Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

31 Oct.-5 Nov. 2000

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  • 2000 IEEE/RSJ International Conference On Intelligent Robots And Systems [front matter]

    Publication Year: 2000, Page(s):i - xlix
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  • Design and development of research platform for perception-action integration in humanoid robot: H6

    Publication Year: 2000, Page(s):1559 - 1564 vol.3
    Cited by:  Papers (66)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (549 KB)

    A humanoid robot "H6" is developed as a platform for the research on perception-action coupling in intelligent behaviour of humanoid type robots. The H6 has the features as follows: 1) a body which has enough DOFs and each joint has enough torque for full body motion, 2) a PC/AT compatible on-board computer which is controlled by RT-linux so that low-level to high-level control is achieved simulta... View full abstract»

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  • Development of a light-weight biped humanoid robot

    Publication Year: 2000, Page(s):1565 - 1570 vol.3
    Cited by:  Papers (15)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (751 KB)

    In order to meet the demand of a research platform for intelligent robotics, a humanoid robot named Saika-3 has been developed. It is a self-sustaining biped robot with dual arms and a robotic head. It is equipped with a PC (IBM PC/AT clone), batteries, a wireless ethernet modem, a gyroscope and motor drivers inside its body. Saika-3 can be teleoperated via wireless' ethernet communication. A grap... View full abstract»

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  • A lightweight plastic robotic humanoid

    Publication Year: 2000, Page(s):1571 - 1576 vol.3
    Cited by:  Papers (2)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (668 KB)

    Details the design and construction of a full sized robotic humanoid whose body is made entirely from lightweight polyurethane plastic and whose total size and weight are that of a typical human adult. The design of this robot was conceived with research in the conventional human environment in mind, incorporating all aspects of human mobility and sensory capabilities. Plastic components for the r... View full abstract»

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  • Development of a high-performance upper-body humanoid system

    Publication Year: 2000, Page(s):1577 - 1583 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (747 KB)

    Presents the hardware of the upper body of the ETL-Humanoid system. It has 24 degrees of freedom with high performance actuators, which gives the system high mobility, such as is required for pushups, lifting itself or another person. The mechanical design is able to achieve human proportions, with smooth outer shape, and is light weight at a very high level, considering the high motor performance... View full abstract»

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  • Motion simulation using a high-speed parallel link mechanism

    Publication Year: 2000, Page(s):1584 - 1589 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (666 KB)

    A new kind of motion simulation is proposed for the purpose of simulating complicated motions such as those caused by interactions between objects in special environments (e.g., those of micro-gravity). The motion simulation is based on a hybrid simulation: consisting of a combined analog-digital system. Hence it has functions of real-time numerical simulation and embedding a physical model in the... View full abstract»

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  • Hardware-in-loop simulation of robots interacting with environment via algebraic differential equation

    Publication Year: 2000, Page(s):1590 - 1596 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (594 KB)

    Hardware-in-the-loop simulation is an attractive tool to validate the functionality of space robots. It is the purpose of the hardware-in-the-loop simulation to make a rigid robot prototype behave, in contact/noncontact phases, as closely as possible to a given robot reference model that would be encountered in the real-world. We introduce a method for the hardware-in-the-loop simulation that is b... View full abstract»

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  • A robotic CAD system using a Bayesian framework

    Publication Year: 2000, Page(s):1597 - 1604 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    We present a Bayesian CAD system for robotic applications. We address the problem of the propagation of geometric uncertainties, and how to take this propagation into account when solving inverse problems. We describe the methodology we use to represent and handle uncertainties using probability distributions of the system's parameters and sensor measurements. It may be seen as a generalization of... View full abstract»

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  • Fast convex minimization to detect collisions between polyhedra

    Publication Year: 2000, Page(s):1605 - 1610 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (689 KB)

    The subject of the paper is a fast algorithm for detecting collisions of two convex polyhedra translating in space. A major feature is the novelty of the approach: collision detection for two convex bodies is reduced to collision detection for pairs of planar sections and minimization of a bivariate convex function; furthermore, most of the subproblems are solved using two-dimensional geometry. As... View full abstract»

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  • Sensor allocation for behavioral sensor fusion using min-conflict with happiness

    Publication Year: 2000, Page(s):1611 - 1618 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (757 KB)

    For mobile robots employing reactive behaviors, allocation of physical sensors to satisfy sensing needs should be dynamic and fast. It is becoming increasingly apparent that this allocation should also support behavioral sensor fusion, as indicated by experimental data, in order to maximize the use of available sensing hardware and to increase the quality of sensing. These issues are addressed in ... View full abstract»

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  • Proto-symbol emergence

    Publication Year: 2000, Page(s):1619 - 1625 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (799 KB)

    Robotics can serve as a testbed for cognitive theories. One behavioral criterion for comparing theories is the extent to which their implementations can learn to exploit new environmental opportunities. Furthermore, a robotics testbed forces researchers to confront fundamental issues concerning how internal representations are grounded in activity. In our approach, a mobile robot takes the role of... View full abstract»

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  • On the performance of a biologically motivated visual control strategy for robotic hand-eye coordination

    Publication Year: 2000, Page(s):1626 - 1632 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (682 KB)

    Research has focused on developing control strategies that allow to work with imprecisely calibrated or even uncalibrated robot systems. A popular approach is to close the control loop with visual feedback (visual servoing), even though this requires continuous, high rate image processing. In contrast, we developed a strategy that can compensate calibration errors by integrating sparse visual feed... View full abstract»

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  • Constraints in human visuomotor systems

    Publication Year: 2000, Page(s):1633 - 1638 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (622 KB)

    This paper reviews empirical work on human visuomotor systems and describes the constraints that limit the transformations these systems can perform. A tentative model is put forward, which describes how information might flow from visual input to motor output. The purpose of this paper is to show how visual neuroscience and robotics can inform each other. View full abstract»

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  • Mobility of a microgravity rover using internal electro-magnetic levitation

    Publication Year: 2000, Page(s):1639 - 1645 vol.3
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (558 KB)

    A new type of mobility is discussed for space projects such as the MUSES-C aiming at small asteroid exploration. We propose the use of electro-magnetic levitation in order to integrate a mobility into the microgravity rover. The rover has a spherical shape and a smaller spherical shell inside. Four electromagnets are symmetrically located between the outer sphere surface and the inner sphere shell... View full abstract»

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  • Force tracking in multiple impedance control of space free-flyers

    Publication Year: 2000, Page(s):1646 - 1651 vol.3
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (578 KB)

    The new algorithm of multiple impedance control (MIC) which enforces designated impedance on both a manipulated object, and all cooperating manipulators is applied to a space robotic system in which robotic arms, mounted on a free-flying-base, manipulate an object. A vigorous stability analysis of the MIC algorithm based on Lyapunov direct method, besides error analysis, show that the MIC law guar... View full abstract»

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  • In-pipe inspection robot system with active steering mechanism

    Publication Year: 2000, Page(s):1652 - 1657 vol.3
    Cited by:  Papers (13)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (554 KB)

    We present a robot system for in-pipe inspection of underground urban gas pipelines. The robot is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, and passive modules such as a control module are chained between the active vehicles. The proposed robot has outstanding mobility offered by a new steering ... View full abstract»

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  • Neural network control of mobile manipulators

    Publication Year: 2000, Page(s):1658 - 1663 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (483 KB)

    In this paper, a novel neural-net (NN) based control methodology is developed for the motion control of mobile manipulators subject to kinematic constraints. The dynamics of the mobile manipulator is assumed to be unknown and is to be identified by the NN online estimators. No preliminary learning stage of NN weight matrices is required. The controller is capable of disturbance-rejection in the pr... View full abstract»

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  • Study of super-mechano-colony (concept and basic experimental setup)

    Publication Year: 2000, Page(s):1664 - 1669 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1046 KB)

    We focus on a heterogeneous robotic system of decentralized autonomous agents with a leader, which we call "super-mechano-colony (SMC)". It has characteristics of both hierarchical and distributed control systems. This paper explains the basic concept and a physical test bed of SMC, and discusses an example, specifically planetary rovers, for SMC. View full abstract»

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  • Fundamental mechanism of dinosaur-like robot TITRUS-II utilizing coupled drive

    Publication Year: 2000, Page(s):1670 - 1675 vol.3
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (725 KB)

    The mechanism design and the fundamental concepts of the dinosaur-like robot called TITRUS-II are reported. It is based on practical concepts so that it can be applied in the real world. The design features include: 1) realizing high dynamic stability by using a neck and a tail as an active damper when the robot walks; 2) standing with the tail to compose a stable supporting triangle so that the r... View full abstract»

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  • Control of giant swing motion of a two-link underactuated horizontal bar robot

    Publication Year: 2000, Page(s):1676 - 1683 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (667 KB)

    We investigated a control method to realize the three types of free giant swing motions of a two-link horizontal bar robot. By evaluating eigenvalues of the transitional error matrix on the Poincare plane, it was found that the stable giant swing motions can be obtained by configuration control, in which the actuated joint torque is controlled such that the measured state variables follow the refe... View full abstract»

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  • Underactuated crawling robot

    Publication Year: 2000, Page(s):1684 - 1689 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (538 KB)

    Underactuated systems are those processing fewer actuators than degrees of freedom. Decrease of the number of actuators is a merit from the point of view of size and weight of the system. But generally it is difficult to control the underactuated system. In this paper we realize crawling motion by an underactuated robot. Control law based on partial feedback linearization is proposed and stability... View full abstract»

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  • Campus walkway following of an autonomous mobile robot based on color image

    Publication Year: 2000, Page(s):1690 - 1695 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    This paper describes a strategy of a mobile robot walkway following using color image. There are different colors in a walkway and lawn area along side the walkway. The walkway area is extracted by an image processing using the difference of color. The robot moves to the direction of vanishing point which is obtained from the image processing. Repeating these processes, the walkway following will ... View full abstract»

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  • Image-based positioning with respect to a non-structured scene using 2D image motion

    Publication Year: 2000, Page(s):1696 - 1701 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (647 KB)

    Visual servoing based upon geometrical features such as image points coordinates is now well set on. Nevertheless, this approach has the drawback that it usually needs visual marks on the observed object to retrieve geometric features. The idea developed here is that these features can be retrieved by integrating dynamic ones, which can be estimated without any a priori knowledge of the scene. Thu... View full abstract»

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  • View-based approach to robot navigation

    Publication Year: 2000, Page(s):1702 - 1708 vol.3
    Cited by:  Papers (24)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (701 KB)

    Recently, view-based or appearance-based approaches have been attracting the interests of computer vision research. Based on a similar idea, we have proposed a view-based navigation method using a model of the route called the "view sequence." It contains a sequence of frontal views along a route memorized in the teaching run, and the recognition of the environment is realized based on the matchin... View full abstract»

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  • Active visual localisation for cooperating inspection robots

    Publication Year: 2000, Page(s):1709 - 1715 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (655 KB)

    In the routine inspection of industrial or other areas, teams of robots with various sensors could operate together to great effect, but require reliable, accurate and flexible localisation capabilities to be able to move around safely. We demonstrate accurate localisation for an inspection team consisting of a robot with stereo active vision and its companion with an active lighting system, and s... View full abstract»

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