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.2001.977203
Jochen J. Steil, G. Heidemann, Ján Jockusch, Robert Rae, N. Jungclaus, H. Ritter
A major goal for the realization of a new generation of intelligent robots is the capability of instructing work tasks by interactive demonstration. To make such a process efficient and convenient for the human user requires that both the robot and the user can establish and maintain a common focus of attention. We describe a hybrid architecture that combines neural networks and finite stale machines into a flexible framework for controlling the behaviour of a vision based robot called GRAVIS-robot (Gestural Recognition Active Vision System robot). It consists of a binocular camera head, a 6 DOF robot arm and a 9 DOF multifingered hand. We focus primarily on nonverbal communication based on gestural commands of a human instructor which will at a later stage be complemented by spoken instructions.
{"title":"Guiding attention for grasping tasks by gestural instruction: the GRAVIS-robot architecture","authors":"Jochen J. Steil, G. Heidemann, Ján Jockusch, Robert Rae, N. Jungclaus, H. Ritter","doi":"10.1109/IROS.2001.977203","DOIUrl":"https://doi.org/10.1109/IROS.2001.977203","url":null,"abstract":"A major goal for the realization of a new generation of intelligent robots is the capability of instructing work tasks by interactive demonstration. To make such a process efficient and convenient for the human user requires that both the robot and the user can establish and maintain a common focus of attention. We describe a hybrid architecture that combines neural networks and finite stale machines into a flexible framework for controlling the behaviour of a vision based robot called GRAVIS-robot (Gestural Recognition Active Vision System robot). It consists of a binocular camera head, a 6 DOF robot arm and a 9 DOF multifingered hand. We focus primarily on nonverbal communication based on gestural commands of a human instructor which will at a later stage be complemented by spoken instructions.","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":"27 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":"134366795","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.2001.977179
Y. Yoshikawa, M. Asada
Existing robotic approaches have focused on the behavior generation assuming the observation of the internal model of the demonstrator, but have not paid any attention on how to build such a model from the learner's perception. This paper presents a computational model of view-based imitation learning without any internal model of the demonstrator. Instead, based on the stereo epipolar constraint, the robot learns to imitate the demonstrator's motion by applying adaptive visual servoing that minimizes the residual between the recovered demonstrator's body parts supposed to be viewed by the demonstrator and the learner's ones in the learner's stereo image planes, and then reproducing the recovered demonstrator's trajectories without any reconstruction of the 3D trajectories. The computer simulation and real experiment are shown and discussion is given.
{"title":"View-based imitation learning by conflict resolution with epipolar geometry","authors":"Y. Yoshikawa, M. Asada","doi":"10.1109/IROS.2001.977179","DOIUrl":"https://doi.org/10.1109/IROS.2001.977179","url":null,"abstract":"Existing robotic approaches have focused on the behavior generation assuming the observation of the internal model of the demonstrator, but have not paid any attention on how to build such a model from the learner's perception. This paper presents a computational model of view-based imitation learning without any internal model of the demonstrator. Instead, based on the stereo epipolar constraint, the robot learns to imitate the demonstrator's motion by applying adaptive visual servoing that minimizes the residual between the recovered demonstrator's body parts supposed to be viewed by the demonstrator and the learner's ones in the learner's stereo image planes, and then reproducing the recovered demonstrator's trajectories without any reconstruction of the 3D trajectories. The computer simulation and real experiment are shown and discussion is given.","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":"21 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":"129391841","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.2001.977190
Peter Leven, S. Hutchinson
We have previously (2000) developed a new method for generating collision-free paths for robots operating in changing environments. Our approach relies on creating a representation of the configuration space that can be easily modified in real time to account for changes in the environment. In this paper we address the issues of efficiency and robustness. First, we develop a novel, efficient encoding scheme that exploits the redundancy in the map from robot's Euclidean workspace to its configuration space. Then, we introduce the concept of /spl epsi/-robustness, and show how it can be used to enhance the representations that are used by the planner. Along the way, we present quantitative results that illustrate the efficiency and robustness of our approach.
{"title":"Robust, compact representations for real-time path planning in changing environments","authors":"Peter Leven, S. Hutchinson","doi":"10.1109/IROS.2001.977190","DOIUrl":"https://doi.org/10.1109/IROS.2001.977190","url":null,"abstract":"We have previously (2000) developed a new method for generating collision-free paths for robots operating in changing environments. Our approach relies on creating a representation of the configuration space that can be easily modified in real time to account for changes in the environment. In this paper we address the issues of efficiency and robustness. First, we develop a novel, efficient encoding scheme that exploits the redundancy in the map from robot's Euclidean workspace to its configuration space. Then, we introduce the concept of /spl epsi/-robustness, and show how it can be used to enhance the representations that are used by the planner. Along the way, we present quantitative results that illustrate the efficiency and robustness of our 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":"59 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":"130787776","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.2001.976420
K. Hosoda, Nobuto Yasuta, M. Asada
To control a robot that has many degrees of freedom and various sensors, a method to dynamically assign the degrees for a task is proposed. First, a mechanism to estimate the relation between the sensor inputs and the control outputs is derived based on the least-mean-square method. Then, by observing the information matrix of the estimator, a method to find robot's redundancy with respect to a given task is derived. Applying the proposed scheme to the visual servoing task of a manipulator, we show several experimental results demonstrating that the method can find redundancy automatically, and can assign the redundant degrees to another task.
{"title":"Dynamic DOF assignment through interaction with environment","authors":"K. Hosoda, Nobuto Yasuta, M. Asada","doi":"10.1109/IROS.2001.976420","DOIUrl":"https://doi.org/10.1109/IROS.2001.976420","url":null,"abstract":"To control a robot that has many degrees of freedom and various sensors, a method to dynamically assign the degrees for a task is proposed. First, a mechanism to estimate the relation between the sensor inputs and the control outputs is derived based on the least-mean-square method. Then, by observing the information matrix of the estimator, a method to find robot's redundancy with respect to a given task is derived. Applying the proposed scheme to the visual servoing task of a manipulator, we show several experimental results demonstrating that the method can find redundancy automatically, and can assign the redundant degrees to another task.","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":"6 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":"132647268","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.2001.977235
Yong Yu, K. Fukuda, S. Tsujio
When multiple objects are grasped by a multifingered hand, the feasible grasp finger forces are limited directionally because of the geometrical and frictional conditions on the contact parts among the objects. This paper proposes an approach for judging if a group of given fingertip positions is feasible and obtaining the graspable finger force region. In this paper, the generable contact force set for a contact part is discussed from the geometrical and frictional conditions of the part. Based on the contact force sets for all contact parts, an algorithm to obtain the set of the internal finger forces which can be generated actually is analyzed. Then an algorithm to obtain the set of the internal finger forces which can hold all objects fast and stably is addressed. Lastly, numerical examples and their experiments are performed to verify the effectiveness of the proposed approach.
{"title":"On computation of grasp internal forces for stably grasping multiple objects","authors":"Yong Yu, K. Fukuda, S. Tsujio","doi":"10.1109/IROS.2001.977235","DOIUrl":"https://doi.org/10.1109/IROS.2001.977235","url":null,"abstract":"When multiple objects are grasped by a multifingered hand, the feasible grasp finger forces are limited directionally because of the geometrical and frictional conditions on the contact parts among the objects. This paper proposes an approach for judging if a group of given fingertip positions is feasible and obtaining the graspable finger force region. In this paper, the generable contact force set for a contact part is discussed from the geometrical and frictional conditions of the part. Based on the contact force sets for all contact parts, an algorithm to obtain the set of the internal finger forces which can be generated actually is analyzed. Then an algorithm to obtain the set of the internal finger forces which can hold all objects fast and stably is addressed. Lastly, numerical examples and their experiments are performed to verify the effectiveness of the proposed 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":"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":"115522553","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.2001.976341
E. Freund, M. Schluse, J. Roßmann
This paper introduces the use of supervisory control techniques for the realization of a new kind of intuitive man machine interfaces for complex automation systems. Such comprehensive user interfaces combine for the first time intuitive commanding capabilities: clear and vivid visualization of the system state as well as interactive training environments especially for the commanding of autonomous robotic systems over long distances. To achieve this, a state oriented modeling technique has been developed. It serves as an object oriented supervisory control framework and was integrated in the IRFs VR-system COSIMIR/sup (R)/ VR.
{"title":"State oriented modeling as enabling technology for projective virtual reality","authors":"E. Freund, M. Schluse, J. Roßmann","doi":"10.1109/IROS.2001.976341","DOIUrl":"https://doi.org/10.1109/IROS.2001.976341","url":null,"abstract":"This paper introduces the use of supervisory control techniques for the realization of a new kind of intuitive man machine interfaces for complex automation systems. Such comprehensive user interfaces combine for the first time intuitive commanding capabilities: clear and vivid visualization of the system state as well as interactive training environments especially for the commanding of autonomous robotic systems over long distances. To achieve this, a state oriented modeling technique has been developed. It serves as an object oriented supervisory control framework and was integrated in the IRFs VR-system COSIMIR/sup (R)/ VR.","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":"124365556","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.2001.977182
Yanfei Liu, A. Hoover, I. Walker
We present a novel approach to the workcell design for enhanced performance of industrial robot manipulators, in which the workcell features a specially integrated sensor network. In contrast to traditional robot workcells, in which the role of environmental sensors (if present at all) is relatively inflexible and tightly focused on a specific task, the sensor network performs real-time dynamic sensing of the entire workcell. The system makes use of "off the shelf" components, and integrates them with the existing industrial robot controller, to allow the manipulator to perform more dynamic operations in a less structured workcell. Details of the novel sensor networked workcell and experiments with an industrial robot are presented.
{"title":"Sensor network based workcell for industrial robots","authors":"Yanfei Liu, A. Hoover, I. Walker","doi":"10.1109/IROS.2001.977182","DOIUrl":"https://doi.org/10.1109/IROS.2001.977182","url":null,"abstract":"We present a novel approach to the workcell design for enhanced performance of industrial robot manipulators, in which the workcell features a specially integrated sensor network. In contrast to traditional robot workcells, in which the role of environmental sensors (if present at all) is relatively inflexible and tightly focused on a specific task, the sensor network performs real-time dynamic sensing of the entire workcell. The system makes use of \"off the shelf\" components, and integrates them with the existing industrial robot controller, to allow the manipulator to perform more dynamic operations in a less structured workcell. Details of the novel sensor networked workcell and experiments with an industrial robot are presented.","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":"56 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":"124536934","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.2001.977177
HIroshi G. Okuno, K. Nakadai, K. Hidai, H. Mizoguchi, H. Kitano
Nakadai et al. (2001) have developed a real-time auditory and visual multiple-talker tracking technique. In this paper, this technique is applied to human-robot interaction including a receptionist robot and a companion robot at a party. The system includes face identification, speech recognition, focus-of-attention control, and sensorimotor task in tracking multiple talkers. The system is implemented on a upper-torso humanoid and the talker tracking is attained by distributed processing on three nodes connected by 100Base-TX network. The delay of tracking is 200 msec. Focus-of-attention is controlled by associating auditory and visual streams by using the sound source direction and talker position as a clue. Once an association is established, the humanoid keeps its face to the direction of the associated talker.
{"title":"Human-robot interaction through real-time auditory and visual multiple-talker tracking","authors":"HIroshi G. Okuno, K. Nakadai, K. Hidai, H. Mizoguchi, H. Kitano","doi":"10.1109/IROS.2001.977177","DOIUrl":"https://doi.org/10.1109/IROS.2001.977177","url":null,"abstract":"Nakadai et al. (2001) have developed a real-time auditory and visual multiple-talker tracking technique. In this paper, this technique is applied to human-robot interaction including a receptionist robot and a companion robot at a party. The system includes face identification, speech recognition, focus-of-attention control, and sensorimotor task in tracking multiple talkers. The system is implemented on a upper-torso humanoid and the talker tracking is attained by distributed processing on three nodes connected by 100Base-TX network. The delay of tracking is 200 msec. Focus-of-attention is controlled by associating auditory and visual streams by using the sound source direction and talker position as a clue. Once an association is established, the humanoid keeps its face to the direction of the associated talker.","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":"134 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":"114751076","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.2001.976311
A. T. Hayes, A. Martinoli, R. Goodman
This paper presents an investigation of odor localization by groups of autonomous mobile robots using principles of swarm intelligence. We describe a distributed algorithm by which groups of agents can solve the full odor localization task more efficiently than a single agent. We then demonstrate that a group of real robots under fully distributed control can successfully traverse a real odor plume. Finally, we show that an embodied simulator can faithfully reproduce the real robots experiments and thus can be a useful tool for off-line study and optimization of odor localization in the real world.
{"title":"Swarm robotic odor localization","authors":"A. T. Hayes, A. Martinoli, R. Goodman","doi":"10.1109/IROS.2001.976311","DOIUrl":"https://doi.org/10.1109/IROS.2001.976311","url":null,"abstract":"This paper presents an investigation of odor localization by groups of autonomous mobile robots using principles of swarm intelligence. We describe a distributed algorithm by which groups of agents can solve the full odor localization task more efficiently than a single agent. We then demonstrate that a group of real robots under fully distributed control can successfully traverse a real odor plume. Finally, we show that an embodied simulator can faithfully reproduce the real robots experiments and thus can be a useful tool for off-line study and optimization of odor localization in the real world.","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 34 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":"124680091","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.2001.977222
S. Bai, M. Teo, W. Ng, Charlie Sim
A parallel manipulator can be used for medical operations for its high stiffness and motion accuracy. However, the small and oddly distributed workspace of the general manipulator limits its applications. In this paper, a special manipulator which has a redundant degree of freedom (the 7-DOF) is introduced to improve the workspace. The workspace of the manipulator was analyzed with respect to the selected orientations. Two configurations of the 7-DOF were considered. The preliminary result of the analysis shows that the workspace of the manipulator can be effectively improved with the redundant degree of freedom.
{"title":"Workspace analysis of a parallel manipulator with one redundant DOF for skull-base surgery","authors":"S. Bai, M. Teo, W. Ng, Charlie Sim","doi":"10.1109/IROS.2001.977222","DOIUrl":"https://doi.org/10.1109/IROS.2001.977222","url":null,"abstract":"A parallel manipulator can be used for medical operations for its high stiffness and motion accuracy. However, the small and oddly distributed workspace of the general manipulator limits its applications. In this paper, a special manipulator which has a redundant degree of freedom (the 7-DOF) is introduced to improve the workspace. The workspace of the manipulator was analyzed with respect to the selected orientations. Two configurations of the 7-DOF were considered. The preliminary result of the analysis shows that the workspace of the manipulator can be effectively improved with the redundant degree of freedom.","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":"44 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":"128366333","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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