Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.526267
Y. Kuwana, I. Shimoyama, H. Miura
A male silk moth (Bombyx mori) pursues a female by following a pheromone, called Bombycol. This action is caused by only a few molecules of pheromone which arrive at the antenna of a male silk moth. The antenna has very sharp sensitivity and specificity. In this paper, the use of a biological sensor is discussed as a new type of sensor, in other words "living sensors". The electrical activity of a silk moth antenna, called the electroantennogram (EAG) was obtained using self-made electrodes and amplifier. Two pheromone sensors were attached to a simple mobile robot to determine the direction of a pheromone trace. From this information, we were able to control the direction of the robot. The robot followed the pheromone trace just like a real male silk moth.
{"title":"Steering control of a mobile robot using insect antennae","authors":"Y. Kuwana, I. Shimoyama, H. Miura","doi":"10.1109/IROS.1995.526267","DOIUrl":"https://doi.org/10.1109/IROS.1995.526267","url":null,"abstract":"A male silk moth (Bombyx mori) pursues a female by following a pheromone, called Bombycol. This action is caused by only a few molecules of pheromone which arrive at the antenna of a male silk moth. The antenna has very sharp sensitivity and specificity. In this paper, the use of a biological sensor is discussed as a new type of sensor, in other words \"living sensors\". The electrical activity of a silk moth antenna, called the electroantennogram (EAG) was obtained using self-made electrodes and amplifier. Two pheromone sensors were attached to a simple mobile robot to determine the direction of a pheromone trace. From this information, we were able to control the direction of the robot. The robot followed the pheromone trace just like a real male silk moth.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"15 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":"126376856","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.1995.525879
A. Takanishi, J. Yamaguchi, Mitsuyasu Iwata
The authors have started to study on the development of a hydraulically powered quadruped walking robot having a trunk which stabilizes its walking by generating compensation moment to the ground for higher mobility on a flat floor. This paper describes a motion control method of the trunk for moment compensation and results of dynamic simulation for the walking.
{"title":"Dynamic quadruped walking stabilized with trunk motion","authors":"A. Takanishi, J. Yamaguchi, Mitsuyasu Iwata","doi":"10.1109/IROS.1995.525879","DOIUrl":"https://doi.org/10.1109/IROS.1995.525879","url":null,"abstract":"The authors have started to study on the development of a hydraulically powered quadruped walking robot having a trunk which stabilizes its walking by generating compensation moment to the ground for higher mobility on a flat floor. This paper describes a motion control method of the trunk for moment compensation and results of dynamic simulation for the walking.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"30 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":"125865432","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.1995.526174
D. Kurabayashi, J. Ota, T. Arai, E. Yoshida
Proposes an algorithm of dividing a work area into small pieces in order to make multiple mobile robots cooperate efficiently. Searching of a whole work area is the most fundamental and the most essential task of mobile robots. The authors expect that the cost of searching is shared by cooperation of multiple robots. In the proposed algorithm, searching motions of robots are represented by paths. Both edges of the configuration space and the Voronoi diagram are introduced so as to compute paths in the whole area. The authors generate a tour of the paths to traverse all the paths using the algorithm of the Chinese postman problem. The cost is estimated as the total length of the paths. By means of the cost evaluation, the appropriate paths are assigned to each robot. The efficiency of the proposed algorithm is verified by simulations.
{"title":"An algorithm of dividing a work area to multiple mobile robots","authors":"D. Kurabayashi, J. Ota, T. Arai, E. Yoshida","doi":"10.1109/IROS.1995.526174","DOIUrl":"https://doi.org/10.1109/IROS.1995.526174","url":null,"abstract":"Proposes an algorithm of dividing a work area into small pieces in order to make multiple mobile robots cooperate efficiently. Searching of a whole work area is the most fundamental and the most essential task of mobile robots. The authors expect that the cost of searching is shared by cooperation of multiple robots. In the proposed algorithm, searching motions of robots are represented by paths. Both edges of the configuration space and the Voronoi diagram are introduced so as to compute paths in the whole area. The authors generate a tour of the paths to traverse all the paths using the algorithm of the Chinese postman problem. The cost is estimated as the total length of the paths. By means of the cost evaluation, the appropriate paths are assigned to each robot. The efficiency of the proposed algorithm is verified by simulations.","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":"129274567","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.1995.525853
T. Tarn, N. Xi, Chuanfan Guo, A. Bejczy
A new function-based control sharing scheme for robotic systems has been developed based on the event-based planning and control theory. It provides a unified model to integrate a human operator control command with action planning and control of autonomous operation. As a result, the robotic systems can perform tasks which cannot be done by either human operator or autonomous planner/controller alone. This scheme lays down a foundation for planning and control of a general robotic system involving human operators, and provides a natural and efficient way to fuse the human intelligence with the machine intelligence. The scheme is implemented and tested on a PUMA 560 dual-arm system. The experimental results of obstacle avoidance, hybrid force/position control with a commanded force as well as dual-arm coordinated teleoperation are presented.
{"title":"Function-based control sharing for robotic systems","authors":"T. Tarn, N. Xi, Chuanfan Guo, A. Bejczy","doi":"10.1109/IROS.1995.525853","DOIUrl":"https://doi.org/10.1109/IROS.1995.525853","url":null,"abstract":"A new function-based control sharing scheme for robotic systems has been developed based on the event-based planning and control theory. It provides a unified model to integrate a human operator control command with action planning and control of autonomous operation. As a result, the robotic systems can perform tasks which cannot be done by either human operator or autonomous planner/controller alone. This scheme lays down a foundation for planning and control of a general robotic system involving human operators, and provides a natural and efficient way to fuse the human intelligence with the machine intelligence. The scheme is implemented and tested on a PUMA 560 dual-arm system. The experimental results of obstacle avoidance, hybrid force/position control with a commanded force as well as dual-arm coordinated teleoperation are presented.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"67 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":"128567928","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.1995.525877
M. Ahmadi, M. Buehler
We present a control strategy for a simplified model of a one legged running robot which features compliant elements in series with hip and leg actuators. Proper spring selection and initial conditions result in "passive dynamic" operation close to the desired motion, without any actuation. However, this motion is not stable. The proposed controller is based on online calculations of the desired passive dynamic motion and stabilises any fixed robot speed. It also tracks large changes in desired robot velocity and remains largely passive for a wide range of velocities, despite a fixed set of springs, masses and inertias. To this end the desired motion is expressed as a function of a normalized "locomotion time" parameter. Comparisons of simulated runs with direct hip actuation show dramatic energy savings of 95% at 3m/s. Such energy savings are critical for the power autonomy of electrically actuated legged robots.
{"title":"A control strategy for stable passive running","authors":"M. Ahmadi, M. Buehler","doi":"10.1109/IROS.1995.525877","DOIUrl":"https://doi.org/10.1109/IROS.1995.525877","url":null,"abstract":"We present a control strategy for a simplified model of a one legged running robot which features compliant elements in series with hip and leg actuators. Proper spring selection and initial conditions result in \"passive dynamic\" operation close to the desired motion, without any actuation. However, this motion is not stable. The proposed controller is based on online calculations of the desired passive dynamic motion and stabilises any fixed robot speed. It also tracks large changes in desired robot velocity and remains largely passive for a wide range of velocities, despite a fixed set of springs, masses and inertias. To this end the desired motion is expressed as a function of a normalized \"locomotion time\" parameter. Comparisons of simulated runs with direct hip actuation show dramatic energy savings of 95% at 3m/s. Such energy savings are critical for the power autonomy of electrically actuated legged robots.","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":"130209617","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.1995.525875
J. Colgate, Michael C. Stanley, J. M. Brown
Our group is interested in using haptic display for training tool use. Applications include training doctors to use tools during surgery, and training astronauts to use tools during EVA. This paper describes some of the challenges of creating realistic haptic perceptions of tool use. Many of these challenges stem from the importance of unilateral constraints during tool use. Unilateral constraints occur whenever rigid bodies collide, resisting the interpenetration of the bodies, but not holding the bodies together. To identify unilateral constraints, a tool/environment simulation must perform collision detection. To respond properly to a collision, the simulation must estimate the forces that ensue, and integrate the equations of motion. All of these computations must occur in real time, and the simulation as a whole must be stable (to ensure the user's safety). Approaches to these problems are described.
{"title":"Issues in the haptic display of tool use","authors":"J. Colgate, Michael C. Stanley, J. M. Brown","doi":"10.1109/IROS.1995.525875","DOIUrl":"https://doi.org/10.1109/IROS.1995.525875","url":null,"abstract":"Our group is interested in using haptic display for training tool use. Applications include training doctors to use tools during surgery, and training astronauts to use tools during EVA. This paper describes some of the challenges of creating realistic haptic perceptions of tool use. Many of these challenges stem from the importance of unilateral constraints during tool use. Unilateral constraints occur whenever rigid bodies collide, resisting the interpenetration of the bodies, but not holding the bodies together. To identify unilateral constraints, a tool/environment simulation must perform collision detection. To respond properly to a collision, the simulation must estimate the forces that ensue, and integrate the equations of motion. All of these computations must occur in real time, and the simulation as a whole must be stable (to ensure the user's safety). Approaches to these problems are described.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"20 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":"121155339","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.1995.525826
John B. Morrell, J. Salisbury
Current force control capabilities are limited by actuator performance. Brush friction and actuator saturation lead to limit cycles and instability in many force control systems. The authors propose that actuators with the proper passive characteristics provide the best potential for fast, accurate force control. The authors report on a new actuator concept which combines two actuators to create a micro-macro actuator which has improved force resolution and bandwidth. Unlike previous micro-macro robots which used actuators coupled in series, the actuators in this system are coupled in parallel using a compliant transmission. Three specifications for force control performance are defined and a model is presented. A control law for the combined actuator is presented and a general analysis of the design is formulated. Finally, measurements of performance in a prototype device are presented. This system has achieved force resolution of 0.25% and force control bandwidth of 60 Hz.
{"title":"Parallel coupled actuators for high performance force control: a micro-macro concept","authors":"John B. Morrell, J. Salisbury","doi":"10.1109/IROS.1995.525826","DOIUrl":"https://doi.org/10.1109/IROS.1995.525826","url":null,"abstract":"Current force control capabilities are limited by actuator performance. Brush friction and actuator saturation lead to limit cycles and instability in many force control systems. The authors propose that actuators with the proper passive characteristics provide the best potential for fast, accurate force control. The authors report on a new actuator concept which combines two actuators to create a micro-macro actuator which has improved force resolution and bandwidth. Unlike previous micro-macro robots which used actuators coupled in series, the actuators in this system are coupled in parallel using a compliant transmission. Three specifications for force control performance are defined and a model is presented. A control law for the combined actuator is presented and a general analysis of the design is formulated. Finally, measurements of performance in a prototype device are presented. This system has achieved force resolution of 0.25% and force control bandwidth of 60 Hz.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"4 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":"121240835","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.1995.525917
Soon-Lin Yeap, J. Trinkle
A dynamic model of a dexterous manipulation system can be used for predicting the feasibility of a manipulation plan generated under the quasistatic assumption but executed under dynamic conditions. Contact forces between the object and manipulator are calculated to determine whether contacts can be maintained for the planned motion. Compressive contact forces indicate that contacts can be maintained for the specified manipulation plan and this implies that actual dynamic manipulation succeeds. Results of the solution of dynamic equations are given for selected objects and video images of successful plans are shown.
{"title":"Dynamic whole-arm dexterous manipulation in the plane","authors":"Soon-Lin Yeap, J. Trinkle","doi":"10.1109/IROS.1995.525917","DOIUrl":"https://doi.org/10.1109/IROS.1995.525917","url":null,"abstract":"A dynamic model of a dexterous manipulation system can be used for predicting the feasibility of a manipulation plan generated under the quasistatic assumption but executed under dynamic conditions. Contact forces between the object and manipulator are calculated to determine whether contacts can be maintained for the planned motion. Compressive contact forces indicate that contacts can be maintained for the specified manipulation plan and this implies that actual dynamic manipulation succeeds. Results of the solution of dynamic equations are given for selected objects and video images of successful plans are shown.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"289 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":"116403047","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.1995.525786
S. Maeyama, A. Ohya, S. Yuta
We propose a position estimation technique for nonstop outdoor navigation of an autonomous mobile robot. The proposed position estimation technique is based on maximum likelihood estimation. To cope with the parallel processing of internal and external sensor information and time delay in the sensor data process, we introduce the retroactive positioning data fusion technique. The proposed technique is implemented on our small size autonomous mobile robot. An experimental result is shown, in which our robot could navigate itself without stopping even when it takes several seconds of processing time to detect landmark from external sensor data.
{"title":"Non-stop outdoor navigation of a mobile robot-retroactive positioning data fusion with a time consuming sensor system","authors":"S. Maeyama, A. Ohya, S. Yuta","doi":"10.1109/IROS.1995.525786","DOIUrl":"https://doi.org/10.1109/IROS.1995.525786","url":null,"abstract":"We propose a position estimation technique for nonstop outdoor navigation of an autonomous mobile robot. The proposed position estimation technique is based on maximum likelihood estimation. To cope with the parallel processing of internal and external sensor information and time delay in the sensor data process, we introduce the retroactive positioning data fusion technique. The proposed technique is implemented on our small size autonomous mobile robot. An experimental result is shown, in which our robot could navigate itself without stopping even when it takes several seconds of processing time to detect landmark from external sensor data.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"96 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":"127106612","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.1995.525851
M. Hamerlain
This paper introduces a new actuator which is able to confer to the robot arm. The arm actuated by pneumatic artificial antagonistic muscles resembles the movements of the human arm. In this work the problem of the control of this actuator is considered via a variable structure algorithm, and a comparison with a classical PID control given. High robustness performances with respect to model errors, parameter variations, and quick responses are obtained. The paper presents an experimental study of the variable structure control applied to the actuator considered. The control performances considered include step response and tracking trajectory modes.
{"title":"An anthropomorphic robot arm driven by artificial muscles using a variable structure control","authors":"M. Hamerlain","doi":"10.1109/IROS.1995.525851","DOIUrl":"https://doi.org/10.1109/IROS.1995.525851","url":null,"abstract":"This paper introduces a new actuator which is able to confer to the robot arm. The arm actuated by pneumatic artificial antagonistic muscles resembles the movements of the human arm. In this work the problem of the control of this actuator is considered via a variable structure algorithm, and a comparison with a classical PID control given. High robustness performances with respect to model errors, parameter variations, and quick responses are obtained. The paper presents an experimental study of the variable structure control applied to the actuator considered. The control performances considered include step response and tracking trajectory modes.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"81 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":"126012604","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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