EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

3-6 July 1990

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  • Proceedings. IROS '90. IEEE International Workshop on Intelligent Robots and Systems '90. Towards a New Frontier of Applications (Cat. No.90TH0332-7)

    Publication Year: 1990
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    Freely Available from IEEE
  • Walking robot with a circulating gait

    Publication Year: 1990, Page(s):809 - 816 vol.2
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (628 KB)

    The Ambler walking robot has been developed specifically for autonomous exploration of planetary and lunar surfaces. The Ambler, which maintains its body on a level trajectory while walking, has unique orthogonal legs that are stacked under the body instead of the traditional animal-like arrangement of legs around the body. The resulting stacked configuration leads to a novel circulating gait that... View full abstract»

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  • Technics for gait transitions: architectural considerations

    Publication Year: 1990, Page(s):803 - 807 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (180 KB)

    A new technique of gait representation is considered. This technique allows a simple explanation of the changing gait process under a condition that only intrinsic parameters vary. Then, a symmetry concept is stated based on comparison between the reduced diagrams of the gaits been compared. A simple approach to low level architecture is introduced; it is called `the master of gaits' View full abstract»

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  • A control method for dynamic biped walking under unknown external force

    Publication Year: 1990, Page(s):795 - 801 vol.2
    Cited by:  Papers (73)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    The authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, they perform walking experiments of real-time control with the biped walking robot WL-12RIII which has a newly developed real-time controller. The result shows that the WL-12RIII realized a 0.64[s/step] dynamic stepping motion under an unknown external force which was r... View full abstract»

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  • Fusing dynamic vision and landmark navigation for autonomous driving

    Publication Year: 1990, Page(s):113 - 119 vol.1
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    Basic concepts for navigation and orientation of autonomous mobile systems are the main subject of this paper. Landmark navigation helps to integrate singular observations into a global world model. In a vision-guided vehicle, observations may stem from dynamic vision allowing the control of movements by a video camera in real-time. The paper describes the combination of both approaches to an homo... View full abstract»

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  • Dynamic walk control of a biped robot along the potential energy conserving orbit

    Publication Year: 1990, Page(s):789 - 794 vol.2
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    To reduce the complex walking dynamics of a biped, a particular class of trajectories derived by application of gravity compensation to an ideal biped model is considered. The trajectories have following properties: (a) the center of gravity of the body moves horizontally, and (b) the horizontal motion of the center of gravity can be expressed by a simple linear differential equation. The trajecto... View full abstract»

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  • Analysis of omni-directional views at different location

    Publication Year: 1990, Page(s):659 - 664 vol.2
    Cited by:  Papers (2)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (272 KB)

    Omni-directional views of environment are analyzed to build a world model of an autonomous mobile robot. A panoramic view is yielded by arranging the vertical line at the center of each image taken by a camera attached on the robot. The panoramic view is featured by the cylindrical projection of a 3D line onto a sinusoidal curve. The following three issues are discussed: (1) projection of 3-D spac... View full abstract»

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  • Multi-criteria position and configuration optimization for redundant platform/manipulator systems

    Publication Year: 1990, Page(s):103 - 107 vol.1
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    An important characteristic of practical mobile manipulators, i.e. manipulators mounted on mobile platforms, is their particular kinematic redundancy created by the addition of the degrees of freedom of the platform to those of the manipulator. This paper is concerned with the resolution of this kinematic redundancy, and in particular with the local optimization of the position and configuration o... View full abstract»

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  • An algorithm for the steering control of mobile robots

    Publication Year: 1990, Page(s):781 - 786 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB)

    Presents a method that combines the path planning and the steering control of autonomous mobile robots (AMR) in uncertain environments. The two problems are solved independently, using off-line and on-line procedures respectively, the link between them being established by a set of critical points defined along the trajectory. The path planner evaluates these points by modeling the free space usin... View full abstract»

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  • Thermal imaging for autonomous vehicle in outdoor scenes

    Publication Year: 1990, Page(s):651 - 658 vol.2
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    Describes methods that use thermal imaging techniques for identifying different types of materials in outdoor scenes. First, the author analyzes how computer vision techniques applied to thermal images allow discriminating materials such as rock and sand. Second, he presents the model developed to calculate the temperature of materials. By applying this model, he shows that it is possible to deter... View full abstract»

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  • Single leg walking with integrated perception, planning and control

    Publication Year: 1990, Page(s):97 - 102 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (540 KB)

    Describes an integrated system capable of walking over rugged terrain using a single leg suspended below a carriage that rolls along rails. To walk, the system uses a laser scanner to find a foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed... View full abstract»

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  • Model-sensor fusion for mobile robots

    Publication Year: 1990, Page(s):775 - 780 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    The paper addresses the motion planning problem for mobile robots evolving in ill-structured and dynamic environments. The main part of this work deals with the problem of the model-sensor cooperation, that is to maintain the world consistency when real information provided by sensors View full abstract»

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  • Highly-reliable semi-autonomous vehicle control on lattice lane

    Publication Year: 1990, Page(s):731 - 738 vol.2
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    The vehicle curve movement reliability has been improved by a variable curve movement radius control technique involving a curve angle monitoring method and a nonlinear fuzzy control technique. In consequence, the successful rate achieved for an obstacle avoidance movement has risen from 96% in conventional curve movement technique up to 98% View full abstract»

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  • Spatial image model for manipulation of shape variable objects and application to excavation

    Publication Year: 1990, Page(s):645 - 650 vol.2
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    Proposes a spatial image model which expresses the physical characteristics of an object whose shape may vary. This model consists of a mass of particles to represent the shape of the object and a set of production rules to predict the change of the object's shape. Models to represent gas, liquid and soil are described. A three-dimensional model for sand is used to describe the planning method bas... View full abstract»

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  • Dynamic map building for autonomous mobile robot

    Publication Year: 1990, Page(s):89 - 96 vol.1
    Cited by:  Papers (42)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    Presents an algorithm for autonomous map building and maintenance for a mobile robot. With each geometric target in the map the authors associate a validation measure to represent the belief in the validity of a target, in addition to the usual covariance matrix to represent spatial uncertainty. At each position update cycle, predicted features are generated for each target in the map and compared... View full abstract»

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  • Robot trials: an approach to simulation by object language

    Publication Year: 1990, Page(s):463 - 469 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (228 KB)

    An autonomous mobile robot is designed to take decisions locally: its behavior is therefore not globally determinist but influenced locally as a function of the situation in which it finds itself. The testing of this type of behavior is therefore complex. Moreover, and in cases such as nuclear power plants where safety is all important, it is necessary to check that the `back-up' software is truly... View full abstract»

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  • A health care robot for patients

    Publication Year: 1990, Page(s):985 - 986 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    Describes a health care robot for patients in hospitals. It is important and helpful in health cares to visualize and recognize the conditions of patients. The authors developed a health care robot for patients. This robot has an audio announcement system and a vision system. When the patient's condition becomes worse, the robot calls doctors or nurses. In this manner, this robot can assist doctor... View full abstract»

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  • A motion planner for car-like robots based on a mixed global/local approach

    Publication Year: 1990, Page(s):765 - 773 vol.2
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (788 KB)

    Deals with the problem of motion planning for a car-like robot (i.e. nonholonomic mobile robot whose turning radius is lower bounded). The main contribution is the introduction of a new metric in the configuration space R2×S1 of such a system. This metric is defined from the length of the shortest paths in the absence of obstacles. The authors study the relations betwee... View full abstract»

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  • A study on compliance control for manipulator

    Publication Year: 1990, Page(s):493 - 499 vol.1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (228 KB)

    The compliant motion control of a manipulator is proposed by the self-tuning adaptive control method. Compliant motion is needed in such complicated and accurate fields as assembly operation in which several parts are mated. Among compliant motion control methods, the hybrid control is used so that force and position control is processed selectively through a closed feedback loop. In case of conta... View full abstract»

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  • Autonomous robots and emergent behavior: a set of primitive behaviors for mobile robot control

    Publication Year: 1990, Page(s):723 - 730 vol.2
    Cited by:  Papers (7)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    In order for a robot to act autonomously over a wide range of tasks and environments, it must be capable of exhibiting a variety of different behaviors. In this paper, the authors examine different types of behavioral patterns that can exist for a mobile robot when one is limited to constructing such behavior from computational devices which contain no internal state. They construct a set of primi... View full abstract»

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  • 6 DOF manipulators absolute positioning accuracy improvement using a neural-network

    Publication Year: 1990, Page(s):635 - 640 vol.2
    Cited by:  Papers (1)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    An absolute positioning accuracy improvement method, using an artificial neural network, has been developed. In this method, an artificial neural network is used with a conventional inverse kinematics computation module in parallel. The network automatically learns the manipulator model errors. When a manipulator carries out tasks, both the network and the inverse kinematics computation module rec... View full abstract»

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  • A 3-D scene interpreter for indoor navigation

    Publication Year: 1990, Page(s):695 - 701 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    A 3D scene interpreter for visual navigation of a mobile robot is presented. The interpreter provides a partial understanding of scene contents. With the help of a priori knowledge and world constraints, it can be used for route planning and obstacle avoidance. The interpreter consists of data-driven low and intermediate-level stages and a model-driven high-level analysis stage. The high-level ana... View full abstract»

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  • On human performance in teleoperation

    Publication Year: 1990, Page(s):81 - 88 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    Recent experimental attempts in building teleoperated master-slave arm manipulators revealed a serious difficulty that goes beyond the better understood issues of control, sufficiency of input information, and data processing. Namely, a human operator has difficulty in interpreting input information and consequently in teleoperation decision-making. The problem becomes more pronounced when the sla... View full abstract»

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  • A robot capable of moving on a vertical wall using thrust force

    Publication Year: 1990, Page(s):455 - 462 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    A robot capable of driving on a vertical wall using the thrust force has been developed. It has the propeller and its thrust force is inclined to the wall side to produce the frictional force between the wheels and wall surface. The effect of strong wind on the robot is very important on the wall of high-rise buildings. The minimum required thrust force and its angles are obtained for the assumed ... View full abstract»

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  • Active sensing in vision-based stereotyped motion

    Publication Year: 1990, Page(s):167 - 174 vol.1
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (896 KB)

    TV camera is constrained in its visual angle, function of pattern recognition and processing speed. To meet these problems, an active sensing paradigm is applied on such vision-based stereo-typed motions as moving along a sign pattern, moving for sighting and following a person. In each stereo-typed motion the active sensing paradigm is defined by fixed control patterns of locomotion and TV camera... View full abstract»

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