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.2001.973403
N. Yanai, Motoji Yamamoto, A. Mohri
Proposes a control method for a crane using inverse dynamics calculation of the system. The load of a crane is generally easy to swing and thus the work using the crane is dangerous. For preventing the unfavorable swing of the load, it is desirable to feedback the actual position of the load in a control method. As such a control law, state-feedback control based on linearization of the crane system is often used. However the method reduces control performance when rope length is changed, because of nonlinearity of the system. In the paper, a feedback control method is proposed where the inverse dynamics calculation is involved to compensate non-linear dynamics of the system. In the control system, an observer is used to get higher order derivatives of the position of load, which is needed for the inverse dynamics calculation. By using the control method, control performance is unchangeable for changing rope length. Numerical simulation and experiment are shown to verify the effectiveness of the proposed control method.
{"title":"Feed-back control of crane based on inverse dynamics calculation","authors":"N. Yanai, Motoji Yamamoto, A. Mohri","doi":"10.1109/IROS.2001.973403","DOIUrl":"https://doi.org/10.1109/IROS.2001.973403","url":null,"abstract":"Proposes a control method for a crane using inverse dynamics calculation of the system. The load of a crane is generally easy to swing and thus the work using the crane is dangerous. For preventing the unfavorable swing of the load, it is desirable to feedback the actual position of the load in a control method. As such a control law, state-feedback control based on linearization of the crane system is often used. However the method reduces control performance when rope length is changed, because of nonlinearity of the system. In the paper, a feedback control method is proposed where the inverse dynamics calculation is involved to compensate non-linear dynamics of the system. In the control system, an observer is used to get higher order derivatives of the position of load, which is needed for the inverse dynamics calculation. By using the control method, control performance is unchangeable for changing rope length. Numerical simulation and experiment are shown to verify the effectiveness of the proposed control method.","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":"19 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":"122354928","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.2001.977147
Y. Abe, M. Yoshiki
This paper proposes a collision avoidance method, called the cooperative collision avoidance method, for an environment consisting of multiple autonomous mobile agents. We also consider tasks such as map exploration and object collection, in addition to the collision avoidance. The method is based on local measurements and local planning at every sampling period in real-time. The proposed method is an extension of the conventional velocity obstacle (VO) method which provides collision detection among moving agents. The proposed method utilizes the uniformity of agents enabling the agents to share information of collisions without explicit communication. Sharing collision information allows agents to cooperate implicitly with each other to avoid collision by using the common VO approach. Furthermore, we introduce a velocity index which evaluates velocities to achieve good task performance and collision avoidance simultaneously. Finally, the efficiency of the cooperative collision avoidance method is demonstrated by analyses and simulations on examples.
{"title":"Collision avoidance method for multiple autonomous mobile agents by implicit cooperation","authors":"Y. Abe, M. Yoshiki","doi":"10.1109/IROS.2001.977147","DOIUrl":"https://doi.org/10.1109/IROS.2001.977147","url":null,"abstract":"This paper proposes a collision avoidance method, called the cooperative collision avoidance method, for an environment consisting of multiple autonomous mobile agents. We also consider tasks such as map exploration and object collection, in addition to the collision avoidance. The method is based on local measurements and local planning at every sampling period in real-time. The proposed method is an extension of the conventional velocity obstacle (VO) method which provides collision detection among moving agents. The proposed method utilizes the uniformity of agents enabling the agents to share information of collisions without explicit communication. Sharing collision information allows agents to cooperate implicitly with each other to avoid collision by using the common VO approach. Furthermore, we introduce a velocity index which evaluates velocities to achieve good task performance and collision avoidance simultaneously. Finally, the efficiency of the cooperative collision avoidance method is demonstrated by analyses and simulations on examples.","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":"122768521","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.2001.976237
D. Austin, L. Fletcher, A. Zelinsky
Explores the issues involved in deployment of mobile robots in real-world situations and presents solutions and approaches under development at the Australian National University. For deployment of mobile robots outside of the laboratory, long-term operation is required. Hence, we have developed an automatic recharging system. In addition, a Web-based teleoperation system is used to provide missions to test the long-term reliability of the robot. The final aspect of real-world operation that is explored here is operations in dynamic environments. To date, researchers have assumed static environments for mapping and localisation. We propose methods to avoid this restriction.
{"title":"Mobile robotics in the long term-exploring the fourth dimension","authors":"D. Austin, L. Fletcher, A. Zelinsky","doi":"10.1109/IROS.2001.976237","DOIUrl":"https://doi.org/10.1109/IROS.2001.976237","url":null,"abstract":"Explores the issues involved in deployment of mobile robots in real-world situations and presents solutions and approaches under development at the Australian National University. For deployment of mobile robots outside of the laboratory, long-term operation is required. Hence, we have developed an automatic recharging system. In addition, a Web-based teleoperation system is used to provide missions to test the long-term reliability of the robot. The final aspect of real-world operation that is explored here is operations in dynamic environments. To date, researchers have assumed static environments for mapping and localisation. We propose methods to avoid this restriction.","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":"16 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":"122903855","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.2001.976255
H. Adachi, N. Koyachi
Describes the development of a leg-wheel hybrid mobile robot and its step-passing algorithm. The authors have been developing a mobile robot named "Walk'n Roll". It has a leg-wheel hybrid locomotion mechanism. The robot has four legs, and a wheel is attached at the end of each leg. Legged locomotion has high adaptability for rough terrain, and wheeled locomotion possesses speed and efficiency. One of the obstacles that a wheeled vehicle can not pass is a step. A control algorithm for the leg-wheel hybrid mobile robot to pass a step is considered. The developed algorithm is implemented on Walk'n Roll, and is evaluated experimentally.
{"title":"Development of a leg-wheel hybrid mobile robot and its step-passing algorithm","authors":"H. Adachi, N. Koyachi","doi":"10.1109/IROS.2001.976255","DOIUrl":"https://doi.org/10.1109/IROS.2001.976255","url":null,"abstract":"Describes the development of a leg-wheel hybrid mobile robot and its step-passing algorithm. The authors have been developing a mobile robot named \"Walk'n Roll\". It has a leg-wheel hybrid locomotion mechanism. The robot has four legs, and a wheel is attached at the end of each leg. Legged locomotion has high adaptability for rough terrain, and wheeled locomotion possesses speed and efficiency. One of the obstacles that a wheeled vehicle can not pass is a step. A control algorithm for the leg-wheel hybrid mobile robot to pass a step is considered. The developed algorithm is implemented on Walk'n Roll, and is evaluated experimentally.","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":"122839291","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.2001.976290
Miu-Ling Lam, Dan Ding, Yunhui Liu
This paper presents an algorithm to calculate the fingertip positions, which can enhance the closure property for a n-finger grasp and ensure the kinematic feasibility. The algorithm starts by selecting a set of initial fingertip positions within the workspace of the robotic hand and on the surface of the object. If the currently selected grasp does not form closure, then the origin of the wrench space lies out side of the convex hull of the primitive contact wrenches. In this case the adjacent positions of each grip point can be generated to form a candidate set of grasps and the most promising one will be adopted based on the measure of a grasp from being a form closure. The measure is defined by considering the distance between the convex hull and the origin. The algorithm is executed iteratively until the origin is eventually contained by the convex hull. Finally, we illustrate the efficiency of the proposed algorithm with an implementation of three numerical examples.
{"title":"Grasp planning with kinematic constraints","authors":"Miu-Ling Lam, Dan Ding, Yunhui Liu","doi":"10.1109/IROS.2001.976290","DOIUrl":"https://doi.org/10.1109/IROS.2001.976290","url":null,"abstract":"This paper presents an algorithm to calculate the fingertip positions, which can enhance the closure property for a n-finger grasp and ensure the kinematic feasibility. The algorithm starts by selecting a set of initial fingertip positions within the workspace of the robotic hand and on the surface of the object. If the currently selected grasp does not form closure, then the origin of the wrench space lies out side of the convex hull of the primitive contact wrenches. In this case the adjacent positions of each grip point can be generated to form a candidate set of grasps and the most promising one will be adopted based on the measure of a grasp from being a form closure. The measure is defined by considering the distance between the convex hull and the origin. The algorithm is executed iteratively until the origin is eventually contained by the convex hull. Finally, we illustrate the efficiency of the proposed algorithm with an implementation of three numerical examples.","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":"90 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":"121865598","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.2001.976379
Dennis W. Strelow, Jeffrey Mishler, Sanjiv Singh, H. Herman
Algorithms for shape-from-motion simultaneously estimate the camera motion and scene structure. When extended to omnidirectional cameras, shape-from-motion algorithms are likely to provide robust motion estimates, in particular, because of the camera's wide field of view. In this paper, we describe both batch and online shape-from-motion algorithms for omnidirectional cameras, and a precise calibration technique that improves the accuracy of both methods. The shape-from-motion and calibration methods are general, and they handle a wide variety of omnidirectional camera geometries. In particular, the methods do not require that the camera-mirror combination have a single center of projection. We describe a noncentral camera that we have developed, and show experimentally that combining shape-from-motion with this design produces highly accurate motion estimates.
{"title":"Extending shape-from-motion to noncentral onmidirectional cameras","authors":"Dennis W. Strelow, Jeffrey Mishler, Sanjiv Singh, H. Herman","doi":"10.1109/IROS.2001.976379","DOIUrl":"https://doi.org/10.1109/IROS.2001.976379","url":null,"abstract":"Algorithms for shape-from-motion simultaneously estimate the camera motion and scene structure. When extended to omnidirectional cameras, shape-from-motion algorithms are likely to provide robust motion estimates, in particular, because of the camera's wide field of view. In this paper, we describe both batch and online shape-from-motion algorithms for omnidirectional cameras, and a precise calibration technique that improves the accuracy of both methods. The shape-from-motion and calibration methods are general, and they handle a wide variety of omnidirectional camera geometries. In particular, the methods do not require that the camera-mirror combination have a single center of projection. We describe a noncentral camera that we have developed, and show experimentally that combining shape-from-motion with this design produces highly accurate motion estimates.","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":"115 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":"116599724","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.2001.976298
R. Colbrunn, G. Nelson, R. Quinn
A four-DOF planar robotic leg actuated with McKibben artificial muscles was designed, constructed, and controlled. Both position and passive stiffness were independently controllable at each joint. The tunable passive stiffness properties of the actuators provided stable, forward walking for the robot. A benefit of passive joint stiffness is energy efficiency. Results indicate that the leg may be capable of walking on a horizontal plane with its control valves off 90% of the time. The muscle-like properties of these actuators, including high strength-to-weight ratio, tunable passive stiffness, and self-limiting force output, make them well suited for legged robots.
{"title":"Design and control of a robotic leg with braided pneumatic actuators","authors":"R. Colbrunn, G. Nelson, R. Quinn","doi":"10.1109/IROS.2001.976298","DOIUrl":"https://doi.org/10.1109/IROS.2001.976298","url":null,"abstract":"A four-DOF planar robotic leg actuated with McKibben artificial muscles was designed, constructed, and controlled. Both position and passive stiffness were independently controllable at each joint. The tunable passive stiffness properties of the actuators provided stable, forward walking for the robot. A benefit of passive joint stiffness is energy efficiency. Results indicate that the leg may be capable of walking on a horizontal plane with its control valves off 90% of the time. The muscle-like properties of these actuators, including high strength-to-weight ratio, tunable passive stiffness, and self-limiting force output, make them well suited for legged robots.","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":"7 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":"128452794","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.2001.976282
Young Jin Lee, M. Chung
Deals with a matching problem of finding correspondences of features in two omnidirectional images. The proposed method combines the advantages of correlation-based matching and dynamic programming to yield reliable matching results. Our method works well even when some features in one image don't have corresponding features in the other. The search space of the dynamic programming can be reduced by the geometric constraints that the omnidirectional vision sensor provides. We also present a recursive scheme for position estimation of the matched features, so that on-line map generation is possible. Experimental results show that zero failure rate of matching in an indoor environment can be obtained and that a feature-drawing map can be successfully constructed by the proposed feature matching algorithm and map building method.
{"title":"A reliable feature matching method in omnidirectional views for autonomous map generation of a mobile robot","authors":"Young Jin Lee, M. Chung","doi":"10.1109/IROS.2001.976282","DOIUrl":"https://doi.org/10.1109/IROS.2001.976282","url":null,"abstract":"Deals with a matching problem of finding correspondences of features in two omnidirectional images. The proposed method combines the advantages of correlation-based matching and dynamic programming to yield reliable matching results. Our method works well even when some features in one image don't have corresponding features in the other. The search space of the dynamic programming can be reduced by the geometric constraints that the omnidirectional vision sensor provides. We also present a recursive scheme for position estimation of the matched features, so that on-line map generation is possible. Experimental results show that zero failure rate of matching in an indoor environment can be obtained and that a feature-drawing map can be successfully constructed by the proposed feature matching algorithm and map building method.","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":"129639748","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.2001.976426
K. Kawai, A. Ishiguro, P. E. Hotz
Recently, the evolutionary robotics (ER) approach has attracted attention in the field of robotics and artificial life, since it can automatically synthesize controllers by taking the embodiment and the interaction dynamics with the environment into account. However, the ER approach still has several issues to be solved. One is that it becomes significantly difficult to evolve the whole controller in one go (1-shot evolution), as task complexity and/or environment interaction dynamics increases. This is called the bootstrap problem. It is necessary to develop a method that can efficiently increase a controllers' ability without impairing the previously obtained ones. We propose a method for incremental evolution of neurocontrollers by introducing a receptor-ligand concept, the polymorphic property of neural circuits through diffusion-reaction mechanism of chemical substances, so-called neuromodulators. To investigate the effectiveness of our approach, we take a peg-pushing task, which requires an appropriate sequence of behavior to accomplish a task, as a practical example.
{"title":"Incremental evolution of neurocontrollers with a diffusion-reaction mechanism of neuromodulators","authors":"K. Kawai, A. Ishiguro, P. E. Hotz","doi":"10.1109/IROS.2001.976426","DOIUrl":"https://doi.org/10.1109/IROS.2001.976426","url":null,"abstract":"Recently, the evolutionary robotics (ER) approach has attracted attention in the field of robotics and artificial life, since it can automatically synthesize controllers by taking the embodiment and the interaction dynamics with the environment into account. However, the ER approach still has several issues to be solved. One is that it becomes significantly difficult to evolve the whole controller in one go (1-shot evolution), as task complexity and/or environment interaction dynamics increases. This is called the bootstrap problem. It is necessary to develop a method that can efficiently increase a controllers' ability without impairing the previously obtained ones. We propose a method for incremental evolution of neurocontrollers by introducing a receptor-ligand concept, the polymorphic property of neural circuits through diffusion-reaction mechanism of chemical substances, so-called neuromodulators. To investigate the effectiveness of our approach, we take a peg-pushing task, which requires an appropriate sequence of behavior to accomplish a task, as a practical example.","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":"15 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":"129650361","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.2001.976321
M. Wang
The conventional point-kinematic model of fixtures has only treated point geometry of the contacts between locators and workpiece. However, this model, which ignores the underlying surface properties of the locators-plus-workpiece system, is inherently incapable of capturing the effects of the geometric properties important to accurate positioning of the workpiece. In this paper, we present a fixture model based on the full kinematics of locator-workpiece contact. This model incorporates a "virtual" kinematic chain with meshing parameters of contact kinematics. It is shown that the conditions of deterministic localization are related to surface properties of both the workpiece and the locators, including the surface curvature, torsion and scale factors, as opposed to the conventional point-kinematic model. The full-kinematic model developed here has a strong implication for designing fixtures with high locating precision requirements.
{"title":"A full-kinematic model of fixtures for precision locating applications","authors":"M. Wang","doi":"10.1109/IROS.2001.976321","DOIUrl":"https://doi.org/10.1109/IROS.2001.976321","url":null,"abstract":"The conventional point-kinematic model of fixtures has only treated point geometry of the contacts between locators and workpiece. However, this model, which ignores the underlying surface properties of the locators-plus-workpiece system, is inherently incapable of capturing the effects of the geometric properties important to accurate positioning of the workpiece. In this paper, we present a fixture model based on the full kinematics of locator-workpiece contact. This model incorporates a \"virtual\" kinematic chain with meshing parameters of contact kinematics. It is shown that the conditions of deterministic localization are related to surface properties of both the workpiece and the locators, including the surface curvature, torsion and scale factors, as opposed to the conventional point-kinematic model. The full-kinematic model developed here has a strong implication for designing fixtures with high locating precision requirements.","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":"32-33 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":"123635352","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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