Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)最新文献
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.973406
J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, H. Inoue
We present an algorithm for planning safe navigation strategies for biped robots moving in obstacle-cluttered environments. From a discrete set of plausible statically-stable, single-step motions, a forward dynamic programming approach is used to compute a sequence of feasible footstep locations. In contrast to existing navigation strategies for mobile robots, our method is a global method that takes into account the unique ability of legged robots such as bipedal humanoids to traverse obstacles by stepping over them. Heuristics designed to minimize the number and complexity of the step motions are used to encode cost functions used for searching a footstep transition graph. We show preliminary results of an experimental implementation of the algorithm using a model of the H6 humanoid navigating on an office floor littered with obstacles.
{"title":"Footstep planning among obstacles for biped robots","authors":"J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, H. Inoue","doi":"10.1109/IROS.2001.973406","DOIUrl":"https://doi.org/10.1109/IROS.2001.973406","url":null,"abstract":"We present an algorithm for planning safe navigation strategies for biped robots moving in obstacle-cluttered environments. From a discrete set of plausible statically-stable, single-step motions, a forward dynamic programming approach is used to compute a sequence of feasible footstep locations. In contrast to existing navigation strategies for mobile robots, our method is a global method that takes into account the unique ability of legged robots such as bipedal humanoids to traverse obstacles by stepping over them. Heuristics designed to minimize the number and complexity of the step motions are used to encode cost functions used for searching a footstep transition graph. We show preliminary results of an experimental implementation of the algorithm using a model of the H6 humanoid navigating on an office floor littered with obstacles.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130223831","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 : 2001-10-29DOI: 10.1109/IROS.2001.976417
Christian Ridderström, Johan Ingvast
Presents a standing posture controller for quadruped robots, i.e. control of the trunk's desired roll angle, pitch angle and height. The controller is based on a few simple ideas: (1) control the legs vertically using force control and horizontally using position control; (2) use simple rules to distribute leg forces; (3) the supporting surface should not have to be horizontal, planar or even static; (4) since the height is not easily defined for a legged robot, the average of the "leg heights" is used. This controller is successfully tested in both simulations and experiments. It is capable of adjusting to step changes in reference posture, as well as standing on a moving balance board. Finally, we suggest tests to benchmark posture controllers.
{"title":"Quadruped posture control based on simple force distribution-a notion and a trial","authors":"Christian Ridderström, Johan Ingvast","doi":"10.1109/IROS.2001.976417","DOIUrl":"https://doi.org/10.1109/IROS.2001.976417","url":null,"abstract":"Presents a standing posture controller for quadruped robots, i.e. control of the trunk's desired roll angle, pitch angle and height. The controller is based on a few simple ideas: (1) control the legs vertically using force control and horizontally using position control; (2) use simple rules to distribute leg forces; (3) the supporting surface should not have to be horizontal, planar or even static; (4) since the height is not easily defined for a legged robot, the average of the \"leg heights\" is used. This controller is successfully tested in both simulations and experiments. It is capable of adjusting to step changes in reference posture, as well as standing on a moving balance board. Finally, we suggest tests to benchmark posture controllers.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122154018","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 : 2001-10-29DOI: 10.1109/IROS.2001.976248
W. Lo, Yantao Shen, Yunhui Liu
Presents an integrated tactile feedback system for a multifingered robot hand to enable a human operator to feel contacts/interactions between the robot finger and the environment remotely. The system presented consists of a finger-shaped tactile sensor measuring contact areas on the fingertip and a tactile display rendering the contact information to the human operator. The tactile sensor, designed on the total internal reflection principle, can capture high resolution and high quality tactile images on the fingertip. The tactile display with 24 pins spaced at 2.5 mm uses DC solenoids structured in multi-layers to render the contacts between the fingertip and the environment. We have integrated the tactile sensor and the tactile display into a five-fingered robot hand system and verified the performance of the integrated system by experiments.
{"title":"An integrated tactile feedback system for multifingered robot hands","authors":"W. Lo, Yantao Shen, Yunhui Liu","doi":"10.1109/IROS.2001.976248","DOIUrl":"https://doi.org/10.1109/IROS.2001.976248","url":null,"abstract":"Presents an integrated tactile feedback system for a multifingered robot hand to enable a human operator to feel contacts/interactions between the robot finger and the environment remotely. The system presented consists of a finger-shaped tactile sensor measuring contact areas on the fingertip and a tactile display rendering the contact information to the human operator. The tactile sensor, designed on the total internal reflection principle, can capture high resolution and high quality tactile images on the fingertip. The tactile display with 24 pins spaced at 2.5 mm uses DC solenoids structured in multi-layers to render the contacts between the fingertip and the environment. We have integrated the tactile sensor and the tactile display into a five-fingered robot hand system and verified the performance of the integrated system by experiments.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"32 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116318911","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 : 2001-10-29DOI: 10.1109/IROS.2001.977213
G. Bianco, P. Fiorini
Different working principles are often considered when different visual behaviors are implemented in an agent. This occurs basically because the physical interaction between the behavior and the environment is not studied in depth. The paper shows how apparently different visual behaviors share common theoretical principles for their working mechanism. In particular properties related to the navigation vector field they compute in the environment, provide a base to explain visual learning, guidance, topological navigation, sub goal placement, obstacle avoidance and navigation enhancement. To handle the mathematics of a vector field robust tools are needed. Techniques borrowed from computer vision literature provide the necessary mathematical tools. All behaviors described have been tested in real robots. On going research is still in progress for topological navigation and subgoal placement.
{"title":"Computation principles for the development of visual skills in robotics","authors":"G. Bianco, P. Fiorini","doi":"10.1109/IROS.2001.977213","DOIUrl":"https://doi.org/10.1109/IROS.2001.977213","url":null,"abstract":"Different working principles are often considered when different visual behaviors are implemented in an agent. This occurs basically because the physical interaction between the behavior and the environment is not studied in depth. The paper shows how apparently different visual behaviors share common theoretical principles for their working mechanism. In particular properties related to the navigation vector field they compute in the environment, provide a base to explain visual learning, guidance, topological navigation, sub goal placement, obstacle avoidance and navigation enhancement. To handle the mathematics of a vector field robust tools are needed. Techniques borrowed from computer vision literature provide the necessary mathematical tools. All behaviors described have been tested in real robots. On going research is still in progress for topological navigation and subgoal placement.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126597628","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 : 2001-10-29DOI: 10.1109/IROS.2001.976309
R. Tinós, L. Navarro-Serment, C. Paredis
To combine sensor information from distributed robot teams, it is critical to know the locations of all the robots relative to each other. This paper presents a novel fault tolerant localization algorithm developed for centimeter-scale robots, called Millibots. To determine their locations, the Millibots measure the distances between themselves with an ultrasonic distance sensor. They then combine these distance measurements with dead reckoning in a maximum likelihood estimator. The focus of this paper is on detecting and isolating measurement faults that commonly occur in this localization system. Such failures include dead reckoning errors when the robots collide with undetected obstacles, and distance measurement errors due to destructive interference between direct and multi-path ultrasound wavefronts. Simulations show that the fault tolerance algorithm accurately detects erroneous measurements and significantly improves the reliability and accuracy of the localization system.
{"title":"Fault tolerant localization for teams of distributed robots","authors":"R. Tinós, L. Navarro-Serment, C. Paredis","doi":"10.1109/IROS.2001.976309","DOIUrl":"https://doi.org/10.1109/IROS.2001.976309","url":null,"abstract":"To combine sensor information from distributed robot teams, it is critical to know the locations of all the robots relative to each other. This paper presents a novel fault tolerant localization algorithm developed for centimeter-scale robots, called Millibots. To determine their locations, the Millibots measure the distances between themselves with an ultrasonic distance sensor. They then combine these distance measurements with dead reckoning in a maximum likelihood estimator. The focus of this paper is on detecting and isolating measurement faults that commonly occur in this localization system. Such failures include dead reckoning errors when the robots collide with undetected obstacles, and distance measurement errors due to destructive interference between direct and multi-path ultrasound wavefronts. Simulations show that the fault tolerance algorithm accurately detects erroneous measurements and significantly improves the reliability and accuracy of the localization system.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128959549","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 : 2001-10-29DOI: 10.1109/IROS.2001.976258
A. Ude, T. Shibata, C. Atkeson
We describe a real-time visual system that enables a humanoid robot to learn from and interact with humans. The core of the visual system is a probabilistic tracker that uses shape and color information to find relevant objects in the scene. Multiscale representations, windowing and masking are employed to accelerate the data processing. The perception system is directly coupled with the motor control system of our humanoid robot DB. We present an example of on-line interaction with a humanoid robot: mimicking of human hand motion. The generation of humanoid robot motion based on the human motion is accomplished in real-time. The study is supported by experimental results on DB.
{"title":"Real-time visual system for interaction with a humanoid robot","authors":"A. Ude, T. Shibata, C. Atkeson","doi":"10.1109/IROS.2001.976258","DOIUrl":"https://doi.org/10.1109/IROS.2001.976258","url":null,"abstract":"We describe a real-time visual system that enables a humanoid robot to learn from and interact with humans. The core of the visual system is a probabilistic tracker that uses shape and color information to find relevant objects in the scene. Multiscale representations, windowing and masking are employed to accelerate the data processing. The perception system is directly coupled with the motor control system of our humanoid robot DB. We present an example of on-line interaction with a humanoid robot: mimicking of human hand motion. The generation of humanoid robot motion based on the human motion is accomplished in real-time. The study is supported by experimental results on DB.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129195267","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 : 2001-10-29DOI: 10.1109/IROS.2001.977214
B. Kim, Sangdeok Park, W. Chung, Y. Youm
A PTP motion control method composed of a feedforward and feedback controller is proposed to get accurate positioning and to suppress vibration of a XY positioning system with a flexible beam. The input preshaping based on the analytic modeling and frequency equation of the system is proposed as a feedforward controller to produce desired responses. A feedback controller is proposed based on a robust internal-loop compensator to stabilize the whole system and to meet closed-loop performance. Experiments are carried out to show the validity of the proposed controller.
{"title":"PTP motion control of XY positioning systems with a flexible beam","authors":"B. Kim, Sangdeok Park, W. Chung, Y. Youm","doi":"10.1109/IROS.2001.977214","DOIUrl":"https://doi.org/10.1109/IROS.2001.977214","url":null,"abstract":"A PTP motion control method composed of a feedforward and feedback controller is proposed to get accurate positioning and to suppress vibration of a XY positioning system with a flexible beam. The input preshaping based on the analytic modeling and frequency equation of the system is proposed as a feedforward controller to produce desired responses. A feedback controller is proposed based on a robust internal-loop compensator to stabilize the whole system and to meet closed-loop performance. Experiments are carried out to show the validity of the proposed controller.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127344416","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 : 2001-10-29DOI: 10.1109/IROS.2001.976284
Tomohiro Miyabe, M. Yamano, A. Konno, M. Uchiyama
This paper discusses an object recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.
{"title":"An approach toward a robust object recovery with flexible manipulators","authors":"Tomohiro Miyabe, M. Yamano, A. Konno, M. Uchiyama","doi":"10.1109/IROS.2001.976284","DOIUrl":"https://doi.org/10.1109/IROS.2001.976284","url":null,"abstract":"This paper discusses an object recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132646528","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 : 2001-10-29DOI: 10.1109/IROS.2001.973348
T. Tabata, Y. Aiyama
There are some researches which perform complex manipulation tasks with low degree-of-freedom manipulator by sliding, rolling, releasing etc. They are called dynamic manipulation. In this paper, tossing manipulation is introduced as a form of dynamic manipulation. A 1-DOF manipulator swings its arm to roll/slide an object on it, and then tosses it to locate to goal position. This paper shows an analysis and a simulation of kinematic model of tossing manipulation. To locate an object to desired position, inverse problem is solved with various optimizations. Finally some experiments and their consideration are discussed.
{"title":"Tossing manipulation by 1 degree-of-freedom manipulator","authors":"T. Tabata, Y. Aiyama","doi":"10.1109/IROS.2001.973348","DOIUrl":"https://doi.org/10.1109/IROS.2001.973348","url":null,"abstract":"There are some researches which perform complex manipulation tasks with low degree-of-freedom manipulator by sliding, rolling, releasing etc. They are called dynamic manipulation. In this paper, tossing manipulation is introduced as a form of dynamic manipulation. A 1-DOF manipulator swings its arm to roll/slide an object on it, and then tosses it to locate to goal position. This paper shows an analysis and a simulation of kinematic model of tossing manipulation. To locate an object to desired position, inverse problem is solved with various optimizations. Finally some experiments and their consideration are discussed.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133594382","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 : 2001-10-29DOI: 10.1109/IROS.2001.976418
S. Vijayakumar, J. Conradt, T. Shibata, S. Schaal
The goal of our research is to investigate the interplay between oculomotor control, visual processing, and limb control in humans and primates by exploring the computational issues of these processes with a biologically inspired artificial oculomotor system on an anthropomorphic robot. In this paper, we investigate the computational mechanisms for visual attention in such a system. Stimuli in the environment excite a dynamical neural network that implements a saliency map, i.e., a winner-take-all competition between stimuli while simultaneously smoothing out noise and suppressing irrelevant inputs. In real-time, this system computes new targets for the shift of gaze, executed by the head-eye system of the robot. The redundant degrees-of-freedom of the head-eye system are resolved through a learned inverse kinematics with optimization criterion. We also address important issues how to ensure that the coordinate system of the saliency map remains correct after movement of the robot. The presented attention system is built on principled modules and generally applicable for any sensory modality.
{"title":"Overt visual attention for a humanoid robot","authors":"S. Vijayakumar, J. Conradt, T. Shibata, S. Schaal","doi":"10.1109/IROS.2001.976418","DOIUrl":"https://doi.org/10.1109/IROS.2001.976418","url":null,"abstract":"The goal of our research is to investigate the interplay between oculomotor control, visual processing, and limb control in humans and primates by exploring the computational issues of these processes with a biologically inspired artificial oculomotor system on an anthropomorphic robot. In this paper, we investigate the computational mechanisms for visual attention in such a system. Stimuli in the environment excite a dynamical neural network that implements a saliency map, i.e., a winner-take-all competition between stimuli while simultaneously smoothing out noise and suppressing irrelevant inputs. In real-time, this system computes new targets for the shift of gaze, executed by the head-eye system of the robot. The redundant degrees-of-freedom of the head-eye system are resolved through a learned inverse kinematics with optimization criterion. We also address important issues how to ensure that the coordinate system of the saliency map remains correct after movement of the robot. The presented attention system is built on principled modules and generally applicable for any sensory modality.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130798064","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}
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
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