Pub Date : 1995-08-05DOI: 10.1109/IROS.1995.525872
A. Sabatini, V. Genovese, E. Guglielmelli, A. Mantuano, G. Ratti, P. Dario
In this paper we describe our approach to the design of proximity sensor arrays. Each sensing element of the proximity sensor array is a composite sensor, i.e. a sensor which is composed of an in-air ultrasonic rangefinder and an infrared detector. This sensor arrangement is capable, in principle, to achieve a perception of the explored objects that is not necessarily limited to their geometrical properties (size, shape and location relative to the sensor); possibly, the perception can be extended to other relevant features. In this paper, we show that, in principle, a sort of perception of the surface reflectance (the color) is achievable. The concept of the proposed sensor array spans a wide range of potential applications in flexible industrial automation, service robotics and autonomous mobility. The system described, in particular, is intended for providing an advanced wheelchair with the navigational capabilities required for improving the driving skills of disabled users.
{"title":"A low-cost, composite sensor array combining ultrasonic and infrared proximity sensors","authors":"A. Sabatini, V. Genovese, E. Guglielmelli, A. Mantuano, G. Ratti, P. Dario","doi":"10.1109/IROS.1995.525872","DOIUrl":"https://doi.org/10.1109/IROS.1995.525872","url":null,"abstract":"In this paper we describe our approach to the design of proximity sensor arrays. Each sensing element of the proximity sensor array is a composite sensor, i.e. a sensor which is composed of an in-air ultrasonic rangefinder and an infrared detector. This sensor arrangement is capable, in principle, to achieve a perception of the explored objects that is not necessarily limited to their geometrical properties (size, shape and location relative to the sensor); possibly, the perception can be extended to other relevant features. In this paper, we show that, in principle, a sort of perception of the surface reflectance (the color) is achievable. The concept of the proposed sensor array spans a wide range of potential applications in flexible industrial automation, service robotics and autonomous mobility. The system described, in particular, is intended for providing an advanced wheelchair with the navigational capabilities required for improving the driving skills of disabled users.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"26 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":"126754299","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.1995.525977
J. D. Morrow, B. Nelson, P. Khosla
Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The authors are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor-driven robot programs. This paper reports on the development of both force and vision driven commands which are successfully applied to two different connector insertion experiments.
{"title":"Vision and force driven sensorimotor primitives for robotic assembly skills","authors":"J. D. Morrow, B. Nelson, P. Khosla","doi":"10.1109/IROS.1995.525977","DOIUrl":"https://doi.org/10.1109/IROS.1995.525977","url":null,"abstract":"Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The authors are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor-driven robot programs. This paper reports on the development of both force and vision driven commands which are successfully applied to two different connector insertion experiments.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"38 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":"126417230","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.1995.526135
T. Tsubouchi, Soichiro Kuramochi, S. Arimoto
This paper presents an algorithm which leads a mobile robot to its destination in an environment where multiple obstacles are moving around. The movement of each obstacle is forecasted under the assumption that it moves with a piecewise constant velocity. Based on the forecast, a feasible path for a robot is searched in (x,y,t) space by a heuristic method. The robot follows feasible path for a while. This path is composed of straight lines and circular curves. To accommodate the actual changes in the obstacles' velocity against the forecast, the forecast and path searching is iterated frequently while the robot is moving to the goal. This paper examines the behavior obtained by different experimental conditions in the computer simulations.
{"title":"Iterated forecast and planning algorithm to steer and drive a mobile robot in the presence of multiple moving objects","authors":"T. Tsubouchi, Soichiro Kuramochi, S. Arimoto","doi":"10.1109/IROS.1995.526135","DOIUrl":"https://doi.org/10.1109/IROS.1995.526135","url":null,"abstract":"This paper presents an algorithm which leads a mobile robot to its destination in an environment where multiple obstacles are moving around. The movement of each obstacle is forecasted under the assumption that it moves with a piecewise constant velocity. Based on the forecast, a feasible path for a robot is searched in (x,y,t) space by a heuristic method. The robot follows feasible path for a while. This path is composed of straight lines and circular curves. To accommodate the actual changes in the obstacles' velocity against the forecast, the forecast and path searching is iterated frequently while the robot is moving to the goal. This paper examines the behavior obtained by different experimental conditions in the computer simulations.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"31 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":"127787015","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.1995.526270
J. Yang
This article has been removed because it violated the Publication Principles of the IEEE
这篇文章已被删除，因为它违反了IEEE的出版原则
{"title":"An algorithm for localization and positioning using linear combinations of model views","authors":"J. Yang","doi":"10.1109/IROS.1995.526270","DOIUrl":"https://doi.org/10.1109/IROS.1995.526270","url":null,"abstract":"This article has been removed because it violated the Publication Principles of the IEEE","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"31 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":"132398362","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.1995.525833
R. Simmons, E. Krotkov, L. Chrisman, Fabio Gagliardi Cozman, R. Goodwin, M. Hebert, Lalitesh K. Katragadda, Sven Koenig, G. Krishnaswamy, Y. Shinoda, W. Whittaker, P. Klarer
Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date.
{"title":"Experience with rover navigation for lunar-like terrains","authors":"R. Simmons, E. Krotkov, L. Chrisman, Fabio Gagliardi Cozman, R. Goodwin, M. Hebert, Lalitesh K. Katragadda, Sven Koenig, G. Krishnaswamy, Y. Shinoda, W. Whittaker, P. Klarer","doi":"10.1109/IROS.1995.525833","DOIUrl":"https://doi.org/10.1109/IROS.1995.525833","url":null,"abstract":"Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date.","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":"130711503","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.1995.525862
A. Farahat, B. S. Graves, J. Trinkle
The efficiency of the automatic execution of complex assembly tasks can be enhanced by the identification of the contact state. In this paper we derive a new method for testing a hypothesized contact state using force sensing in the presence of sensing and control uncertainty. The hypothesized contact state is represented as a collection of elementary contacts. The feasibility of the elementary contacts is tested by solving a linear program. No knowledge of the contact pressure distribution or of the contact forces is required, so our method can be used even when the contact forces are statically indeterminate. We give a geometric interpretation of the contact identification problem using the theory of polyhedral convex cones. If more than one contact state is feasible, we use the geometric interpretation to determine the likelihood of each feasible contact formation.
{"title":"Identifying contact formations in the presence of uncertainty","authors":"A. Farahat, B. S. Graves, J. Trinkle","doi":"10.1109/IROS.1995.525862","DOIUrl":"https://doi.org/10.1109/IROS.1995.525862","url":null,"abstract":"The efficiency of the automatic execution of complex assembly tasks can be enhanced by the identification of the contact state. In this paper we derive a new method for testing a hypothesized contact state using force sensing in the presence of sensing and control uncertainty. The hypothesized contact state is represented as a collection of elementary contacts. The feasibility of the elementary contacts is tested by solving a linear program. No knowledge of the contact pressure distribution or of the contact forces is required, so our method can be used even when the contact forces are statically indeterminate. We give a geometric interpretation of the contact identification problem using the theory of polyhedral convex cones. If more than one contact state is feasible, we use the geometric interpretation to determine the likelihood of each feasible contact formation.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"87 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":"128601217","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.1995.526257
Sukhan Lee, Xiaoming Zhao
A new paradigm of sensor planning is presented based on a hierarchically distributed perception net (HDPN) proposed as a general sensing architecture. In the proposed parametric sensor planning, the uncertainties are propagated in HDPN, and the sensing parameters of HDPN are iteratively modified so that HDPN ultimately generates the desired accuracy of outputs at a minimum sensing cost. An experiment is conducted by applying the proposed parametric sensor planning method for the accurate self-localization of a mobile robot operating in a known environment. The proposed paradigm provides a formal, yet general and efficient method of representing and solving a sensor planning problem for an integrated sensor system.
{"title":"A new sensor planning paradigm and its application to robot self-localization","authors":"Sukhan Lee, Xiaoming Zhao","doi":"10.1109/IROS.1995.526257","DOIUrl":"https://doi.org/10.1109/IROS.1995.526257","url":null,"abstract":"A new paradigm of sensor planning is presented based on a hierarchically distributed perception net (HDPN) proposed as a general sensing architecture. In the proposed parametric sensor planning, the uncertainties are propagated in HDPN, and the sensing parameters of HDPN are iteratively modified so that HDPN ultimately generates the desired accuracy of outputs at a minimum sensing cost. An experiment is conducted by applying the proposed parametric sensor planning method for the accurate self-localization of a mobile robot operating in a known environment. The proposed paradigm provides a formal, yet general and efficient method of representing and solving a sensor planning problem for an integrated sensor system.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"40 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132153357","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.1995.525919
W. W. Lau, Peter F. Stiller, J. Trinkle
The contact formation cells of a polygonal planar system of rigid bodies in contact have been studied in Farahat et al. There, it was shown that the CF-cells are smooth manifolds, but the methods used were too complicated to extend to three-dimensional polygonal rigid body systems. In this paper, the authors develop an alternative way to define contact formation cells. Under the new definition, the authors show that the contact formation cells are smooth manifolds, and further that all intersections of contact formation cells are smooth manifolds. The simplicity of the new definition makes it easy to prove the smoothness results for three-dimensional systems. Also, the authors investigate other extensions of the results in Farahat et al.
{"title":"Some remarks on the geometry of contact formation cells","authors":"W. W. Lau, Peter F. Stiller, J. Trinkle","doi":"10.1109/IROS.1995.525919","DOIUrl":"https://doi.org/10.1109/IROS.1995.525919","url":null,"abstract":"The contact formation cells of a polygonal planar system of rigid bodies in contact have been studied in Farahat et al. There, it was shown that the CF-cells are smooth manifolds, but the methods used were too complicated to extend to three-dimensional polygonal rigid body systems. In this paper, the authors develop an alternative way to define contact formation cells. Under the new definition, the authors show that the contact formation cells are smooth manifolds, and further that all intersections of contact formation cells are smooth manifolds. The simplicity of the new definition makes it easy to prove the smoothness results for three-dimensional systems. Also, the authors investigate other extensions of the results in Farahat et al.","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":"115920501","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.1995.525777
M. Žefran, Vijay R. Kumar, J. Desai, E. Henis
This paper addresses determination of trajectories and force distribution for cooperative manipulation with two arms through optimizing an integral cost function that depends an the actuator forces. We compare the calculated trajectories with the measurements on human subjects performing planar manipulation tasks. Our findings suggest that the trajectories and forces used by humans can be predicted by minimizing the integral of the rate of change of actuator torques over the trajectory. Good match is shown for a class of manipulation tasks in which the person-to-person variability is small. The theoretical foundation for computing the optimal solutions is briefly presented and the advantages of using such schemes for robotic systems are discussed.
{"title":"Two-arm manipulation: what can we learn by studying humans?","authors":"M. Žefran, Vijay R. Kumar, J. Desai, E. Henis","doi":"10.1109/IROS.1995.525777","DOIUrl":"https://doi.org/10.1109/IROS.1995.525777","url":null,"abstract":"This paper addresses determination of trajectories and force distribution for cooperative manipulation with two arms through optimizing an integral cost function that depends an the actuator forces. We compare the calculated trajectories with the measurements on human subjects performing planar manipulation tasks. Our findings suggest that the trajectories and forces used by humans can be predicted by minimizing the integral of the rate of change of actuator torques over the trajectory. Good match is shown for a class of manipulation tasks in which the person-to-person variability is small. The theoretical foundation for computing the optimal solutions is briefly presented and the advantages of using such schemes for robotic systems are discussed.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"9 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":"115411104","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.1995.525827
G. Pratt, M. Williamson
It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy storage. As a trade-off, reducing interface stiffness also lowers zero motion force bandwidth. In this paper, the authors propose that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea. The authors use the term elasticity instead of compliance to indicate the presence of a passive mechanical spring in the actuator. After a discussion of the trade-offs inherent in series elastic actuators, the authors present a control system for their use under general force or impedance control. The authors conclude with test results from a revolute series-elastic actuator meant for the arms of the MIT humanoid robot Cog and for a small planetary rover.
{"title":"Series elastic actuators","authors":"G. Pratt, M. Williamson","doi":"10.1109/IROS.1995.525827","DOIUrl":"https://doi.org/10.1109/IROS.1995.525827","url":null,"abstract":"It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy storage. As a trade-off, reducing interface stiffness also lowers zero motion force bandwidth. In this paper, the authors propose that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea. The authors use the term elasticity instead of compliance to indicate the presence of a passive mechanical spring in the actuator. After a discussion of the trade-offs inherent in series elastic actuators, the authors present a control system for their use under general force or impedance control. The authors conclude with test results from a revolute series-elastic actuator meant for the arms of the MIT humanoid robot Cog and for a small planetary rover.","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":"114168269","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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