Pub Date : 2004-12-01DOI: 10.1109/RAMECH.2004.1438038
T. Saleh, Yap Haw Hann, Z. Zhen, A. Mamun, P. Vadakkepat
Conventional design of a mobile robot ensures its stability by keeping the gravity vector through the center of mass inside the structure's polygon of support determined by the contact points between the structure and the ground. This assumption of quasi-static stability fails to hold when the robot moves at high speed as the inertial forces become significant compared to the static gravitational force. On the other hand, the momentum of the moving structure can be exploited to enhance stability if it is dynamically controlled. This principle was exploited to build a gyroscopically stabilized single-wheeled robot by researchers at Carnegie Melon University (CMU). Our design follows the same principle for stability but uses a different mechanism to effect forward and reverse motion.
{"title":"Design of a gyroscopically stabilized single-wheeled robot","authors":"T. Saleh, Yap Haw Hann, Z. Zhen, A. Mamun, P. Vadakkepat","doi":"10.1109/RAMECH.2004.1438038","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438038","url":null,"abstract":"Conventional design of a mobile robot ensures its stability by keeping the gravity vector through the center of mass inside the structure's polygon of support determined by the contact points between the structure and the ground. This assumption of quasi-static stability fails to hold when the robot moves at high speed as the inertial forces become significant compared to the static gravitational force. On the other hand, the momentum of the moving structure can be exploited to enhance stability if it is dynamically controlled. This principle was exploited to build a gyroscopically stabilized single-wheeled robot by researchers at Carnegie Melon University (CMU). Our design follows the same principle for stability but uses a different mechanism to effect forward and reverse motion.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131024348","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438027
J. Pérez-Lorenzo, Ricardo Vázquez Martín, Pedro Núñez Trujillo, E. Pérez, F. Hernández
This paper proposes a method to solve the simultaneous localization and map building problem based on segments extracted from local sonar based occupation maps. These segments are categorized as new obstacle boundaries of a simultaneously built global segment-based map or as prolongations of previously extracted boundaries. The method is adequate for indoor office-like environments, specially for those environments that can be suitable modelled by a set of segments. The method has been proved in several experiments in the same indoor environment with successful results.
{"title":"A Hough-based method for concurrent mapping and localization in indoor environments","authors":"J. Pérez-Lorenzo, Ricardo Vázquez Martín, Pedro Núñez Trujillo, E. Pérez, F. Hernández","doi":"10.1109/RAMECH.2004.1438027","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438027","url":null,"abstract":"This paper proposes a method to solve the simultaneous localization and map building problem based on segments extracted from local sonar based occupation maps. These segments are categorized as new obstacle boundaries of a simultaneously built global segment-based map or as prolongations of previously extracted boundaries. The method is adequate for indoor office-like environments, specially for those environments that can be suitable modelled by a set of segments. The method has been proved in several experiments in the same indoor environment with successful results.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131734557","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438883
N. A. Tanner, G. Niemeyer
Wave variable based controllers ensure the stability of force-reflecting teleoperators with arbitrary and unknown communication delays. The wave impedance provides a fundamental tuning parameter that allows the designer to trade off performance aspects. We suggest and explore automatically tuning this parameter online to capture the best behavior under varying task configurations. In particular, this strategy adjusts force feedback in order to lower resistance during free space motions and strengthen feedback when in contact. Examining the effects of a variable wave impedance, we develop a generalized wave transformation better suited to online changes and propose a tuning rule to maintain system passivity. Our results are illustrated and confirmed in simulation.
{"title":"Online tuning of wave impedance in telerobotics","authors":"N. A. Tanner, G. Niemeyer","doi":"10.1109/RAMECH.2004.1438883","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438883","url":null,"abstract":"Wave variable based controllers ensure the stability of force-reflecting teleoperators with arbitrary and unknown communication delays. The wave impedance provides a fundamental tuning parameter that allows the designer to trade off performance aspects. We suggest and explore automatically tuning this parameter online to capture the best behavior under varying task configurations. In particular, this strategy adjusts force feedback in order to lower resistance during free space motions and strengthen feedback when in contact. Examining the effects of a variable wave impedance, we develop a generalized wave transformation better suited to online changes and propose a tuning rule to maintain system passivity. Our results are illustrated and confirmed in simulation.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131952475","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438884
M. Wang, J. Liu
Internet telerobotics has emerged in recent decade with direct control and supervisory control as the main teleoperation paradigms in the field of wheeled robot navigation. It is however difficult to apply these paradigms in the unknown and dynamic real-world applications, while they do not provide adequate feeling of interaction or a human-friendly control interface to the human operator. This paper proposes a novel interactive control (active supervisory control) telecommanding, which is used for Internet-based mobile robot teleoperation. Telecommanding involves two parts: basic telecommanding, using joystick commands, and advanced telecommanding, using linguistic commands. Assisted by up-to-date data visualization and media streaming technologies, telecommanding can help a novice operator to simply, easily, and remotely control a robot through the Internet navigating in an unknown and dynamic real world. Telecommanding enables the robot to autonomously handle real-world uncertainty, improves the interactivity of humans and robot, and solve the problems of arbitrary network delays and restricted bandwidth. The experiments, including an Internet-based teleoperation test over 1500 kilometers from Beijing to Hong Kong, have demonstrated the promising performance and the advantages of this paradigm over direct control and passive supervisory control.
{"title":"A novel teleoperation paradigm for human-robot interaction","authors":"M. Wang, J. Liu","doi":"10.1109/RAMECH.2004.1438884","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438884","url":null,"abstract":"Internet telerobotics has emerged in recent decade with direct control and supervisory control as the main teleoperation paradigms in the field of wheeled robot navigation. It is however difficult to apply these paradigms in the unknown and dynamic real-world applications, while they do not provide adequate feeling of interaction or a human-friendly control interface to the human operator. This paper proposes a novel interactive control (active supervisory control) telecommanding, which is used for Internet-based mobile robot teleoperation. Telecommanding involves two parts: basic telecommanding, using joystick commands, and advanced telecommanding, using linguistic commands. Assisted by up-to-date data visualization and media streaming technologies, telecommanding can help a novice operator to simply, easily, and remotely control a robot through the Internet navigating in an unknown and dynamic real world. Telecommanding enables the robot to autonomously handle real-world uncertainty, improves the interactivity of humans and robot, and solve the problems of arbitrary network delays and restricted bandwidth. The experiments, including an Internet-based teleoperation test over 1500 kilometers from Beijing to Hong Kong, have demonstrated the promising performance and the advantages of this paradigm over direct control and passive supervisory control.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132314387","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438929
Abolfazl Jalilvand, S. Khanmohammadi
The branch and bound (BB) algorithm is one of the common used methods in solving the task scheduling problems in manufacturing systems. In this paper, we introduced a new method to apply the branch and bound algorithm with a reduced memory size. By this method the running time decreases considerably. The algorithm is applied to a combinational discrete job shop scheduling system, where a Petri net is used for modeling.
{"title":"Task scheduling in manufacturing systems based on an efficient branch and bound algorithm","authors":"Abolfazl Jalilvand, S. Khanmohammadi","doi":"10.1109/RAMECH.2004.1438929","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438929","url":null,"abstract":"The branch and bound (BB) algorithm is one of the common used methods in solving the task scheduling problems in manufacturing systems. In this paper, we introduced a new method to apply the branch and bound algorithm with a reduced memory size. By this method the running time decreases considerably. The algorithm is applied to a combinational discrete job shop scheduling system, where a Petri net is used for modeling.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"293 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124229844","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438029
Weiguo Lin, S. Jia, T. Abe, K. Takase
Localization is one of the most important fundament for mobile robot. A localization system with low cost, easy accomplishment, simplicity, effectiveness and robustness is the aim of researchers all the time. Here, we proposed a novel method for localization of mobile robot using ID tag and Web camera. In our method, the path map in an indoor environment is expressed with node tree, every node is represented with two landmarks: ID tag and card with the same colour. Pairs of two landmarks are affixed to ceiling of distinct locations, and the middle point of every pair of landmarks in a node indicates the absolute position or the node because of the unique ID of tag, the absolute position of mobile robot can be expressed with the absolute position of node and, position and orientation relative to this node. Localization is implemented with two steps: detecting ID tag in one node with RF communication and measuring position and orientation of mobile robot relative to this node with camera. In this paper, related works are summarized and the advantages of our method are introduced, the scheme of system is described in detail, a fast image processing algorithm for extracting landmarks from background and strategies for system robustness are discussed. Localization experiments show that with this method the errors or relative position and orientation are less than 2.5 cm and 2.5 degree. Navigation showed us that localization with ID tag and Web camera is feasible for navigation in indoor environment. At last, strategies for improving system are discussed.
{"title":"Localization of mobile robot based on ID tag and WEB camera","authors":"Weiguo Lin, S. Jia, T. Abe, K. Takase","doi":"10.1109/RAMECH.2004.1438029","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438029","url":null,"abstract":"Localization is one of the most important fundament for mobile robot. A localization system with low cost, easy accomplishment, simplicity, effectiveness and robustness is the aim of researchers all the time. Here, we proposed a novel method for localization of mobile robot using ID tag and Web camera. In our method, the path map in an indoor environment is expressed with node tree, every node is represented with two landmarks: ID tag and card with the same colour. Pairs of two landmarks are affixed to ceiling of distinct locations, and the middle point of every pair of landmarks in a node indicates the absolute position or the node because of the unique ID of tag, the absolute position of mobile robot can be expressed with the absolute position of node and, position and orientation relative to this node. Localization is implemented with two steps: detecting ID tag in one node with RF communication and measuring position and orientation of mobile robot relative to this node with camera. In this paper, related works are summarized and the advantages of our method are introduced, the scheme of system is described in detail, a fast image processing algorithm for extracting landmarks from background and strategies for system robustness are discussed. Localization experiments show that with this method the errors or relative position and orientation are less than 2.5 cm and 2.5 degree. Navigation showed us that localization with ID tag and Web camera is feasible for navigation in indoor environment. At last, strategies for improving system are discussed.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127876410","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438065
Probal Mitra, G. Niemeyer
Haptic simulations aim to provide users with realistic renditions of increasingly complex virtual environments. These may involve multiple users, multiple hands, and complex virtual tools. For example, in surgical training, simulators must recreate a tool in each hand of the user, interacting with each other as well as with the surrounding tissue. To further such developments, we introduce and demonstrate the concept of dynamic proxy objects. Proxies represent the physical master devices in the virtual world. Associating dynamics with these proxies allows greater control over the proxy motion and behavior, in particular in the context of collisions with fixed objects and between multiple proxies. We utilize first order velocity-based dynamics, so that the proxies remain massless. Geometric constraints are implemented in terms of velocity limits, as are dynamic interactions such as collisions. Complex tools, kinematic relationships, and even closed kinematic chains are incorporated, through Jacobian matrices. This approach is demonstrated in a simple experiment simulating interactions between two straight, slender virtual manipulators on a two-handed haptic console.
{"title":"Dynamic proxy objects in haptic simulations","authors":"Probal Mitra, G. Niemeyer","doi":"10.1109/RAMECH.2004.1438065","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438065","url":null,"abstract":"Haptic simulations aim to provide users with realistic renditions of increasingly complex virtual environments. These may involve multiple users, multiple hands, and complex virtual tools. For example, in surgical training, simulators must recreate a tool in each hand of the user, interacting with each other as well as with the surrounding tissue. To further such developments, we introduce and demonstrate the concept of dynamic proxy objects. Proxies represent the physical master devices in the virtual world. Associating dynamics with these proxies allows greater control over the proxy motion and behavior, in particular in the context of collisions with fixed objects and between multiple proxies. We utilize first order velocity-based dynamics, so that the proxies remain massless. Geometric constraints are implemented in terms of velocity limits, as are dynamic interactions such as collisions. Complex tools, kinematic relationships, and even closed kinematic chains are incorporated, through Jacobian matrices. This approach is demonstrated in a simple experiment simulating interactions between two straight, slender virtual manipulators on a two-handed haptic console.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127958936","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438041
Shawn Scharer, J. Baltes, J. Anderson
Accurate ego-motion estimation is a difficult problem that humans perform with relative ease. This paper describes two methods that are used in conjunction to estimate the ego motion of an intelligent autonomous vehicle from vision alone. First, a cross-correlation method is used to select a promising patch in the image. The optical flow information for this patch is used to determine linear and angular velocity of the intelligent autonomous vehicle. Lines in the image are then used to provide an estimate of the ego motion of the vehicle. The gradient of the line as well as the distance to the line allow the computation of current wheel velocities. Both methods have been implemented on real robots and have been tested in a treasure hunt competition. These methods greatly improved the exploration as well as accuracy of the generated maps of the environment.
{"title":"Practical ego-motion estimation for mobile robots","authors":"Shawn Scharer, J. Baltes, J. Anderson","doi":"10.1109/RAMECH.2004.1438041","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438041","url":null,"abstract":"Accurate ego-motion estimation is a difficult problem that humans perform with relative ease. This paper describes two methods that are used in conjunction to estimate the ego motion of an intelligent autonomous vehicle from vision alone. First, a cross-correlation method is used to select a promising patch in the image. The optical flow information for this patch is used to determine linear and angular velocity of the intelligent autonomous vehicle. Lines in the image are then used to provide an estimate of the ego motion of the vehicle. The gradient of the line as well as the distance to the line allow the computation of current wheel velocities. Both methods have been implemented on real robots and have been tested in a treasure hunt competition. These methods greatly improved the exploration as well as accuracy of the generated maps of the environment.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125951227","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438940
B. Yuksel, Changjiu Zhou, K. Leblebicioğlu
This paper aims to analyze the ground reaction force in terms of smooth transition and landing impact under the parametric change of frontal gait trajectory that is realized by inverted pendulum model and the parametric change in the proportional gain of PID feedback controller. Using a dynamic simulator, namely, SL simulator, the ground reaction force analysis is realized and the simulation results and comparison of them are presented.
{"title":"Ground reaction force analysis of biped locomotion","authors":"B. Yuksel, Changjiu Zhou, K. Leblebicioğlu","doi":"10.1109/RAMECH.2004.1438940","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438940","url":null,"abstract":"This paper aims to analyze the ground reaction force in terms of smooth transition and landing impact under the parametric change of frontal gait trajectory that is realized by inverted pendulum model and the parametric change in the proportional gain of PID feedback controller. Using a dynamic simulator, namely, SL simulator, the ground reaction force analysis is realized and the simulation results and comparison of them are presented.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128022713","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438052
M. Nagayoshi, S. Uchikado
We analyze the proposed correspondence methods in detail, and new interpretations of them are given so that new method is proposed based on this result. Here the epipole and the epipolar line play an important role. Then a method in general camera configuration is proposed. This method is easily constructed by using singular value decomposition and projective transformation. Furthermore it shows that this method is effective under the environment of a moving camera. Based on the new method proposed for the correspondence problem, we propose a method to detect moving objects by using a camera on a mobile robot.
{"title":"A study on detecting moving objects via projective transformation","authors":"M. Nagayoshi, S. Uchikado","doi":"10.1109/RAMECH.2004.1438052","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438052","url":null,"abstract":"We analyze the proposed correspondence methods in detail, and new interpretations of them are given so that new method is proposed based on this result. Here the epipole and the epipolar line play an important role. Then a method in general camera configuration is proposed. This method is easily constructed by using singular value decomposition and projective transformation. Furthermore it shows that this method is effective under the environment of a moving camera. Based on the new method proposed for the correspondence problem, we propose a method to detect moving objects by using a camera on a mobile robot.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125998303","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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