using this algorithm for patte... View full abstract»

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  • A fuzzy motion controller for a car-like vehicle

    Publication Year: 1996, Page(s):1171 - 1178 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (949 KB)

    This paper describes an 'execution monitor' (EM); it is the key component of a control architecture designed to provide a car-like vehicle moving in a dynamic and partially known environment with motion autonomy. Specifically EM endows the vehicle with the reactive capabilities required in an uncertain environment. Its purpose is to generate the commands for the servo-systems of the vehicle so as ... View full abstract»

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  • Automatic generation of rules for a fuzzy robotic controller

    Publication Year: 1996, Page(s):1179 - 1186 vol.3
    Cited by:  Papers (3)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (669 KB)

    Fuzzy logic is a useful tool for realizing a direct mapping between perceptual situations and control commands in robotic applications that do not require internal representation or planning. It allows explicit programming and automatic learning from suitable training data to be mixed in several ways in order to produce the necessary control rules. Automatic learning enables both the reduction of ... View full abstract»

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