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.1995.525879
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.1995.525977
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.1995.525872
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.1995.526143
N. Chen, Hong Zhang, R. Rink
A novel method to perform edge tracking using tactile sensors is presented in this paper. Using the tactile servo scheme, a robot manipulator is driven only by real-time tactile feedback from the array tactile sensors mounted directly on the robot end-effector. Compared with previous approaches, the control scheme presented in this paper is consistent and more efficient. Real-time edge tracking experiments are conducted using an experimental system consisting of a PUMA 260, a single rigid finger and a planar array tactile sensor. Experimental results show satisfactory control speed and accuracy for both straight and curved edge tracking. An example of active tactile sensing of a unknown object using edge tracking is also demonstrated.
{"title":"Edge tracking using tactile servo","authors":"N. Chen, Hong Zhang, R. Rink","doi":"10.1109/IROS.1995.526143","DOIUrl":"https://doi.org/10.1109/IROS.1995.526143","url":null,"abstract":"A novel method to perform edge tracking using tactile sensors is presented in this paper. Using the tactile servo scheme, a robot manipulator is driven only by real-time tactile feedback from the array tactile sensors mounted directly on the robot end-effector. Compared with previous approaches, the control scheme presented in this paper is consistent and more efficient. Real-time edge tracking experiments are conducted using an experimental system consisting of a PUMA 260, a single rigid finger and a planar array tactile sensor. Experimental results show satisfactory control speed and accuracy for both straight and curved edge tracking. An example of active tactile sensing of a unknown object using edge tracking is also demonstrated.","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":"123017960","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.1995.525877
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.1995.525919
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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