Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on

11-11 Nov. 2002

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  • Proceedings of the Third International Workshop on Robot Motion and Control. RoMoCo'02 (IEEE Cat. No.02EX616)

    Publication Year: 2002
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  • Author index

    Publication Year: 2002, Page(s):447 - 448
    IEEE is not the copyright holder of this material | PDF file iconPDF (74 KB)
    Freely Available from IEEE
  • Reaction to errors in robot systems

    Publication Year: 2002, Page(s):201 - 208
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (619 KB) | HTML iconHTML

    The paper analyzes the problem of error (failure) detection and handling in robot programming. First an overview of the subject is provided and later error detection and handling in MRROC++ are described. To facilitate system reaction to the detected failures, the errors are classified and certain suggestions are made as to how to handle those classes of errors. View full abstract»

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  • Decision making for a RoboCup multi-agent system

    Publication Year: 2002, Page(s):193 - 200
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (514 KB) | HTML iconHTML

    The aim of the paper is to propose a skeleton of a decision rules system for RoboCup teams composed of autonomous virtual soccer players. Decisions concerning action selection are considered. View full abstract»

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  • Robotics in laparoscopic surgery

    Publication Year: 2002
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (165 KB) | HTML iconHTML

    With laparoscopy, for the first time the surgeon was separated from direct contact with tissues and organs allowing the introduction of robotic and computer technologies into surgical operations, with two distinct potential advantages: 1) enhancement of precision and dexterity and 2) performance of surgical procedures from a distance, a concept known as telesurgery. View full abstract»

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  • Representing 3D shape from video

    Publication Year: 2002, Page(s):381 - 386
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (398 KB) | HTML iconHTML

    We present an algorithm which, taking as input positions of features (corners) in every single frame of an image sequence and the sequence itself, will generate an image of a three dimensional object optimally textured. Optimally means that for each constituent triangle of the created mesh, the texture of the best resolution will be chosen. The spatial shape of the object shown in the video sequen... View full abstract»

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  • Supervisory control for multiple mobile robots in 2D space

    Publication Year: 2002, Page(s):187 - 192
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (480 KB) | HTML iconHTML

    Proposes a control architecture for a multiple mobile robot system, and within this framework concentrates on the robot motion coordination problem. A DES-based supervisory control is developed that formally ensures collision and deadlock avoidance between a group of robots concurrently accomplishing their missions in a common 2D space. View full abstract»

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  • Joint control of the six-legged robot AirBug driven by fluidic muscles

    Publication Year: 2002, Page(s):27 - 32
    Cited by:  Papers (12)  |  Patents (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (500 KB) | HTML iconHTML

    Pneumatic muscles as actuators offer several advantages due to their performance weight relation or to the passive compliance of this type of actuators. Passive compliance is an important component for the control of locomotion in rough terrain to absorb the power stroke energy. This paper presents the mechatronics of a six-legged insect-like robot AirBug with pneumatic muscles as actuators. The m... View full abstract»

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  • Scalable multi-robot formations using local sensing and communication

    Publication Year: 2002, Page(s):319 - 324
    Cited by:  Papers (5)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (443 KB) | HTML iconHTML

    In this paper, the solution of a multi-robot formation task is presented. All robots use only local sensing and local communication as an additional tool for the whole system performance. We assume the solution to be local, robust to the size of the multi-robot team, stable in the case of occurrence of obstacles and able to support many formation shapes. Local inter-robot communication enables the... View full abstract»

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  • Redundant manipulator POLYCRANK without joint limits-preliminary design study

    Publication Year: 2002, Page(s):351 - 356
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (426 KB) | HTML iconHTML

    Some new results concerned with design and dynamics analysis of the redundant POLYCRANK manipulator with eight DOFs are presented. The main links of an arm in the form of light skew hollow cranks are connected one to the other by cross-roller bearings. In the new concept of the POLYCRANK manipulator all drive units are mounted coaxially in the base. The three first DOFs with vertical axes and the ... View full abstract»

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  • Optimization of power consumption of anthropomorphic robots driven by electromotor

    Publication Year: 2002, Page(s):113 - 117
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (310 KB) | HTML iconHTML

    The object of our research is electromechanical controlled biped walking robot. The purpose of the work is to develop numerical parametrical optimization methods for control of walking robot by taking account of transient in the circuits of electric drive. The criterion of optimization is the minimum of electromechanical work. With classical variational control methods, for the simplest model of o... View full abstract»

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  • Motion planning in endogenous configuration space

    Publication Year: 2002, Page(s):231 - 236
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (410 KB) | HTML iconHTML

    We consider a motion planning problem for the mobile manipulator composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The problem consists of driving the end effector to a desirable location in the task space, and avoiding simultaneously a collision of the end effector with obstacles present in the task space. Our main objective is to demonstrate that a nat... View full abstract»

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  • Color vision based person following with a mobile robot

    Publication Year: 2002, Page(s):375 - 380
    Cited by:  Papers (2)  |  Patents (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (531 KB) | HTML iconHTML

    Describes a vision based interface that enables the mobile robot to detect and follow a person through office environments. The proposed algorithm works by estimating the separate distributions of colors on a person's face and shirt. Using heuristics on vertical alignment of face and shirt color as well as bordering on each other, we are able to extract the person reliably and to guide the robot t... View full abstract»

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  • Discrete sliding mode control with uncertain modelling applied to robot manipulator

    Publication Year: 2002, Page(s):147 - 151
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (309 KB) | HTML iconHTML

    This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the feature... View full abstract»

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  • Adaptive reaching model for visual-motor mapping applied to redundant robotic arms

    Publication Year: 2002, Page(s):429 - 434
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (421 KB) | HTML iconHTML

    Most of the control algorithms for robotic reaching and grasping tasks, from visual and motor perception systems, are based on feedback systems. They assume a limitation for the performance of remote reaching applications and for the robustness of the system. In this paper, a very robust learning-based model for visual-motor coordination is presented. This architecture is based on how the human sy... View full abstract»

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  • Target assignment strategy for scattered robots building formation

    Publication Year: 2002, Page(s):181 - 185
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (382 KB) | HTML iconHTML

    Presents a target assignment strategy for multiple robots that are scattered in the environment and they are expected to build an ordered formation. The described approach is general and can be used together with a variety of trajectory planning methods. The presented approach produces some constraints for trajectories generation, however, in most cases the constraints can be easily satisfied. Sim... View full abstract»

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  • New approach to the control problem of mobile manipulators

    Publication Year: 2002, Page(s):297 - 301
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (353 KB) | HTML iconHTML

    In the paper a new solution to the trajectory tracking problem of a nonholonomic mobile manipulator with a (2, 0) class mobile platform has been presented. A new control algorithm for the mobile manipulator is introduced and proved. View full abstract»

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  • Slow locomotion of a three-link system along a horizontal plane

    Publication Year: 2002, Page(s):77 - 81
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (294 KB) | HTML iconHTML

    We continue to investigate the possibility of slow (quasi-static) locomotion of multi-link systems along a horizontal plane owing to changing configurations. We have shown previously that the quasi-static motion of a two-link system, occurring when the angle between its links varies, is uncontrollable and that the trajectories of the system's vertices are uniquely defined by the initial position o... View full abstract»

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  • Control concepts for an industrial robot used as kinesthetic knee joint simulator

    Publication Year: 2002, Page(s):21 - 26
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (423 KB) | HTML iconHTML

    A novel 6 DOF robotic haptic device for orthopedic training is presented for display of the motion dynamics of a virtual human knee joint. For achieving the high impedances required by this application an industrial robot has been selected as an actuator and extended with a PC-based high performance controller hardware and redundant safety features. Two possible control architectures - a force-com... View full abstract»

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  • Improved sliding mode robot control-a fuzzy approach

    Publication Year: 2002, Page(s):393 - 398
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (386 KB) | HTML iconHTML

    An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator.... View full abstract»

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  • Telerobotic simulator in minimal invasive surgery

    Publication Year: 2002, Page(s):39 - 44
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (411 KB) | HTML iconHTML

    This paper presents the concept of multi-level control system for minimal invasive surgery. The overall system is based on Staubli robot which plays the role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired movement of the end effector is obtained by a movement of a joystick. In the paper, we present two simulation programs for the control of the Staubli RX60 robot ... View full abstract»

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  • Redundant manipulators motion through singularities based on modified Jacobian method

    Publication Year: 2002, Page(s):331 - 336
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (410 KB) | HTML iconHTML

    This paper presents a method which allows one to pass transversally through singularities of corank 1 for redundant manipulators. The method modifies a Jacobian matrix of the manipulator's forward kinematics to retrieve its full rank at singularities. The method is computationally inexpensive and conceptually simple. It is well suited for real time control and practical implementations. The method... View full abstract»

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  • The concept of a microcontroller with neural-matrix coprocessor for control systems that exploits reconfigurable FPGAs

    Publication Year: 2002, Page(s):123 - 132
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (573 KB) | HTML iconHTML

    The new digital architecture of specialized microcontroller with neural coprocessor for efficient real time control systems of robots is presented. The main idea of the paper is to present the on-chip integrated core of the popular microcontroller, program and data memories and the neural-matrix coprocessor. In order to explain the design, the main processor, neural coprocessor and accompanied net... View full abstract»

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  • Design of the mechatronic system with help of UML diagrams

    Publication Year: 2002, Page(s):243 - 248
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (421 KB) | HTML iconHTML

    The Unified Modelling Language (UML) is a language that helps to visualize, design and document models of large and complex systems. Terminology and notation of visual modelling can be used as common high level object oriented language for design of the mechatronic systems. View full abstract»

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  • Machine vision for 3D mechanical part recognition in intelligent manufacturing environments

    Publication Year: 2002, Page(s):441 - 446
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (390 KB) | HTML iconHTML

    A 3D machine vision method used in intelligent manufacturing environments is presented. In this method, the neural network technology is used to provide effective methodologies for solving difficult computational problems in 3D recognition processes. The recognition processes can be divided into two parts. First, a 3D reconstruction. approach based on wavelet analysis is presented. The stereo matc... View full abstract»

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