Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

12-16 Sept. 1994

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  • Binocular tracking based on virtual horopters

    Publication Year: 1994, Page(s):2052 - 2057 vol.3
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (695 KB)

    This paper presents a stereo active vision system which performs tracking tasks on smoothly moving objects in complex backgrounds. Dynamic control of the vergence angle adapts the horopter geometry to the target position and allows to pick it up easily on the basis of stereoscopic disparity features. We introduce a novel vergence control strategy based on the computation of "virtual horopters" to ... View full abstract»

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  • Approaches to robust force control of manipulators

    Publication Year: 1994, Page(s):1602 - 1609 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    In this paper, the problem of robust control of robot manipulators which perform noncontact and contact tasks is considered. Using the hybrid control strategy, two variable structure control algorithms are developed in task space. One of the algorithms is developed for control of robot manipulators in constrained motion; the other is proposed for control of manipulators in unconstrained and constr... View full abstract»

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  • Behavioral control in mobile robot navigation using fuzzy decision making approach

    Publication Year: 1994, Page(s):1938 - 1945 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (616 KB)

    This paper proposes a sensor-based navigation which utilizes multicriteria decision making method in uncertain environments. The multicriteria decision-maker using fuzzy sets is used to select one of avoidance and goal-seeking behaviors according to global mission from higher level planner and situation around the mobile robot. Two behaviors are designed to produce the prescribed responses to curr... View full abstract»

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  • Collision free minimum time trajectory planning for manipulators using global search and gradient method

    Publication Year: 1994, Page(s):2184 - 2191 vol.3
    Cited by:  Papers (4)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    A method for a time optimal collision free trajectory planning problem is proposed. In this paper, the dynamics of manipulator and obstacles are considered. This type of optimal trajectory planning problem is very difficult and complicated one because of the nonlinearity of manipulator dynamics and existence of obstacles. Generally, it results in a multimodal optimization problem. The proposed met... View full abstract»

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  • Randomized preprocessing of configuration space for path planning: articulated robots

    Publication Year: 1994, Page(s):1764 - 1771 vol.3
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB)

    This paper describes the application of a recent approach to path planning for robots with many degrees of freedom (DOF) to articulated robots moving in two or three dimensional static environments. The planning approach, which itself is not restricted to articulated robots, consists of a preprocessing and a planning stage. The preprocessing is done only once for a given environment and generates ... View full abstract»

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  • Generalization of robot force control theory for elastic robot

    Publication Year: 1994, Page(s):1610 - 1617 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    In this paper are given the results of the analysis of the existing force/torque control methods by using of the detailed dynamic model of the control object: manipulator and part, which is moved by this manipulator; it is known that feasible motions of this part are limited with constraints. This model take into consideration the elasticity of the transmission from the drives to the links of the ... View full abstract»

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  • On a proof of the deadlock-free property in an on-line path-planning by using world topology

    Publication Year: 1994, Page(s):1946 - 1953 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    In this paper, we propose a new type of two sensor-based path-planning algorithms running in a 2D uncertain world. In almost all previous sensor-based path-planning algorithms, the automaton comes close to the goal asymptotically when it leaves an obstructed obstacle. Consequently there is no obstacle where the automaton can hit in future at worst and then the automaton arrives at the goal finally... View full abstract»

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  • Control of a mastication robot for reduction of jaw joint force focusing on musculus temporalis

    Publication Year: 1994, Page(s):1824 - 1831 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    A mastication robot is a jaw motion simulator that has similar structure and function to the human masticatory system. This paper describes an optimal reduction of the jaw joint force focusing on the fan shape of the musculus temporalis (M.temporalis) spreading around the side of skull. The shape of M.temporalis is simplified as two independent lines, and the jaw joint force is computed by using l... View full abstract»

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  • An objective-based stochastic framework for manipulation planning

    Publication Year: 1994, Page(s):1772 - 1779 vol.3
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (856 KB)

    We consider the problem of determining robot manipulation plans when sensing and control uncertainties are specified as conditional probability densities. Traditional approaches are usually based on worst-case error analysis in a methodology known as preimage backchaining. We have developed a general framework for determining sensor-based robot plans by blending ideas from stochastic optimal contr... View full abstract»

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  • Robotic drilling under force control: execution of a task

    Publication Year: 1994, Page(s):1618 - 1625 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    This paper presents the analysis and characterisation of force controlled robotic drilling. We demonstrate that a robot manipulator can perform drilling if enough contact thrust-force is provided between a workpiece and drill, and is controlled properly. It is shown that the key parameters for robotic drilling are the drill rotational speed and thrust force. We believe that this implementation of ... View full abstract»

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  • Stagnation recovery behaviours for collective robotics

    Publication Year: 1994, Page(s):1883 - 1890 vol.3
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    Accomplishing useful tasks with a collection of decentralized mobile robots will require control methods that deal effectively with a number of unique problems that impede the system's progress. Reactive control architectures can easily cause the problems of stagnation and cyclic behaviour, both characterized by a lack of progress in achieving a task. In this paper the authors present one possible... View full abstract»

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  • Automation and robotics technology testbed for external servicing

    Publication Year: 1994, Page(s):1954 - 1963 vol.3
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    This paper presents the Automation and Technology testbed for External Servicing (ARTES) developed by Tecnospazio on behalf of European Space Agency Technology Center (ESTEC). ARTES was conceived as a ground testbed to perform technology assessment of components, control concepts, algorithms and operational procedures for future Space robots for external servicing. Sensor based robotic control, fo... View full abstract»

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  • A discrimination system using neural network for SMA prosthesis

    Publication Year: 1994, Page(s):1832 - 1839 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    The electromyographic(=EMG) signal of active muscle is observed on the surface of living body. It has been considered that the EMG signal is useful for controlling an externally powered upper extremity prosthesis. In these researches, it is reported that the signal processing system using a neural network system are effective for generating commands to the prosthesis because this system is robust ... View full abstract»

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  • Active Antenna-basic considerations on the working principle

    Publication Year: 1994, Page(s):1744 - 1750 vol.3
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    This paper addresses a new active sensor system (Active Antenna) motivated by insect's antenna. The antenna can be characterized by its “flexibility” and “active motions”. Based on these observations on insect's antenna, the authors' discuss an active sensor system composing of only four components, an insensitive flexible antenna, a position sensor, a torque sensor, and an... View full abstract»

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  • Slippage control in hand prostheses by sensing grasping forces and sliding motion

    Publication Year: 1994, Page(s):1803 - 1809 vol.3
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    Controlling grasp and avoiding object slippage is very important in hand prosthetic systems. At present the amputee must use vision to monitor grasp, and adjust grasping force based on this estimate. We investigate the problem of measuring normal and tangential forces at the gripper-object interface, and design a slip tactile sensing system for this purpose. In this paper we discuss the design, fa... View full abstract»

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  • Using perception to plan incremental adaptations

    Publication Year: 1994, Page(s):1780 - 1787 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    A robot system operating in an environment in which there is uncertainty and change needs to combine the ability to react with the ability to plan ahead. In a previous paper we proposed a solution to the problems of integrating planning and reaction: cast planning as adaptation of a reactive system. The planner, asynchronously tuning the reactor, decides on the appropriate parts of the reactor to ... View full abstract»

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  • Set of manipulating forces in wire driven systems

    Publication Year: 1994, Page(s):1626 - 1631 vol.3
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    The manipulability for wire suspended mechanisms is discussed. For kinematics of a wire driven mechanism, we need not only the geometrical constraints of wire lengths but also the force constraints, such as the wire tension which should be always greater than or equal to zero. First, the sufficient and necessary mechanical conditions corresponding to the force constraints are shown. Under these co... View full abstract»

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  • A supervisory system for the URMAD robotic unit

    Publication Year: 1994, Page(s):1687 - 1694 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    This paper reports part of the work related to the design and development of the URMAD system, a mobile robotic unit purposely devised to assist the severely disabled in a household environment. A supervisory system based on distributed decision making and functional distribution has been designed and implemented on a VME/OS9 architecture. This system is capable of executing typical domestic tasks... View full abstract»

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  • Mobile robots in complex environments: a three-layered hierarchical path control system

    Publication Year: 1994, Page(s):1891 - 1898 vol.3
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    Autonomous navigation in unknown cluttered environments is one of the corner-stones of future applications of mobile robots. The complexity even of seemingly simple problems like point-to-point travel, to be solved in real-time, calls for a hierarchical system architecture. The authors present a three-layered path control system with three modules “global planning”, “local naviga... View full abstract»

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  • Hardware and software architecture for intelligent robot control-an approach to dual control architecture

    Publication Year: 1994, Page(s):2146 - 2151 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    A new “dual control” robot control architecture is proposed. This control architecture endows a robot with human-like intelligent control capability similar to that of the human cerebrum. This improves robot adaptability to unpredictable circumstances, and allows a higher level of adaptability than conventional sensory feedback control, which depends on robot local sensory information,... View full abstract»

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  • Fast template matching based on the normalized correlation by using multiresolution eigenimages

    Publication Year: 1994, Page(s):2086 - 2093 vol.3
    Cited by:  Papers (19)  |  Patents (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    Presents a fast computation method of the normalized correlation for multiple rotated templates by using multiresolution eigenimages. This method allows the authors to accurately detect both location and orientation of the object in a scene at faster rate than applying conventional template matching to the rotated object. Since the correlation among slightly rotated templates is high, the authors ... View full abstract»

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  • Trends in service robots for the disabled and the elderly

    Publication Year: 1994, Page(s):1647 - 1654 vol.3
    Cited by:  Papers (40)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (868 KB)

    This paper reviews the state of the art in service robots for the disabled and the elderly people. The classification is based upon system hardware configurations. Key R&D issues in the field of service robots for the disabled and elderly are discussed. The ISAC-HERO system being developed at the Intelligent Robotics Laboratory at Vanderbilt University is presented as an example of an intellig... View full abstract»

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  • Windshield cleaning robot system: WSC

    Publication Year: 1994, Page(s):1964 - 1971 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (760 KB)

    This paper describes the development of a windshield cleaning robot system (WSC). The WSC is intended to be used for Boeing 747 aircraft parked at airports prior to service. The objects to be cleaned are spots on the windshield caused by collision with dust, insects, and birds during takeoff and landing. The WSC was developed with the objective of realizing a system which could be operated by a si... View full abstract»

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  • Cooperation of mobile robots by event transforms into local space-time

    Publication Year: 1994, Page(s):1501 - 1507 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    Crossings represent a classical example for the conflict regions of mobile robot systems. Two robots in a crossing situation are considered where the priorities and sequences of passing have been determined beforehand. Communication and sensing are regarded as an ideal combination of data sources for the collision avoidance control process. Nevertheless, in this case, temporal uncertainties have t... View full abstract»

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  • Intelligent low-cost mobility

    Publication Year: 1994, Page(s):1708 - 1715 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (752 KB)

    Autonomous low-cost mobility of robots has been a challenging problem for quite a long time. In this paper the typical problems of sonar based autonomous navigation and the authors' solutions to overcome them are discussed. The authors have created, robust modules for sonar data fusion and safe steering which significantly improve known methods. There are furthermore robot control behaviors which ... View full abstract»

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