Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

17-17 Oct. 1998

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  • Proceedings - 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems [front matter]

    Publication Year: 1998, Page(s):i - xxxv
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    Freely Available from IEEE
  • Author index

    Publication Year: 1998, Page(s):xxxvii - xliv
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    Freely Available from IEEE
  • Smart sensor snow

    Publication Year: 1998, Page(s):1377 - 1382 vol.3
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (414 KB)

    We propose to deploy and exploit a large number of inexpensive sensors to obtain information or trigger actions over a wide geographic area. Sensors may be of diverse physical natures: acoustic, IR, seismic, chemical, magnetic, thermal, etc. We describe three major issues: (1) sensor distribution patterns, (2) local sensor frames, and (3) autonomous robot sensor snow exploitation techniques. View full abstract»

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  • Sensor fault detection and identification in a mobile robot

    Publication Year: 1998, Page(s):1383 - 1388 vol.3
    Cited by:  Papers (60)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (551 KB)

    Multiple model adaptive estimation (MMAE) is used to detect and identify sensor failures in a mobile robot. Each estimator is a Kalman filter with a specific embedded failure model. The filter bank also contains one filter which has the nominal model embedded within it. The filter residuals are postprocessed to produce a probabilistic interpretation of the operation of the system. The output of th... View full abstract»

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  • Solid-state six degree of freedom, motion sensor for field robotic applications

    Publication Year: 1998, Page(s):1389 - 1398 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1005 KB)

    A solid-state inertial measurement unit (IMU) referred to as the MotionPak/sup TM/ is described. The IMU developed by BEI Sensors & Systems Company, consists of three micromachined quartz rate sensors and three accelerometers to provide a six degree of freedom (DOF), miniature, high reliability, low cost motion sensor which Carnegie Mellon University is utilizing to adapt to field robotic appl... View full abstract»

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  • Complete real-time path planning during sensor-based discovery

    Publication Year: 1998, Page(s):1399 - 1404 vol.3
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (747 KB)

    Sensor-based discovery path planning is problematic because the path needs to be continually recomputed as new information is discovered. A process-based client-server approach is presented that permits concurrent sensor-based map updates, robot localization corrections, as well as concurrent path computation and execution. A harmonic function is constantly recomputed using an iteration kernel on ... View full abstract»

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  • Tight cooperative working system by multiple robots

    Publication Year: 1998, Page(s):1405 - 1410 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (651 KB)

    The purpose of this study is to realize a multiple robot system which can be easily developed and managed. In order to perform robust cooperative work, it is necessary that multiple robots can achieve not only a high level of cooperation without communication but also simple cooperation with communication, and then switch between modes according to the situation. We call such cooperative work "tig... View full abstract»

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  • Morpho-functional characteristics of SSA-based two-mobile-robots system carrying a long bar on wavy road

    Publication Year: 1998, Page(s):1411 - 1418 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (674 KB)

    Deals with characteristics of cooperative transportation of a long bar along a wavy road by two mobile robots. The robot module has a crawler body and a single degree-of-freedom prismatic arm. The task is to carry a long bar at constant support height and support distance along a one-dimensional sinusoidal wavy road. Their position and arm length are cooperatively adjusted by a subsumption archite... View full abstract»

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  • Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor

    Publication Year: 1998, Page(s):1419 - 1424 vol.3
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (787 KB)

    In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensors and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized mo... View full abstract»

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  • Constraint of contacting points in cooperative handling

    Publication Year: 1998, Page(s):1425 - 1430 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (589 KB)

    We are going to analyze on the constraint among contacting points between robots and an object that is manipulated by the robot group. Constraint can be obtained by solving pseudo inverse of matrix filled by force data measured by all robots supporting one object. The result provides additional information for obtaining a relative positioning information to the object to ordinary constraint based ... View full abstract»

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  • Neural fields for local path planning

    Publication Year: 1998, Page(s):1431 - 1436 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (718 KB)

    In this article we introduce a neural field approach for local path planning of an autonomous mobile robot. The robot's heading direction is determined by the localized peak and its velocity by the maximum activation in the field. We emphasize the neural field's ability to keep the path planning stable even in the case of noisy sensor data or varying environments. The theoretical frameworks is val... View full abstract»

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  • Recognition and classification of path features with self-organizing maps during reactive navigation

    Publication Year: 1998, Page(s):1437 - 1442 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (781 KB)

    The paper focuses on recognition and classification of path features during navigation of a mobile robot. The extracted features play the role of relevant navigation situations as (in a corridor), (at a turning point), (in a narrow passage). The method is an incremental learning and classification technique, based on a self-organizing neural model. Two different self-organizing networks are used t... View full abstract»

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  • An adaptive learning approach to control contact force in assembly

    Publication Year: 1998, Page(s):1443 - 1448 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    Robotic assembly operations can be performed by specifying an exact model of the operation. However, the uncertainties involved during assembly make it difficult to conceive such a model. In these cases, the use of a connectionist model can be advantageous. In this paper the design of a neural network controller (NNC) based on unsupervised learning is presented. The NNC consists of two stages, ada... View full abstract»

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  • Digital adaptive control of space robot manipulator having input constraints

    Publication Year: 1998, Page(s):1449 - 1454 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (431 KB)

    This paper deals with a digital adaptive control for a manipulator mounted on a space robot. Most control methods are based on the supposition that all physical parameters of the space robot are known. However, if the end-effector catches an unknown object, the physical parameters of the robot are changed. Furthermore, joint actuators of a manipulator generally have input constraints. Even though ... View full abstract»

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  • Parameter estimation of unknown rigid objects moving freely in non-gravity field by stereo vision

    Publication Year: 1998, Page(s):1455 - 1460 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    In this paper, we discuss the estimation method of physical parameters of an unknown rigid object which moves freely in nongravity field by using stereo vision. The physical parameters cannot be estimated by only observing the change of the position and orientation of the object. A known object is shot to the unknown target object, then the collision happens. The collision changes the movement of ... View full abstract»

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  • Computation of stereo disparity for space materials

    Publication Year: 1998, Page(s):1461 - 1466 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (591 KB)

    One of the challenges facing computer vision systems used in space is the presence of specular surfaces. Such surfaces lead to several adverse effects such as the creation of reflected "virtual" images of objects due to specular reflections. These effects may lead to incorrect measurements and loss of data in the case of sensor saturation or inadequate intensity of the returned laser beams in the ... View full abstract»

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  • Adaptive RMRC for cooperative manipulation of a floating object by two free-based space robots

    Publication Year: 1998, Page(s):1467 - 1472 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    This paper deals with an adaptive resolved motion rate control (RMRC) method for a cooperative manipulation of a floating object by two free-based space robots with manipulators. Discussions as for the adaptive estimation are done on the divided generalized Jacobi matrices, which can be derived by system partition of the whole robot system. The method proposed here has an advantage that control al... View full abstract»

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  • Motion planning for nonholonomic robots in a limited workspace

    Publication Year: 1998, Page(s):1473 - 1478 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (574 KB)

    In this paper we pose the following two questions: Given two points, start and target, within a relatively small closed planar area W/spl sub/R/sup 2/, each with a prescribed direction of motion (orientation) in it, and assuming a possibility of reversals of motion: (i) What is the shortest path of bounded curvature that connects the points and lies completely in W? (ii) What is the minimum number... View full abstract»

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  • Online path planning with optimal C-space discretization

    Publication Year: 1998, Page(s):1479 - 1484 vol.3
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (861 KB)

    The paper is based on a path planning approach for industrial robot arms with 6 degrees of freedom in an online given 3D environment. It has online capabilities by searching in an implicit and discrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifying the C-space discretiza... View full abstract»

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  • Integration of real-time planning and control in an unstructured workspace

    Publication Year: 1998, Page(s):1485 - 1490 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (597 KB)

    The real-time planning and control problems of a robot manipulator in an unstructured workspace are considered. Our goal is to control a robot to follow an unknown path. Difficulties arise when the robot is required to work in an unstructured workspace. Based on multisensor fusion, a novel strategy for integrating real-time planning and control is proposed to deal with the uncertainties in the env... View full abstract»

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  • Acceleration-based optimal trajectory planning in 3D environments

    Publication Year: 1998, Page(s):1491 - 1496 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (525 KB)

    An approach to generating acceleration-based optimal smooth piecewise trajectories is proposed. Given two configurations (position and orientation) in 3D, we search for the minimal energy trajectory that minimizes the integral of the squared acceleration, opposed to curvature, which is widely investigated. The variation in both components of acceleration controls the smoothness of generated trajec... View full abstract»

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  • Estimation of mass and center of gravity of graspless unknown object using gravity equi-effect planes

    Publication Year: 1998, Page(s):1497 - 1502 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (607 KB)

    In many cases of manipulating an object stably and accurately by robot, it is required to know the center of gravity and mass of the object. For the case when the weight or shape of an object is over the grasp capacity of a robot hand, the paper proposes a technique that can estimate the center of gravity and mass of the graspless and shape-unknown object. A plane called gravity equi-effect plane ... View full abstract»

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  • A micromachined piezoelectric tactile sensor for use in endoscopic graspers

    Publication Year: 1998, Page(s):1503 - 1508 vol.3
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (671 KB)

    Present day endoscopic graspers do not have any sensors built in them. Thus the surgeon cannot estimate the amount of pressure being applied to manipulate the tissue safely. The paper reports on the design, fabrication and results of a silicon micromachined piezoelectric tactile sensor which can be integrated on to the tip of the endoscopic grasper. The sensor has a rigid tooth-like surface simila... View full abstract»

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  • Sensor system for controlling a multifingered gripper on a robot arm

    Publication Year: 1998, Page(s):1509 - 1514 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (682 KB)

    In the last few years different multifingered grippers have been developed and a lot of research work has been done in the field of grasping and manipulating objects with such grippers. With the help of fingers it is possible to grasp different objects with different shapes without having to change the gripper. To use a multifingered gripper in industrial applications it has to be mounted on anoth... View full abstract»

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  • Morphological surface profile extraction from multiple sonars

    Publication Year: 1998, Page(s):1515 - 1520 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (677 KB)

    Presents a method for surface profile determination using multiple sensors. Our approach is based on morphological processing techniques to fuse the range data from multiple sensor returns in a manner that directly reveals the target surface profile. The method has the intrinsic ability of suppressing spurious readings due to noise, crosstalk, and higher-order reflections, as well as processing mu... View full abstract»

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