Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525883
Johnson P. Thomas, P. N. Nissanke
An appropriate representation scheme for task plans is essential if the tasks in the plan are to be executed by intelligent robotic systems. In this paper the authors show that a Petri net representation scheme to represent assembly plans possesses desirable properties in an assembly context. The relationship between the Petri net representation scheme and other proposed representation schemes are also explored.
{"title":"Properties of assembly Petri net","authors":"Johnson P. Thomas, P. N. Nissanke","doi":"10.1109/IROS.1995.525883","DOIUrl":"https://doi.org/10.1109/IROS.1995.525883","url":null,"abstract":"An appropriate representation scheme for task plans is essential if the tasks in the plan are to be executed by intelligent robotic systems. In this paper the authors show that a Petri net representation scheme to represent assembly plans possesses desirable properties in an assembly context. The relationship between the Petri net representation scheme and other proposed representation schemes are also explored.","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":"131060512","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.1995.525920
Yan-Bin Jia
The quality of a grasp can often be measured as the magnitude within which any external wrench is resistible by "unit grasp force". In this paper, we present a numerical algorithm to compute the optimal grasp on a simple polygon, given contact forces of unit total magnitude. Forces are compared with torques over the radius of gyration of the polygon. Our analysis shows that the optimal grasps may be of a continuum. We also address a grasp optimality criterion for resisting an adversary finger located possibly anywhere on the polygon boundary. The disparity between these two grasp optimality criteria are demonstrated by simulation with results advocating that grasps should be measured task-dependently. The paper assumes non-frictional contacts.
{"title":"On computing optimal planar grasps","authors":"Yan-Bin Jia","doi":"10.1109/IROS.1995.525920","DOIUrl":"https://doi.org/10.1109/IROS.1995.525920","url":null,"abstract":"The quality of a grasp can often be measured as the magnitude within which any external wrench is resistible by \"unit grasp force\". In this paper, we present a numerical algorithm to compute the optimal grasp on a simple polygon, given contact forces of unit total magnitude. Forces are compared with torques over the radius of gyration of the polygon. Our analysis shows that the optimal grasps may be of a continuum. We also address a grasp optimality criterion for resisting an adversary finger located possibly anywhere on the polygon boundary. The disparity between these two grasp optimality criteria are demonstrated by simulation with results advocating that grasps should be measured task-dependently. The paper assumes non-frictional contacts.","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":"131228103","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.1995.525929
S. Ulyanov, K. Yamafuji, K. Miyagawa, Takayuki Tanaka, T. Fukuda
The intelligent mobile robot for service use with manipulators are moved in unstructured environments. Strategy for planning, environment recognition using two kinds of sensors and locomotion control to realize autonomous locomotion of the mobile robot are described. Fuzzy qualitative simulation, GA and hierarchical node map have revealed their effectiveness for path planning of the mobile robots. The results of fuzzy robot control simulation, monitoring and experimental investigations are presented.
{"title":"Intelligent fuzzy motion control of mobile robot for service use","authors":"S. Ulyanov, K. Yamafuji, K. Miyagawa, Takayuki Tanaka, T. Fukuda","doi":"10.1109/IROS.1995.525929","DOIUrl":"https://doi.org/10.1109/IROS.1995.525929","url":null,"abstract":"The intelligent mobile robot for service use with manipulators are moved in unstructured environments. Strategy for planning, environment recognition using two kinds of sensors and locomotion control to realize autonomous locomotion of the mobile robot are described. Fuzzy qualitative simulation, GA and hierarchical node map have revealed their effectiveness for path planning of the mobile robots. The results of fuzzy robot control simulation, monitoring and experimental investigations are presented.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"1 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":"131042269","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.1995.525823
H. Takanobu, Norikazu Kuchiki, A. Takanishi
Describes mathematical models that simulate the nonlinearity of the human muscle, and the results of a real food chewing experiment by a mastication robot. When the lower jaw rapidly closes, it may come in hard contact with the upper jaw if the food is a crushable one. To clarify the mechanism of rapid jaw motion, the authors focused on the nonlinearity of the human muscle that is known in the field of the physiology or biomechanisms. The authors propose a feasible mathematical model for the muscle and its nonlinearity. A nonlinear spring mechanism is then designed based on the mathematical model. As a result of chewing experiment, the authors confirmed control of the rapid closing motion of the robot jaw using the nonlinear spring mechanism. This work was done as part of the "Humanoid Project" at HUREL (Humanoid Research Laboratory).
{"title":"Control of rapid closing motion of a robot jaw using nonlinear spring mechanism","authors":"H. Takanobu, Norikazu Kuchiki, A. Takanishi","doi":"10.1109/IROS.1995.525823","DOIUrl":"https://doi.org/10.1109/IROS.1995.525823","url":null,"abstract":"Describes mathematical models that simulate the nonlinearity of the human muscle, and the results of a real food chewing experiment by a mastication robot. When the lower jaw rapidly closes, it may come in hard contact with the upper jaw if the food is a crushable one. To clarify the mechanism of rapid jaw motion, the authors focused on the nonlinearity of the human muscle that is known in the field of the physiology or biomechanisms. The authors propose a feasible mathematical model for the muscle and its nonlinearity. A nonlinear spring mechanism is then designed based on the mathematical model. As a result of chewing experiment, the authors confirmed control of the rapid closing motion of the robot jaw using the nonlinear spring mechanism. This work was done as part of the \"Humanoid Project\" at HUREL (Humanoid Research Laboratory).","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"2 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":"133064129","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.1995.525844
H. Zhuang, Wen-Chiang Wu, Z. Roth
Robot calibration is an effective and economical means for enhancing the accuracy performance of a robot manipulator through modification of its control software. This paper reports some research results by applying Lenz and Tsai's approach (1989) to calibrate a SCARA arm equipped with a hand-mounted camera. In order to measure robot poses, a new technique was employed to calibrate the camera at various robot configurations. The camera calibration technique is singularity free even when the image plane is nearly-parallel to the camera calibration board. Second, the modified complete and parametrically continuous (MCPC) model was used to describe the geometry of the SCARA arms because there is no model singularity in the MCPC model for this type of robots. Experimental studies were conducted to demonstrate the feasibility of the present approach for calibrating SCARA arms. Some practical recommendations are also made for robot users who need to calibrate SCARA arms.
{"title":"Camera-assisted calibration of SCARA arms","authors":"H. Zhuang, Wen-Chiang Wu, Z. Roth","doi":"10.1109/IROS.1995.525844","DOIUrl":"https://doi.org/10.1109/IROS.1995.525844","url":null,"abstract":"Robot calibration is an effective and economical means for enhancing the accuracy performance of a robot manipulator through modification of its control software. This paper reports some research results by applying Lenz and Tsai's approach (1989) to calibrate a SCARA arm equipped with a hand-mounted camera. In order to measure robot poses, a new technique was employed to calibrate the camera at various robot configurations. The camera calibration technique is singularity free even when the image plane is nearly-parallel to the camera calibration board. Second, the modified complete and parametrically continuous (MCPC) model was used to describe the geometry of the SCARA arms because there is no model singularity in the MCPC model for this type of robots. Experimental studies were conducted to demonstrate the feasibility of the present approach for calibrating SCARA arms. Some practical recommendations are also made for robot users who need to calibrate SCARA arms.","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":"127870699","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.1995.526134
Landi Shan, T. Hasegawa
This paper addresses the problem of mutual collision avoidance of mobile robots in a narrow and uncertain environment. The minimal application of inter-robot communication is required to develop an autonomous and flexible mobile robot in such an environment. In order to reduce communication application function of action observation is introduced into a robot. A mobile robot gains more information about the local working environment by observing actions of other robots. It always tries to plan motions for avoiding a collision with its own sensory data. The effectiveness of this approach on collision avoidance is verified with simulation experiments.
{"title":"Action observation in collision-free motion planning for mobile robots","authors":"Landi Shan, T. Hasegawa","doi":"10.1109/IROS.1995.526134","DOIUrl":"https://doi.org/10.1109/IROS.1995.526134","url":null,"abstract":"This paper addresses the problem of mutual collision avoidance of mobile robots in a narrow and uncertain environment. The minimal application of inter-robot communication is required to develop an autonomous and flexible mobile robot in such an environment. In order to reduce communication application function of action observation is introduced into a robot. A mobile robot gains more information about the local working environment by observing actions of other robots. It always tries to plan motions for avoiding a collision with its own sensory data. The effectiveness of this approach on collision avoidance is verified with simulation experiments.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"218 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":"114374841","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.1995.525771
K. Hosoda, K. Sakamoto, M. Asada
In this paper, a trajectory generator for a visual servoing system is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using an estimated epipolar constraint, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is based on the idea, "as long as one of the projected trajectories does not intersect with projected obstacles, the trajectory in 3D space can avoid the obstacles". An experimental result is shown to demonstrate the validity of a combination of the proposed trajectory generator and the visual servoing control scheme.
{"title":"Trajectory generation for obstacle avoidance of uncalibrated stereo visual servoing without 3D reconstruction","authors":"K. Hosoda, K. Sakamoto, M. Asada","doi":"10.1109/IROS.1995.525771","DOIUrl":"https://doi.org/10.1109/IROS.1995.525771","url":null,"abstract":"In this paper, a trajectory generator for a visual servoing system is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using an estimated epipolar constraint, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is based on the idea, \"as long as one of the projected trajectories does not intersect with projected obstacles, the trajectory in 3D space can avoid the obstacles\". An experimental result is shown to demonstrate the validity of a combination of the proposed trajectory generator and the visual servoing control scheme.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"559 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":"116447540","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.1995.525792
Kimitaka Endo, Koichi Tanaka, M. Sano, N. Mukawa
This paper describes a method for controlling the trajectory tracking of a mobile object, enabling the mobile object to accomplish some task involving a target object. A sequence of image feature points is used to express the reference trajectory that the mobile object should track and the mobile object is controlled by a feedback control law derived from the sequence of image feature points. This control is robust and flexible because the mobile object tracks a reference trajectory in an object-centered coordinate system of the target object. Moreover, the trajectory can be taught with only an image sequence. Simulation showed that a mobile object can track a trajectory described in an object-centered coordinate system.
{"title":"Trajectory teaching and tracking control by a sequence of image feature points","authors":"Kimitaka Endo, Koichi Tanaka, M. Sano, N. Mukawa","doi":"10.1109/IROS.1995.525792","DOIUrl":"https://doi.org/10.1109/IROS.1995.525792","url":null,"abstract":"This paper describes a method for controlling the trajectory tracking of a mobile object, enabling the mobile object to accomplish some task involving a target object. A sequence of image feature points is used to express the reference trajectory that the mobile object should track and the mobile object is controlled by a feedback control law derived from the sequence of image feature points. This control is robust and flexible because the mobile object tracks a reference trajectory in an object-centered coordinate system of the target object. Moreover, the trajectory can be taught with only an image sequence. Simulation showed that a mobile object can track a trajectory described in an object-centered coordinate system.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"379 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":"123443558","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.1995.526266
M. Kaneko, N. Kanayama, T. Tsuji
This paper discusses the sensing accuracy of the active antenna that can detect the contact location between an insensitive flexible beam and an environment through the measurement of the rotational compliance of the beam in contact with the environment. During pushing motion of antenna, the contact point generally shifts on the environment's surface, which either underestimates or overestimates the rotational compliance and eventually brings a sensing error for localizing the contact point. The goal of this paper is to consider the effect of the environment's curvature on the rotational compliance. We show that the rotational compliance of the antenna being in contact with a curved environment depends on not only the contact distance but also on a new nondimensional parameter including the pushing angle and the environment's curvature where the antenna makes contact. We further show experimental results to support the theoretical analysis for various environments with different curvature.
{"title":"A new consideration on active antenna","authors":"M. Kaneko, N. Kanayama, T. Tsuji","doi":"10.1109/IROS.1995.526266","DOIUrl":"https://doi.org/10.1109/IROS.1995.526266","url":null,"abstract":"This paper discusses the sensing accuracy of the active antenna that can detect the contact location between an insensitive flexible beam and an environment through the measurement of the rotational compliance of the beam in contact with the environment. During pushing motion of antenna, the contact point generally shifts on the environment's surface, which either underestimates or overestimates the rotational compliance and eventually brings a sensing error for localizing the contact point. The goal of this paper is to consider the effect of the environment's curvature on the rotational compliance. We show that the rotational compliance of the antenna being in contact with a curved environment depends on not only the contact distance but also on a new nondimensional parameter including the pushing angle and the environment's curvature where the antenna makes contact. We further show experimental results to support the theoretical analysis for various environments with different curvature.","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":"123651916","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.1995.526244
S. Christy, R. Horaud
In this paper we describe a method for solving the Euclidean reconstruction problem with a perspective camera model by incrementally performing an Euclidean reconstruction with a weak perspective camera model. With respect to other methods that compute shape and motion from a sequence of images with a calibrated perspective camera, this method converges in a few iterations, is compositionally efficient, and does not suffer from the nonlinear nature of the problem. With respect to factorization and/or affine-invariant methods, this method solves for the sign (reversal) ambiguity in a very simple way and provides much more accurate reconstructions results.
{"title":"A quasi linear reconstruction method from multiple perspective views","authors":"S. Christy, R. Horaud","doi":"10.1109/IROS.1995.526244","DOIUrl":"https://doi.org/10.1109/IROS.1995.526244","url":null,"abstract":"In this paper we describe a method for solving the Euclidean reconstruction problem with a perspective camera model by incrementally performing an Euclidean reconstruction with a weak perspective camera model. With respect to other methods that compute shape and motion from a sequence of images with a calibrated perspective camera, this method converges in a few iterations, is compositionally efficient, and does not suffer from the nonlinear nature of the problem. With respect to factorization and/or affine-invariant methods, this method solves for the sign (reversal) ambiguity in a very simple way and provides much more accurate reconstructions results.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"228 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":"121962106","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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