Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

3-5 Nov. 1991

Filter Results

Displaying Results 1 - 25 of 256
  • Proceedings IROS '91. IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. Intelligence for Mechanical Systems (Cat. No.91TH0375-6)

    Publication Year: 1991
    Request permission for commercial reuse | PDF file iconPDF (55 KB)
    Freely Available from IEEE
  • A theory of intelligent machine systems

    Publication Year: 1991, Page(s):3 - 9 vol.1
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (667 KB)

    A theoretical model is proposed consisting of six basic elements: actuators, sensors, sensory processing, world modeling, behavior generation and value judgment. These elements are integrated into a hierarchical system architecture wherein control bandwidth decreases about an order of magnitude from level to level, goals expand in scope and planning horizons expand in space and time about an order... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Learning for skill refinement

    Publication Year: 1991, Page(s):10 - 13 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (294 KB)

    It is claimed that 'robotics' is not a test bed for AI but should involve a research frontier relating to the physics underlying human activities such as perception, remembering, planning, practice, and skill. In addition to traditional AI and neural network approaches, other domains that can account for any aspect of human intellectual behavior must be exploited, and tools that actualize real imp... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Automatic assembly planning and control via potential functions

    Publication Year: 1991, Page(s):17 - 23 vol.1
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (543 KB)

    An approach to the problem of automated assembly planning and control using artificial potential functions is described. A simple class of tasks, 2D sphere assemblies, is examined. A constructive theory for the planning and control of this class of tasks is presented. Computer simulations demonstrate that the approach may provide surprisingly good performance.<<ETX>> View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A reactive architecture for planning and executing robot motions with incomplete knowledge

    Publication Year: 1991, Page(s):24 - 29 vol.1
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (594 KB)

    This paper describes a type of contingency-tolerant navigation system for an autonomous mobile robot performing transportation tasks in an office-like environment. A prior model of the environment is available, but this model is incomplete. The system combines a planning component that makes use of the available knowledge to plan a lesser-committed motion plan and a reaction component that pilots ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Dynamic modeling of a part mating problem: threaded fastener insertion

    Publication Year: 1991, Page(s):30 - 37 vol.1
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    A dynamic simulation of threaded insertion is developed based on Euler's equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based by the kinematic description. The simulation is used to investigate the behavior of a bolt during insertion into a nut u... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A general algorithm for derivation and analysis of constraint for motion of polyhedra in contact

    Publication Year: 1991, Page(s):38 - 43 vol.1
    Cited by:  Papers (7)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (346 KB)

    This paper presents a general algorithm for derivation and analysis of motion constraints of objects in contact. The constraints can be derived as linear inequalities for a general case, even when a vertex contacts another vertex or an edge. The solution of the inequalities is a direct sum of a nonnegative linear combination of motions which change the contact state and a linear combination of the... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • New robot mechanisms for new robot capabilities

    Publication Year: 1991, Page(s):44 - 49 vol.1
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (486 KB)

    The authors note a need to overcome the deficiencies inherent in conventional manipulator mechanisms. Joint torque controllability, optimal dynamic characteristics, motion redundancy, and fine manipulation ability are among the basic characteristics that would be desirable attributes of advanced robot systems. The paper discusses the limitations of current robot technology and describes the ongoin... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Workholding-analysis and planning

    Publication Year: 1991, Page(s):53 - 57 vol.1
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    With an increasing interest in manufacturing towards computer-assisted production in small batch sizes, researchers have begun to focus on the design, analysis and planning algorithms for workholding (also called fixturing), calibration and tool-path generation. The author focuses on the problem of workholding and reviews how various qualitative and quantative approaches of grasping theory can be ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Automatic grasping and regrasping by space characterization for pick-and-place operations

    Publication Year: 1991, Page(s):58 - 63 vol.1
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (410 KB)

    This paper describes a method of planning grasps for parallel two-fingered grippers in order to pick up user-specified objects and place them at user-specified configurations. By characterizing local space around gripping positions, the method can plan grasps where the hand can move as freely as possible and then easily plan a path. It can plan regrasping where the grasps themselves and the regras... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Shape analysis and hand preshaping for grasping

    Publication Year: 1991, Page(s):64 - 69 vol.1
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (430 KB)

    Observations of human grasping show two phases. During the reaching phase of grasping, the hand preshapes in order to prepare for the second phases which is shape-matching with the object. Planning of grasping with dextrous robot hands cannot be summarized to these two phases. It is necessary to split the grasping process into several phases (frequently overlapped), and to consider problems such a... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Grasping strategies for reconstructed unknown 3D objects

    Publication Year: 1991, Page(s):70 - 75 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    The authors describes an approach to the visuo-motor coordination of the grasping problem. A vision system is used to provide a spatial description of the scene. The volumetric information is reduced by merging the voxels into an octree representation. At the end of the reconstruction process, this kind of 'essential' information can be used to choose the right pre-shaping and to coordinate the ar... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Applying means-ends analysis to spatial planning

    Publication Year: 1991, Page(s):80 - 85 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    Existing methods for robot planning fall far behind human capabilities: they require approximations of shapes, and they cannot generate plans which involve moving obstacles to clear a path for the moving object. The authors explore the hypothesis that means-ends analysis based on a world model involving mental imagery allows more human-like solutions. The method is based on a way or representing p... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Motion planning using binary space partitioning

    Publication Year: 1991, Page(s):86 - 90 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (422 KB)

    This work explores a method for path planning for a robot in an environment that consists of stationary and moving obstacles. The technique uses binary partitioning of the environment by the obstacles to establish and analyze the spatial relationship between robot and obstacles. Hyperplanes are used to obtain recursively a disjoint set of D-dimensional cells, with each cell designated as belonging... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Planning/executing six d.o.f. robot motions in complex environments

    Publication Year: 1991, Page(s):91 - 96 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    This paper deals with the problem of planning safe trajectories for a manipulator robot moving in an environment including both static obstacles and objects (other robots, conveyors) whose positions may change during the interval of time separating two planning steps. In order to solve this problem for a general manipulator having six degrees of freedom, the authors have developed and implemented ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Dynamic path planning and expert control of the SIR-3 robotic manipulator

    Publication Year: 1991, Page(s):97 - 101 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (256 KB)

    This paper presents a path planning algorithm, using a rule-based expert system concept, for real-time control of a robotic manipulator. The algorithm is able to generate three different paths to enable the manipulator to avoid an obstacle and then to select the shortest or the least-segmented path to reach the end point. This algorithm requires very little computation time as compared to some tec... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Fuzzy internal models in vision systems modelling

    Publication Year: 1991, Page(s):105 - 110 vol.1
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (399 KB)

    The authors study internal-model representations in the framework of control theory and of visual system modelling. It is shown that the control of rapid orienting movements of the visual axis in space (saccadic system) can be modelled as a control system based on internal models. Moreover, a fuzzy approach is found to be very well adapted for the modelling of some parts of the saccadic system (re... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Visual servoing by a fuzzy reasoning method

    Publication Year: 1991, Page(s):111 - 116 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (321 KB)

    A visual servoing method is proposed for eye-in-hand robots. It employs a self-organizing fuzzy controller. There is defined a Jacobian that is not a function of a relative position of the object but is a function of the image features. Instead of obtaining an analytic form of the proposed Jacobian, a self-organizing fuzzy controller is then proposed to alleviate difficulties in real-time implemen... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • On the usefulness of optical flow for robotic part manipulation

    Publication Year: 1991, Page(s):117 - 122 vol.1
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (393 KB)

    This paper describes experience gained in using optical flow fields, arising from constrained camera motion, to estimate range information, for robotic part manipulation. Several key issues in robot vision are addressed. These include the computation of optical flow, computation of depth, interpolation of depth values, model construction, object recognition, and pose estimation. The paper provides... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A model for observing a moving agent

    Publication Year: 1991, Page(s):123 - 127 vol.1
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (325 KB)

    The authors address the problem of observing a moving agent. In particular, they propose a system for observing a manipulation process, where a robot hand manipulates an object. A discrete event dynamic system framework is developed for the hand/object interaction over time and a stabilizing observer is constructed. Low-level modules are developed for recognizing the 'events' that cause state tran... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Observing motion by multiple visual tracking agents

    Publication Year: 1991, Page(s):128 - 133 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    This paper describes a method to observe a moving object with multiple visual tracking agents. When a robot vision watches an object, it employs several tracking agents to monitor key features of the object. Each tracking agent is controlled by its visual feedback. In order to perform robust tracking, the authors introduce constraint control between agents. This method is effective in observing a ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Compliant motion control of redundant manipulators

    Publication Year: 1991, Page(s):137 - 142 vol.1
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (427 KB)

    Two control schemes, called extended hybrid control and extended impedance control respectively, are developed for assuring the compliant motion of redundant manipulators. In the two control schemes, the basic compliant motion task is accomplished while the redundancy is utilized to realize some additional constraints which optimize any user-defined objective functions. Further, real-time implemen... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • J-minor based dynamic control (JMDC) for kinematically redundant manipulators

    Publication Year: 1991, Page(s):143 - 148 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (341 KB)

    This paper presents a real-time dynamic control method for kinematically redundant manipulators. The proposed method aims at reducing excessive joint torques, which have caused the instability of conventional local torque minimization algorithms, by preserving the signs of full row rank minors of the manipulator Jacobian. It is shown by computer simulations that these minors have close relation wi... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Force feedback control and collision avoidance of redundant manipulator

    Publication Year: 1991, Page(s):149 - 152 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (228 KB)

    A method of compliant and collision avoidance control is presented. The collision avoidance motion is first generated in off-line routine and its data are stored as as a sequence of desired joint angles. Next, virtual impedance model-following control is employed as force feedback control. Redundancy is used for minimization of the variance from the desired joint angle during compliant motion. In ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Inverse kinematic solutions for redundant manipulators using compact formulation

    Publication Year: 1991, Page(s):153 - 158 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (386 KB)

    The inverse kinematic problem of redundant manipulators is solved by the compact formulation technique. The compact formulation is derived by applying Gaussian elimination, then the general solutions are still formulated as a particular solution together with homogeneous solutions. The homogeneous solutions are merely functions of free variables. Inverse kinematic solutions derived by the pseudoin... View full abstract»

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