Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525837
D. Stewart, P. Khosla
Component-based real-time software speeds development and lowers cost of robotics applications. It enables the use of rapid prototyping or incremental software process models. The Chimera Methodology is a software engineering paradigm targeted at developing and integrating dynamically reconfigurable and reusable real-time software components. It is founded upon the notion of port-based objects. The focus of this paper is how to apply the Chimera Methodology specifically to the development of robotic applications.
{"title":"Rapid development of robotic applications using component-based real-time software","authors":"D. Stewart, P. Khosla","doi":"10.1109/IROS.1995.525837","DOIUrl":"https://doi.org/10.1109/IROS.1995.525837","url":null,"abstract":"Component-based real-time software speeds development and lowers cost of robotics applications. It enables the use of rapid prototyping or incremental software process models. The Chimera Methodology is a software engineering paradigm targeted at developing and integrating dynamically reconfigurable and reusable real-time software components. It is founded upon the notion of port-based objects. The focus of this paper is how to apply the Chimera Methodology specifically to the development of robotic applications.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116765549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525859
Michael Barbehenn, S. Hutchinson
In this paper we introduce a new class of geometric robot motion planning problems that we call incremental problems. We also introduce the concept of incremental algorithms to solve this class of problems. As an example, we describe an incremental critical curve based exact cell decomposition algorithm for a line segment robot moving freely amidst polygonal obstacles. In the example, after computing an initial representation of the robot's free space, the algorithm maintains the representation as obstacles are moved between planning problems. The cost to maintain the representation is expected to be small relative to the cost of its initial construction.
{"title":"Toward an exact incremental geometric robot motion planner","authors":"Michael Barbehenn, S. Hutchinson","doi":"10.1109/IROS.1995.525859","DOIUrl":"https://doi.org/10.1109/IROS.1995.525859","url":null,"abstract":"In this paper we introduce a new class of geometric robot motion planning problems that we call incremental problems. We also introduce the concept of incremental algorithms to solve this class of problems. As an example, we describe an incremental critical curve based exact cell decomposition algorithm for a line segment robot moving freely amidst polygonal obstacles. In the example, after computing an initial representation of the robot's free space, the algorithm maintains the representation as obstacles are moved between planning problems. The cost to maintain the representation is expected to be small relative to the cost of its initial construction.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127151278","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526239
A. Nakamura, H. Tsukune, T. Ogasawara, M. Oshima
Geometric modeling of the environment is important in robot motion planning. Generally, shapes can be stored in a database, so the elements that need to be decided are positions and orientations. In this paper surface-based geometric modeling using a teaching tree is proposed. In this modeling method, combinations of surfaces are considered in order to decide the positions and orientations of the object. The combinations are represented by a depth-first tree, which makes it easy for the operator to select one combination out of several. This method is effective not only in the case when perfect data can be obtained but also when conditions for measurement of three-dimensional data are unfavorable which often is the case in the environment of a working robot.
{"title":"Surface-based geometric modeling of general objects using teaching trees","authors":"A. Nakamura, H. Tsukune, T. Ogasawara, M. Oshima","doi":"10.1109/IROS.1995.526239","DOIUrl":"https://doi.org/10.1109/IROS.1995.526239","url":null,"abstract":"Geometric modeling of the environment is important in robot motion planning. Generally, shapes can be stored in a database, so the elements that need to be decided are positions and orientations. In this paper surface-based geometric modeling using a teaching tree is proposed. In this modeling method, combinations of surfaces are considered in order to decide the positions and orientations of the object. The combinations are represented by a depth-first tree, which makes it easy for the operator to select one combination out of several. This method is effective not only in the case when perfect data can be obtained but also when conditions for measurement of three-dimensional data are unfavorable which often is the case in the environment of a working robot.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125428183","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526245
Ji Li, I. Kao
In this paper, we present fundamental properties of stiffness matrix as applied to analysis of grasping and dextrous manipulation. The investigation unveils insights of stiffness matrix which are important in grasping and manipulation for robotic hands and fingers in R/sup 3/ space. A general grasp stiffness matrix can be broken into two parts-symmetric and antisymmetric. The symmetric part is derived from a conservative quadratic potential function in the Hermitian form; while the antisymmetric part is a function of nonconservative curl vector field of the grasp. The conservative part stores and interchanges energy with the environment with which the fingers make contact. The nonconservative part dissipates or increases energy. The theory suggests that it is possible to introduce a nonsymmetric stiffness matrix in robotic control so as to have energy dissipation (damping) effects. This is useful when passive damping effects are desirable in grasping. Application of the theory to the analysis of stiffness matrix in 3D is presented for analysis of grasping and manipulation.
{"title":"Grasp stiffness matrix-fundamental properties in analysis of grasping and manipulation","authors":"Ji Li, I. Kao","doi":"10.1109/IROS.1995.526245","DOIUrl":"https://doi.org/10.1109/IROS.1995.526245","url":null,"abstract":"In this paper, we present fundamental properties of stiffness matrix as applied to analysis of grasping and dextrous manipulation. The investigation unveils insights of stiffness matrix which are important in grasping and manipulation for robotic hands and fingers in R/sup 3/ space. A general grasp stiffness matrix can be broken into two parts-symmetric and antisymmetric. The symmetric part is derived from a conservative quadratic potential function in the Hermitian form; while the antisymmetric part is a function of nonconservative curl vector field of the grasp. The conservative part stores and interchanges energy with the environment with which the fingers make contact. The nonconservative part dissipates or increases energy. The theory suggests that it is possible to introduce a nonsymmetric stiffness matrix in robotic control so as to have energy dissipation (damping) effects. This is useful when passive damping effects are desirable in grasping. Application of the theory to the analysis of stiffness matrix in 3D is presented for analysis of grasping and manipulation.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114956654","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526240
Jae-Moon Chung, T. Nagata
This paper presents a method for reasoning volumetric shapes for robotic grasping based on a data-driven approach. The global information about position, orientation and geometrical property of objects is necessary for successful execution of the target approach and the preparation, at the early stage of grasping, rather than fine details of the shapes. A pair of occluding contours is used to extract a simplified 3D shape of circular generalized cylinders (GCs) holding the information. Based on the GC model, which is represented by a family of spheres of varying radii with their centers on its axis, the stereo matching between the contour pair is implemented using the geometrical invariance of spheres. The shapes of blobs and sticks can be simplified as spheres and the families of spheres, respectively. Compared with the range-data based method, its computation is inexpensive, directive and has unique solution. The case of multiple and overlap objects is also addressed.
{"title":"Reasoning simplified volumetric shapes for robotic grasping","authors":"Jae-Moon Chung, T. Nagata","doi":"10.1109/IROS.1995.526240","DOIUrl":"https://doi.org/10.1109/IROS.1995.526240","url":null,"abstract":"This paper presents a method for reasoning volumetric shapes for robotic grasping based on a data-driven approach. The global information about position, orientation and geometrical property of objects is necessary for successful execution of the target approach and the preparation, at the early stage of grasping, rather than fine details of the shapes. A pair of occluding contours is used to extract a simplified 3D shape of circular generalized cylinders (GCs) holding the information. Based on the GC model, which is represented by a family of spheres of varying radii with their centers on its axis, the stereo matching between the contour pair is implemented using the geometrical invariance of spheres. The shapes of blobs and sticks can be simplified as spheres and the families of spheres, respectively. Compared with the range-data based method, its computation is inexpensive, directive and has unique solution. The case of multiple and overlap objects is also addressed.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115094728","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525921
T. Onda, H. Igura, M. Niwakawa
We have developed a vision-based robotic handling system, especially for casting parts. To locate an object, we have focused on identifying its reference plane. The system uses a two-dimensional matching technique to recognize an object and stereo ranging to measure its heights, and then applies a plane fitting technique to decide the three-dimensional orientations. The system can recognize a randomly placed casting part resting on a supported plane such as a conveyer belt even when it is tilted or piled on other parts. This paper describes the system and presents some experimental results.
{"title":"A handling system for randomly placed casting parts using plane fitting technique","authors":"T. Onda, H. Igura, M. Niwakawa","doi":"10.1109/IROS.1995.525921","DOIUrl":"https://doi.org/10.1109/IROS.1995.525921","url":null,"abstract":"We have developed a vision-based robotic handling system, especially for casting parts. To locate an object, we have focused on identifying its reference plane. The system uses a two-dimensional matching technique to recognize an object and stereo ranging to measure its heights, and then applies a plane fitting technique to decide the three-dimensional orientations. The system can recognize a randomly placed casting part resting on a supported plane such as a conveyer belt even when it is tilted or piled on other parts. This paper describes the system and presents some experimental results.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128697095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525784
P. Berkelman, R. Hollis, S. Salcudean
A high-performance magnetic levitation haptic interface has been developed to enable the user to interact dynamically with simulated environments by holding a levitated structure and directly feeling its computed force and motion responses. The haptic device consists of a levitated body with six degrees of freedom and motion ranges of /spl plusmn/5 mm and /spl plusmn/3.5 degrees in all directions. The current device can support weights of up to 20 N and can generate a torque of 1.7 Nm. Control bandwidths of up to 50 Hz and stiffnesses from 0.01 to 23 N/mm have been achieved by the device using a digital velocity estimator and 1 KHz control on each axis. The response of the levitated device has been made successfully to emulate virtual devices such as gimbals and bearings as well as different dynamic interactions such as hard solid contacts, dry and viscous friction, and textured surfaces.
{"title":"Interacting with virtual environments using a magnetic levitation haptic interface","authors":"P. Berkelman, R. Hollis, S. Salcudean","doi":"10.1109/IROS.1995.525784","DOIUrl":"https://doi.org/10.1109/IROS.1995.525784","url":null,"abstract":"A high-performance magnetic levitation haptic interface has been developed to enable the user to interact dynamically with simulated environments by holding a levitated structure and directly feeling its computed force and motion responses. The haptic device consists of a levitated body with six degrees of freedom and motion ranges of /spl plusmn/5 mm and /spl plusmn/3.5 degrees in all directions. The current device can support weights of up to 20 N and can generate a torque of 1.7 Nm. Control bandwidths of up to 50 Hz and stiffnesses from 0.01 to 23 N/mm have been achieved by the device using a digital velocity estimator and 1 KHz control on each axis. The response of the levitated device has been made successfully to emulate virtual devices such as gimbals and bearings as well as different dynamic interactions such as hard solid contacts, dry and viscous friction, and textured surfaces.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128339109","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525821
Yue Du, J. Crisman
We present a piecewise linear projection of the 3D color space that greatly reduces the computations required for using color information for robot vision tasks which we call categorical color. This 24-bit to 6-bit projection is inspired by the way humans name colors. This projection is developed to provide generic target tracking in real-time. A generic target in our system is defined by a user selecting a distinctive object in the window of a color image. The system has no a priori models of object shapes or colors. Therefore, the generic target tracking must perform robustly, in real time, using only the initial example appearance of the target object. To evaluate the performance of our piecewise linear projection on the task of generic target tracking, we compare similar RGB, intensity, and categorical color algorithms. Rather than simply observing the located target, we have developed a quantitative method for evaluating generic target tracking algorithms. By using this procedure, we show that categorical color is a better feature for generic tracking than RGB and gray-level.
{"title":"A color projection for fast generic target tracking","authors":"Yue Du, J. Crisman","doi":"10.1109/IROS.1995.525821","DOIUrl":"https://doi.org/10.1109/IROS.1995.525821","url":null,"abstract":"We present a piecewise linear projection of the 3D color space that greatly reduces the computations required for using color information for robot vision tasks which we call categorical color. This 24-bit to 6-bit projection is inspired by the way humans name colors. This projection is developed to provide generic target tracking in real-time. A generic target in our system is defined by a user selecting a distinctive object in the window of a color image. The system has no a priori models of object shapes or colors. Therefore, the generic target tracking must perform robustly, in real time, using only the initial example appearance of the target object. To evaluate the performance of our piecewise linear projection on the task of generic target tracking, we compare similar RGB, intensity, and categorical color algorithms. Rather than simply observing the located target, we have developed a quantitative method for evaluating generic target tracking algorithms. By using this procedure, we show that categorical color is a better feature for generic tracking than RGB and gray-level.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130644064","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525901
Kyungmin Jeong, Tae-Seok Yang, Jun-Ho Oh
Though the mobility of a walking robot is superior to a wheel type robot in hazardous terrain, it is not easy for a walking robot to walk avoiding arbitrarily arrayed forbidden areas in the terrain. In order not to step on the forbidden areas, the gait of a walking robot should be aperiodic. But it is very complicated to analyze aperiodic gaits. In this paper, the authors focus on aperiodic gaits for straight motion and spinning motion. Based on the study of optimal periodic gaits, the authors show the support condition that enables aperiodic motion with preservation of the leg-lifting sequence of optimal periodic gaits. The authors introduce a schematic design of a leg mechanism that is spatially decoupled by using a 2-dimensional pantograph mechanism and a vertical linear actuator.
{"title":"A study on the support pattern of a quadruped walking robot for aperiodic motion","authors":"Kyungmin Jeong, Tae-Seok Yang, Jun-Ho Oh","doi":"10.1109/IROS.1995.525901","DOIUrl":"https://doi.org/10.1109/IROS.1995.525901","url":null,"abstract":"Though the mobility of a walking robot is superior to a wheel type robot in hazardous terrain, it is not easy for a walking robot to walk avoiding arbitrarily arrayed forbidden areas in the terrain. In order not to step on the forbidden areas, the gait of a walking robot should be aperiodic. But it is very complicated to analyze aperiodic gaits. In this paper, the authors focus on aperiodic gaits for straight motion and spinning motion. Based on the study of optimal periodic gaits, the authors show the support condition that enables aperiodic motion with preservation of the leg-lifting sequence of optimal periodic gaits. The authors introduce a schematic design of a leg mechanism that is spatially decoupled by using a 2-dimensional pantograph mechanism and a vertical linear actuator.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124150599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525941
Russell G. Brown, J. Jennings
Presents an empirical example of a strongly cooperative manipulation system (the pusher/steerer system), whose capabilities derive from the redistribution of resources typically used in a single robot system. The authors define strongly cooperative strategies to be, intuitively, those which are not trivially serializable. In the authors' system, one robot steers, and the other pushes; the object lies between them. The steerer is the only agent that has information about the path, while the pusher exerts the necessary motive force, and rotates to follow changes in the object's orientation. The system is asynchronous, with no explicit communication between the robots. The authors are interested in studying manipulation systems of this type, because they are strongly cooperative; that is, the two robots must act in concert to achieve the goal. The authors have performed over one hundred pusher/steerer manipulation experiments with two of their mobile robots, TOMMY and LILY. As the authors' analysis predicts, they have found that their system allows a wide variety of paths and manipulable objects for these robots.
{"title":"A pusher/steerer model for strongly cooperative mobile robot manipulation","authors":"Russell G. Brown, J. Jennings","doi":"10.1109/IROS.1995.525941","DOIUrl":"https://doi.org/10.1109/IROS.1995.525941","url":null,"abstract":"Presents an empirical example of a strongly cooperative manipulation system (the pusher/steerer system), whose capabilities derive from the redistribution of resources typically used in a single robot system. The authors define strongly cooperative strategies to be, intuitively, those which are not trivially serializable. In the authors' system, one robot steers, and the other pushes; the object lies between them. The steerer is the only agent that has information about the path, while the pusher exerts the necessary motive force, and rotates to follow changes in the object's orientation. The system is asynchronous, with no explicit communication between the robots. The authors are interested in studying manipulation systems of this type, because they are strongly cooperative; that is, the two robots must act in concert to achieve the goal. The authors have performed over one hundred pusher/steerer manipulation experiments with two of their mobile robots, TOMMY and LILY. As the authors' analysis predicts, they have found that their system allows a wide variety of paths and manipulable objects for these robots.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126329825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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