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.2001.973358
J. Luntz, H. Moon
Distributed manipulation systems induce motions on objects through the application of forces at many points of contact. Current forms of distributed manipulation include multiple mobile robots, vibrating plates, actively controlled arrays of air jets, and planar micro and macro-mechanical arrays of actuators. The paper presents a form of distributed manipulation using passive air flow fields, which has been experimentally demonstrated. Rather than directly actuating the flow at each point, potential flow assumptions allow a small number of simple point-generated fields to combine to form complex manipulation fields. The paper presents a methodology for efficiently computing equilibria of objects manipulated by arbitrary combinations of radially symmetric fields (such as potential flow fields).
{"title":"Distributed manipulation with passive air flow","authors":"J. Luntz, H. Moon","doi":"10.1109/IROS.2001.973358","DOIUrl":"https://doi.org/10.1109/IROS.2001.973358","url":null,"abstract":"Distributed manipulation systems induce motions on objects through the application of forces at many points of contact. Current forms of distributed manipulation include multiple mobile robots, vibrating plates, actively controlled arrays of air jets, and planar micro and macro-mechanical arrays of actuators. The paper presents a form of distributed manipulation using passive air flow fields, which has been experimentally demonstrated. Rather than directly actuating the flow at each point, potential flow assumptions allow a small number of simple point-generated fields to combine to form complex manipulation fields. The paper presents a methodology for efficiently computing equilibria of objects manipulated by arbitrary combinations of radially symmetric fields (such as potential flow fields).","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":"9 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":"123377540","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.2001.976398
R. Höpler, M. Otter
Model based technologies form the core of advanced robotic applications such as model predictive control and feedback linearization. More sophisticated models result in higher quality but the use in embedded real-time control systems imposes strict requirements on timing, memory allocation, and robustness. To satisfy these constraints, the model implementation is often optimized by manual coding, an unwieldy and error prone process. The paper presents an approach that exploits code synthesis from high level intuitive and convenient multi-body system (MBS) model descriptions. It relies on an object-oriented C++ library of MBS components tailored to the computations required in robot control such as forward and inverse kinematics, inverse dynamics, and Jacobians. Efficient model evaluation algorithms are developed that apply to multi-body tree structures as well as kinematic loops that are solved analytically for a certain class of loop structures.
{"title":"A versatile C++ toolbox for model based, real time control systems of robotic manipulators","authors":"R. Höpler, M. Otter","doi":"10.1109/IROS.2001.976398","DOIUrl":"https://doi.org/10.1109/IROS.2001.976398","url":null,"abstract":"Model based technologies form the core of advanced robotic applications such as model predictive control and feedback linearization. More sophisticated models result in higher quality but the use in embedded real-time control systems imposes strict requirements on timing, memory allocation, and robustness. To satisfy these constraints, the model implementation is often optimized by manual coding, an unwieldy and error prone process. The paper presents an approach that exploits code synthesis from high level intuitive and convenient multi-body system (MBS) model descriptions. It relies on an object-oriented C++ library of MBS components tailored to the computations required in robot control such as forward and inverse kinematics, inverse dynamics, and Jacobians. Efficient model evaluation algorithms are developed that apply to multi-body tree structures as well as kinematic loops that are solved analytically for a certain class of loop structures.","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":"9 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":"114620656","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.2001.976418
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}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976421
Taketoshi Mori, K. Asaki, H. Noguchi, Tomomasa Sato
Since human behavior patterns vary from person to person, computers have to understand someone's personal behavior in order to supply him with a robotic support system for his daily life. It is necessary to know his behavior over the long term. The ideal intelligent support system can measure the data about human actions in the daily life, accumulate them, understand the behavior and the patterns thereof, and adapt thereto. An accumulation and summarization system of human daily action data based on sensing in 1 room, "Robotic Room II", is designed and the accumulation system integrating with the measurement parts is implemented. It is confirmed that accumulation over the long term is possible by experiments for accumulation of human action data in ordinary life. Moreover, as the first step of an analysis of the accumulated data, a summarization algorithm based on the changes of the room states is proposed. It is confirmed that the summarized data enables us to catch the most of the changes of the room states. Finally, a possibility of application for life monitoring by means of summarization is also illustrated.
{"title":"Accumulation and summarization of human daily action data in one-room-type sensing system","authors":"Taketoshi Mori, K. Asaki, H. Noguchi, Tomomasa Sato","doi":"10.1109/IROS.2001.976421","DOIUrl":"https://doi.org/10.1109/IROS.2001.976421","url":null,"abstract":"Since human behavior patterns vary from person to person, computers have to understand someone's personal behavior in order to supply him with a robotic support system for his daily life. It is necessary to know his behavior over the long term. The ideal intelligent support system can measure the data about human actions in the daily life, accumulate them, understand the behavior and the patterns thereof, and adapt thereto. An accumulation and summarization system of human daily action data based on sensing in 1 room, \"Robotic Room II\", is designed and the accumulation system integrating with the measurement parts is implemented. It is confirmed that accumulation over the long term is possible by experiments for accumulation of human action data in ordinary life. Moreover, as the first step of an analysis of the accumulated data, a summarization algorithm based on the changes of the room states is proposed. It is confirmed that the summarized data enables us to catch the most of the changes of the room states. Finally, a possibility of application for life monitoring by means of summarization is also illustrated.","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":"131100637","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.2001.976393
Sung-Gaun Kim, J. Ryu
Development of optimal design methods for general 6 degree-of-freedom parallel manipulators is important in obtaining an optimal architecture or pose for the best kinematic performance. Use of a performance index such as the condition number of the Jacobian matrix that is composed of nonhomogeneous physical units may lack physical significance. In order to avoid unit mismatch in the Jacobian matrix, the paper presents a new Jacobian formulation by use of three point generalized coordinates, which results in a (9/spl times/9) dimensionally homogeneous Jacobian matrix. The condition number of the new Jacobian matrix is used to design an optimal architecture or pose of parallel manipulators for best dexterity. A design example with a Gough-Stewart platform parallel manipulator by using the proposed formulation is shown to generate the same optimal configuration as from using the other Jacobian formulation methods.
{"title":"Optimal design of 6 DOF parallel manipulators using three point coordinates","authors":"Sung-Gaun Kim, J. Ryu","doi":"10.1109/IROS.2001.976393","DOIUrl":"https://doi.org/10.1109/IROS.2001.976393","url":null,"abstract":"Development of optimal design methods for general 6 degree-of-freedom parallel manipulators is important in obtaining an optimal architecture or pose for the best kinematic performance. Use of a performance index such as the condition number of the Jacobian matrix that is composed of nonhomogeneous physical units may lack physical significance. In order to avoid unit mismatch in the Jacobian matrix, the paper presents a new Jacobian formulation by use of three point generalized coordinates, which results in a (9/spl times/9) dimensionally homogeneous Jacobian matrix. The condition number of the new Jacobian matrix is used to design an optimal architecture or pose of parallel manipulators for best dexterity. A design example with a Gough-Stewart platform parallel manipulator by using the proposed formulation is shown to generate the same optimal configuration as from using the other Jacobian formulation methods.","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":"37 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":"129693555","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.2001.976261
S. Shimizu, T. Kato, Yass Ocmula, Ryoichi Suematu
Presents the wide angle foveated vision sensor (WAFVS) system with a special optical lens, designed by mimicking a human eye, and flexible parallel processing function, examined and advanced by the author. The WAFVS system is applied to navigation of an autonomous mobile robot. As a rational execution of the system, the authors have carried out experiments of obstacle avoidance. 3D information for obstacle avoidance and locational information of the mobile robot are acquired from central vision with high accuracy and peripheral vision with less pixels, respectively Cooperation between them has improved quality of navigation.
{"title":"Wide angle vision sensor with fovea-navigation of mobile robot based on cooperation between central vision and peripheral vision","authors":"S. Shimizu, T. Kato, Yass Ocmula, Ryoichi Suematu","doi":"10.1109/IROS.2001.976261","DOIUrl":"https://doi.org/10.1109/IROS.2001.976261","url":null,"abstract":"Presents the wide angle foveated vision sensor (WAFVS) system with a special optical lens, designed by mimicking a human eye, and flexible parallel processing function, examined and advanced by the author. The WAFVS system is applied to navigation of an autonomous mobile robot. As a rational execution of the system, the authors have carried out experiments of obstacle avoidance. 3D information for obstacle avoidance and locational information of the mobile robot are acquired from central vision with high accuracy and peripheral vision with less pixels, respectively Cooperation between them has improved quality of navigation.","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":"45 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":"128092699","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.2001.977208
J. Trinkle, R. Milgram
Maximizing the use of dual-arm robotic systems requires the development of planning algorithms analogous to those available for single-arm operations. In this paper, the global properties of the configuration spaces of planar n-bar mechanisms (i.e., kinematic chains forming a single closed loop) are used to design a complete motion planning algorithm. Numerical experiments demonstrate the algorithm's superiority over a typical algorithm that uses only local geometric information.
{"title":"Motion planning for planar n-bar mechanisms with revolute joints","authors":"J. Trinkle, R. Milgram","doi":"10.1109/IROS.2001.977208","DOIUrl":"https://doi.org/10.1109/IROS.2001.977208","url":null,"abstract":"Maximizing the use of dual-arm robotic systems requires the development of planning algorithms analogous to those available for single-arm operations. In this paper, the global properties of the configuration spaces of planar n-bar mechanisms (i.e., kinematic chains forming a single closed loop) are used to design a complete motion planning algorithm. Numerical experiments demonstrate the algorithm's superiority over a typical algorithm that uses only local geometric information.","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":"128411910","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.2001.976337
R. Bachmayer, L. Whitcomb
The finite-dimensional nonlinear thruster models (Bachmayer et al. (2000)) employing empirically determined lift/drag curves have been shown to accurately model both the transient and steady state response of marine thrusters. This paper first reports on the development of an asymptotically stable open-loop thrust tracking controller that exploits this new nonlinear thruster model. To the best of our knowledge, this is the first stable model based thrust control law reported for this class of marine thrusters.
有限维非线性推进器模型(Bachmayer et al.(2000))采用经验确定的升力/阻力曲线，已被证明可以准确地模拟船用推进器的瞬态和稳态响应。本文首次报道了利用这种新的非线性推力器模型开发的渐近稳定开环推力跟踪控制器。据我们所知，这是第一个基于稳定模型的推力控制律报道的这类船用推进器。
{"title":"An open loop nonlinear model based thrust controller for marine thrusters","authors":"R. Bachmayer, L. Whitcomb","doi":"10.1109/IROS.2001.976337","DOIUrl":"https://doi.org/10.1109/IROS.2001.976337","url":null,"abstract":"The finite-dimensional nonlinear thruster models (Bachmayer et al. (2000)) employing empirically determined lift/drag curves have been shown to accurately model both the transient and steady state response of marine thrusters. This paper first reports on the development of an asymptotically stable open-loop thrust tracking controller that exploits this new nonlinear thruster model. To the best of our knowledge, this is the first stable model based thrust control law reported for this class of marine thrusters.","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":"39 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":"126384673","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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