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.2001.973340
E. F. Fukushima, P. Debenest, S. Hirose
Currently, most of the robotic systems use electric actuators and depend on chemical batteries as source of energy. However, this results in severe limitations to their range and time of autonomous operation, making it difficult to employ those robotic systems in remote areas or fields. In order to solve this problem, the authors have developed a mobile platform with energy-generation capability and mechanisms to drive it automatically. In this paper, a new autonomous control for the mobile platform is proposed, including telemetry features, especially focused on hyper-tether applications Those applications may include landmine detection/removal and forestry works in environments where the currently available systems cannot operate uninterruptedly for long periods of time.
{"title":"Autonomous control of an engine-driven mobile platform for field robotic systems","authors":"E. F. Fukushima, P. Debenest, S. Hirose","doi":"10.1109/IROS.2001.973340","DOIUrl":"https://doi.org/10.1109/IROS.2001.973340","url":null,"abstract":"Currently, most of the robotic systems use electric actuators and depend on chemical batteries as source of energy. However, this results in severe limitations to their range and time of autonomous operation, making it difficult to employ those robotic systems in remote areas or fields. In order to solve this problem, the authors have developed a mobile platform with energy-generation capability and mechanisms to drive it automatically. In this paper, a new autonomous control for the mobile platform is proposed, including telemetry features, especially focused on hyper-tether applications Those applications may include landmine detection/removal and forestry works in environments where the currently available systems cannot operate uninterruptedly for long periods of time.","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":"116908490","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.2001.973352
G. Schreiber, C. Ott, G. Hirzinger
In the growing field of service robotics the interaction between humans and robots is an important topic. In this paper the interactive features of the kinematically redundant DLR lightweight robot axe presented. At the example of an inverted pendulum the "interactive nullspace motion" is introduced, where the user is able to modify the configuration as a subtask while balancing the pendulum as primary task. Different ways of nullspace interaction are shown, either contact-free by a teach-device or a position tracker, or by touching the robot, whereas the joint torque sensors measure the external touch.
{"title":"Interactive redundant robotics: control of the inverted pendulum with nullspace motion","authors":"G. Schreiber, C. Ott, G. Hirzinger","doi":"10.1109/IROS.2001.973352","DOIUrl":"https://doi.org/10.1109/IROS.2001.973352","url":null,"abstract":"In the growing field of service robotics the interaction between humans and robots is an important topic. In this paper the interactive features of the kinematically redundant DLR lightweight robot axe presented. At the example of an inverted pendulum the \"interactive nullspace motion\" is introduced, where the user is able to modify the configuration as a subtask while balancing the pendulum as primary task. Different ways of nullspace interaction are shown, either contact-free by a teach-device or a position tracker, or by touching the robot, whereas the joint torque sensors measure the external touch.","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":"91 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120904067","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.2001.977166
J. A. Thompson, R. Fearing
We describe a microassembly system based on two one degree of freedom probes ("ortho-tweezers") and a three degree of freedom translating stage, controlled by a Java application with Python scripting support. We describe how basic manipulation primitives can be combined in a Python script to perform automated, force-feedback controlled assembly operations. We demonstrate a fully automated pick and place task using 200/spl times/200/spl times/100 micron blocks. Using a temporary handling block, the system can manipulate long, thin, fragile parts, such as semiconductor strain gauges.
{"title":"Automating microassembly with ortho-tweezers and force sensing","authors":"J. A. Thompson, R. Fearing","doi":"10.1109/IROS.2001.977166","DOIUrl":"https://doi.org/10.1109/IROS.2001.977166","url":null,"abstract":"We describe a microassembly system based on two one degree of freedom probes (\"ortho-tweezers\") and a three degree of freedom translating stage, controlled by a Java application with Python scripting support. We describe how basic manipulation primitives can be combined in a Python script to perform automated, force-feedback controlled assembly operations. We demonstrate a fully automated pick and place task using 200/spl times/200/spl times/100 micron blocks. Using a temporary handling block, the system can manipulate long, thin, fragile parts, such as semiconductor strain gauges.","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 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120907523","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.2001.973328
Yantao Shen, Yunhui Liu, Kejie Li
To implement a position-based visual feedback controller for a manipulator, it is necessary to calibrate the homogeneous transformation matrix between its base frame and the vision frame besides the intrinsic parameters of the vision system. In this paper, based on an important observation that the unknown transformation matrix can be separated from the visual Jacobian matrix, we design an adaptive controller for manipulators when the matrix is not calibrated. It is proved, with a full dynamics of the system, by the Lyapunov approach that the motion of the manipulator approaches asymptotically to the desired trajectory. Simulations and experimental results both demonstrate the performance of this new controller.
{"title":"Adaptive visual feedback control of manipulators in uncalibrated environment","authors":"Yantao Shen, Yunhui Liu, Kejie Li","doi":"10.1109/IROS.2001.973328","DOIUrl":"https://doi.org/10.1109/IROS.2001.973328","url":null,"abstract":"To implement a position-based visual feedback controller for a manipulator, it is necessary to calibrate the homogeneous transformation matrix between its base frame and the vision frame besides the intrinsic parameters of the vision system. In this paper, based on an important observation that the unknown transformation matrix can be separated from the visual Jacobian matrix, we design an adaptive controller for manipulators when the matrix is not calibrated. It is proved, with a full dynamics of the system, by the Lyapunov approach that the motion of the manipulator approaches asymptotically to the desired trajectory. Simulations and experimental results both demonstrate the performance of this new 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":"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":"124821397","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.2001.976295
H. Kawano, T. Ura
A training algorithm for dynamics control of nonholonomic AUV (autonomous underwater vehicle) is proposed in this paper which can recover from thruster failure during cruising mission. It is based on Q-learning and teaching method. The back up data that represents dynamics model expressed in the form of Bayesian net can be used effectively in this case. In order to overcome difficulties due to, making discrete expression of continuous state space of AUV, the algorithm uses multiresolution Q-value tables which is combined in the form of subsumption architecture. Simulation results show high performance of the proposed algorithm for a vertical ascent mission in a severe current condition. It is shown that AUV users can conveniently and quickly train the control algorithm of the AUV by using simulation of dynamics of the vehicle.
{"title":"Dynamics control algorithm of autonomous underwater vehicle by reinforcement learning and teaching method considering thruster failure under severe disturbance","authors":"H. Kawano, T. Ura","doi":"10.1109/IROS.2001.976295","DOIUrl":"https://doi.org/10.1109/IROS.2001.976295","url":null,"abstract":"A training algorithm for dynamics control of nonholonomic AUV (autonomous underwater vehicle) is proposed in this paper which can recover from thruster failure during cruising mission. It is based on Q-learning and teaching method. The back up data that represents dynamics model expressed in the form of Bayesian net can be used effectively in this case. In order to overcome difficulties due to, making discrete expression of continuous state space of AUV, the algorithm uses multiresolution Q-value tables which is combined in the form of subsumption architecture. Simulation results show high performance of the proposed algorithm for a vertical ascent mission in a severe current condition. It is shown that AUV users can conveniently and quickly train the control algorithm of the AUV by using simulation of dynamics of the vehicle.","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":"26 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":"125935361","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.2001.973350
M. Nguyen, V. Graefe
An approach to realize learning calibration-free stereo vision-based robot for manipulating objects is introduced. It allows a robot gather experiences through interaction with the world and continuously improve its performance based on the collected experiences. It uses a direct transition from image coordinates to motor control commands, but no world coordinates and no inverse perspective or kinematic transformations. The approach has been tested in real-world experiences on an uncalibrated vision-guided manipulator with five degrees of freedom to grasp a variety of differently shaped objects.
{"title":"Object manipulation by learning stereo vision-based robots","authors":"M. Nguyen, V. Graefe","doi":"10.1109/IROS.2001.973350","DOIUrl":"https://doi.org/10.1109/IROS.2001.973350","url":null,"abstract":"An approach to realize learning calibration-free stereo vision-based robot for manipulating objects is introduced. It allows a robot gather experiences through interaction with the world and continuously improve its performance based on the collected experiences. It uses a direct transition from image coordinates to motor control commands, but no world coordinates and no inverse perspective or kinematic transformations. The approach has been tested in real-world experiences on an uncalibrated vision-guided manipulator with five degrees of freedom to grasp a variety of differently shaped objects.","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":"161 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":"125971062","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.2001.976257
M. Nicolescu, M. Matarić
In this paper we address the problem of teaching robots to perform various tasks. We present a behavior-based approach that extends the capabilities of robots, allowing them to learn representations of complex tasks from their own experiences of interacting with a human, and to use the acquired knowledge to teach other robots in turn. A learner robot follows a human or robot teacher and maps its own observations of the environment to its internal behaviors, building at run-time a representation of the experienced task in the form of a behavior network. To enable this, we introduce an architecture that allows the representation and execution of complex and flexible sequences of behaviors and an online algorithm that builds the task representation from observations. We demonstrate our approach in a set of human(teacher)-robot(learner) and robot(teacher)-robot(learner) experiments, in which the robots learn representations for multiple tasks and are able to execute them even in environments with distractor objects that could hinder the learning and the execution process.
{"title":"Experience-based representation construction: learning from human and robot teachers","authors":"M. Nicolescu, M. Matarić","doi":"10.1109/IROS.2001.976257","DOIUrl":"https://doi.org/10.1109/IROS.2001.976257","url":null,"abstract":"In this paper we address the problem of teaching robots to perform various tasks. We present a behavior-based approach that extends the capabilities of robots, allowing them to learn representations of complex tasks from their own experiences of interacting with a human, and to use the acquired knowledge to teach other robots in turn. A learner robot follows a human or robot teacher and maps its own observations of the environment to its internal behaviors, building at run-time a representation of the experienced task in the form of a behavior network. To enable this, we introduce an architecture that allows the representation and execution of complex and flexible sequences of behaviors and an online algorithm that builds the task representation from observations. We demonstrate our approach in a set of human(teacher)-robot(learner) and robot(teacher)-robot(learner) experiments, in which the robots learn representations for multiple tasks and are able to execute them even in environments with distractor objects that could hinder the learning and the execution process.","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":"29 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":"126037028","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.2001.976323
Dan Ding, Yun-hui Liu, M. Wang, Shuguo Wang
Fixtures play an important role in many manufacturing operations such as inspection, machining and part fabrication. In the development of a fixture, it is desired that the feasible fixturing surfaces and optimal fixturing locations on the workpiece be selected automatically. An algorithm is presented to determine optimal fixturing locations which totally restrain the workpart in the fixture without being disturbed by any external force. First, based on observation that form-closure fixturing points exist on a set of surfaces if and only if the convex hull of the vertex contact wrenches resulting from the vertices of the surfaces contains the origin of R/sup 6/, an efficient approach is developed for finding an eligible set of fixturing surfaces. Second, we formulate the problem of determining optimal fixturing points on the eligible set of fixturing surfaces as a quadratic programming (QP) problem with the workpiece positioning accuracy as the performance index and the robust form-closure requirement as the linear constraints. Finally, the implementation for two numerical examples demonstrates the usefulness and efficiency of the proposed algorithm.
{"title":"Automatic selection of fixturing surfaces and fixturing points for polyhedral workpieces","authors":"Dan Ding, Yun-hui Liu, M. Wang, Shuguo Wang","doi":"10.1109/IROS.2001.976323","DOIUrl":"https://doi.org/10.1109/IROS.2001.976323","url":null,"abstract":"Fixtures play an important role in many manufacturing operations such as inspection, machining and part fabrication. In the development of a fixture, it is desired that the feasible fixturing surfaces and optimal fixturing locations on the workpiece be selected automatically. An algorithm is presented to determine optimal fixturing locations which totally restrain the workpart in the fixture without being disturbed by any external force. First, based on observation that form-closure fixturing points exist on a set of surfaces if and only if the convex hull of the vertex contact wrenches resulting from the vertices of the surfaces contains the origin of R/sup 6/, an efficient approach is developed for finding an eligible set of fixturing surfaces. Second, we formulate the problem of determining optimal fixturing points on the eligible set of fixturing surfaces as a quadratic programming (QP) problem with the workpiece positioning accuracy as the performance index and the robust form-closure requirement as the linear constraints. Finally, the implementation for two numerical examples demonstrates the usefulness and efficiency of the proposed algorithm.","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":"3 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":"126056728","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.2001.976306
F. Saito, K. Nagata
We present an exchangeable hand system designed for portable manipulators. It is developed for achieving lightness in weight especially at the end of a robot arm to improve performance and safety of a complete manipulation system. We prepared several end effectors with simple functions that can be used interchangeably. We describe concepts and details of our system including a new exchanger mechanism and a new versatile hand called WitchHand.
{"title":"A new exchangeable hand system for portable manipulators","authors":"F. Saito, K. Nagata","doi":"10.1109/IROS.2001.976306","DOIUrl":"https://doi.org/10.1109/IROS.2001.976306","url":null,"abstract":"We present an exchangeable hand system designed for portable manipulators. It is developed for achieving lightness in weight especially at the end of a robot arm to improve performance and safety of a complete manipulation system. We prepared several end effectors with simple functions that can be used interchangeably. We describe concepts and details of our system including a new exchanger mechanism and a new versatile hand called WitchHand.","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":"13 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":"125307861","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.2001.973343
Y. Kunii, K. Tada, Y. Kuroda, T. Kubota
We discuss a tele-driving method for long-range driving of a lunar rover. An operator uses a virtual world simulator to make a command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon. We have, however, a communication delay between the earth and the moon. So, there is a difference between old map data which the operator used for path planning and new data, which a rover is tracking on. The operator's path command has less reliability for avoiding obstacles and to reach the goal. Therefore, to make the operator's command highly reliable, we propose Command-Data Compensation, which compensates this difference as the distortion of the environmental map.
{"title":"Tele-driving system with command data compensation for long-range and wide-area planetary surface explore mission","authors":"Y. Kunii, K. Tada, Y. Kuroda, T. Kubota","doi":"10.1109/IROS.2001.973343","DOIUrl":"https://doi.org/10.1109/IROS.2001.973343","url":null,"abstract":"We discuss a tele-driving method for long-range driving of a lunar rover. An operator uses a virtual world simulator to make a command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon. We have, however, a communication delay between the earth and the moon. So, there is a difference between old map data which the operator used for path planning and new data, which a rover is tracking on. The operator's path command has less reliability for avoiding obstacles and to reach the goal. Therefore, to make the operator's command highly reliable, we propose Command-Data Compensation, which compensates this difference as the distortion of the environmental map.","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":"46 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":"126738522","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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