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.2001.976335
D. A. Smallwood, L. Whitcomb
This paper presents a stable online adaptive identification technique for the identification of finite-dimensional dynamical models of dynamically positioned underwater robotic vehicles. A direct comparison of this method to a conventional, off-line, least-squares method is presented. Based on experimental data obtained using the JHU remotely operated vehicle, both methods are employed to develop decoupled, single degree of freedom dynamical plant models. Performance of the resulting dynamical models is compared to the logged experimental motion of the actual vehicle.
{"title":"Preliminary experiments in the adaptive identification of dynamically positioned underwater robotic vehicles","authors":"D. A. Smallwood, L. Whitcomb","doi":"10.1109/IROS.2001.976335","DOIUrl":"https://doi.org/10.1109/IROS.2001.976335","url":null,"abstract":"This paper presents a stable online adaptive identification technique for the identification of finite-dimensional dynamical models of dynamically positioned underwater robotic vehicles. A direct comparison of this method to a conventional, off-line, least-squares method is presented. Based on experimental data obtained using the JHU remotely operated vehicle, both methods are employed to develop decoupled, single degree of freedom dynamical plant models. Performance of the resulting dynamical models is compared to the logged experimental motion of the actual 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":"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":"132111930","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.2001.976336
Arjuna Balasuriya, T. Ura
A sensor fusion technique is proposed for autonomous underwater vehicles (AUVs) to track underwater cables. The focus of this paper is to solve the two practical problems encountered in optical vision based systems in underwater environments: (1) navigation of AUV when cable is invisible in the image; and (2) selection of the correct cable when there are many similar features appearing in the image. The proposed sensor fusion scheme uses the dead reckoning position uncertainty with a 2D position model of the cable to predict the region of interest in the image. This reduces the processing data, increases the processing speed and avoids tracking other similar features appearing in the optical image. The proposed method uses a priori map of the cable for AUV navigation when the cable features are invisible in the predicted region in the image. An experiment was conducted to test the performance of the proposed algorithm using the AUV "Twin-Burger 2". The experimental results obtained show how the proposed method handles the above-mentioned practical problems.
{"title":"Underwater robots for cable following","authors":"Arjuna Balasuriya, T. Ura","doi":"10.1109/IROS.2001.976336","DOIUrl":"https://doi.org/10.1109/IROS.2001.976336","url":null,"abstract":"A sensor fusion technique is proposed for autonomous underwater vehicles (AUVs) to track underwater cables. The focus of this paper is to solve the two practical problems encountered in optical vision based systems in underwater environments: (1) navigation of AUV when cable is invisible in the image; and (2) selection of the correct cable when there are many similar features appearing in the image. The proposed sensor fusion scheme uses the dead reckoning position uncertainty with a 2D position model of the cable to predict the region of interest in the image. This reduces the processing data, increases the processing speed and avoids tracking other similar features appearing in the optical image. The proposed method uses a priori map of the cable for AUV navigation when the cable features are invisible in the predicted region in the image. An experiment was conducted to test the performance of the proposed algorithm using the AUV \"Twin-Burger 2\". The experimental results obtained show how the proposed method handles the above-mentioned practical problems.","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":"134349456","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.2001.976326
A. J. Koivo, A. Koivo
The problem of a robotic manipulator catching a moving object (target) is viewed as pursuer-evader problem. It is formulated as an optimization problem to determine the max-min=min-max (a saddle point) solution. After the feedback linearization, the models in the world coordinate system for the manipulator and the object are assumed to be linear, and the performance criterion is quadratic. The continuous-time models are combined to a single vector differential equation constraint. The optimum control theory determines the optimal inputs to the manipulator and the object in the feedback form. The gains of the feedback control laws contain the solution to the Riccati equation. It is shown that the positive definiteness of this solution yields a requirement for the capture: The difference of the reduced controllability matrix of the manipulator and that of the object (target) must be positive definite.
{"title":"On catching an object by a robotic manipulator","authors":"A. J. Koivo, A. Koivo","doi":"10.1109/IROS.2001.976326","DOIUrl":"https://doi.org/10.1109/IROS.2001.976326","url":null,"abstract":"The problem of a robotic manipulator catching a moving object (target) is viewed as pursuer-evader problem. It is formulated as an optimization problem to determine the max-min=min-max (a saddle point) solution. After the feedback linearization, the models in the world coordinate system for the manipulator and the object are assumed to be linear, and the performance criterion is quadratic. The continuous-time models are combined to a single vector differential equation constraint. The optimum control theory determines the optimal inputs to the manipulator and the object in the feedback form. The gains of the feedback control laws contain the solution to the Riccati equation. It is shown that the positive definiteness of this solution yields a requirement for the capture: The difference of the reduced controllability matrix of the manipulator and that of the object (target) must be positive definite.","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":"55 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":"133840255","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.2001.976346
H. Kawabe, E. Inohira, T. Kubota, M. Uchiyama
In a new stage of space development, collision and contact tasks under micro-gravity, such as docking, orbital servicing, and touchdown to a minor body, are now increasingly being considered. A hybrid motion simulation consisting of both physical and numerical models is an effective method to test the motions of a spacecraft under zero G on the ground. The authors have developed a hybrid zero G motion simulator based on a highspeed parallel link mechanism. A wide response bandwidth and high stiffness of the simulator have made it possible to simulate the contact motions with high precision. In this paper, they evaluate analytically the simulator characteristics and verify experimentally the impact of dynamics on the hybrid motion simulation by comparing it with a collision experiment under zero G in a drop-shaft facility. The results imply that the simulator is highly reliable for the impact dynamics simulation under zero G.
{"title":"Analytical and experimental evaluation of impact dynamics on a high-speed zero G motion simulator","authors":"H. Kawabe, E. Inohira, T. Kubota, M. Uchiyama","doi":"10.1109/IROS.2001.976346","DOIUrl":"https://doi.org/10.1109/IROS.2001.976346","url":null,"abstract":"In a new stage of space development, collision and contact tasks under micro-gravity, such as docking, orbital servicing, and touchdown to a minor body, are now increasingly being considered. A hybrid motion simulation consisting of both physical and numerical models is an effective method to test the motions of a spacecraft under zero G on the ground. The authors have developed a hybrid zero G motion simulator based on a highspeed parallel link mechanism. A wide response bandwidth and high stiffness of the simulator have made it possible to simulate the contact motions with high precision. In this paper, they evaluate analytically the simulator characteristics and verify experimentally the impact of dynamics on the hybrid motion simulation by comparing it with a collision experiment under zero G in a drop-shaft facility. The results imply that the simulator is highly reliable for the impact dynamics simulation under zero G.","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":"70 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":"115788703","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.2001.976281
Jae-Hean Kim, M. Chung
Describes a method to construct a stationary environmental map and estimate the ego-motion of a mobile robot from unknown planar motion by using an omni-directional vision sensor. Most environments where a mobile robot works are limited to two-dimensional space and the environmental map which is necessary for mobile robot navigation has also two dimensions. However conventional "structure from motion (SFM)" algorithms cannot be applied to two-dimensional space in perspective projection. We propose a SFM algorithm that can be applied to two-dimensional space. The proposed SFM algorithm exploits the azimuths of features which are obtained from an omni-directional vision sensor and gives robust results against the noise of image information by taking advantage of the large field of view. A relation between observed azimuths and motion parameters of a robot are constrained by a nonlinear equation and our method obtains all the motion parameters and an environmental map through a two-step procedure of solving the equation.
{"title":"Map generation from unknown planar motion using omni-directional vision","authors":"Jae-Hean Kim, M. Chung","doi":"10.1109/IROS.2001.976281","DOIUrl":"https://doi.org/10.1109/IROS.2001.976281","url":null,"abstract":"Describes a method to construct a stationary environmental map and estimate the ego-motion of a mobile robot from unknown planar motion by using an omni-directional vision sensor. Most environments where a mobile robot works are limited to two-dimensional space and the environmental map which is necessary for mobile robot navigation has also two dimensions. However conventional \"structure from motion (SFM)\" algorithms cannot be applied to two-dimensional space in perspective projection. We propose a SFM algorithm that can be applied to two-dimensional space. The proposed SFM algorithm exploits the azimuths of features which are obtained from an omni-directional vision sensor and gives robust results against the noise of image information by taking advantage of the large field of view. A relation between observed azimuths and motion parameters of a robot are constrained by a nonlinear equation and our method obtains all the motion parameters and an environmental map through a two-step procedure of solving the equation.","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":"134406559","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.2001.973402
E. F. Fukushima, H. Nakamoto, R. Damoto, S. Hirose
A continuously variable transmission (CVT) can be advantageously used to drive a robot in its most efficient operation region for a wide range of external loads. The paper describes an optimal load-sensitive control algorithm for an actuator unit comprising a CVT and an electric motor. The introduced control algorithm takes into account both the electrical motor and the CVT efficiency. The validity of the proposed method is demonstrated by simulations and experiments carried out on an actual stair-climbing mobile robot "HELIOS-VI".
{"title":"Optimal load-sensitive control for mobile robots equipped with continuously variable transmissions","authors":"E. F. Fukushima, H. Nakamoto, R. Damoto, S. Hirose","doi":"10.1109/IROS.2001.973402","DOIUrl":"https://doi.org/10.1109/IROS.2001.973402","url":null,"abstract":"A continuously variable transmission (CVT) can be advantageously used to drive a robot in its most efficient operation region for a wide range of external loads. The paper describes an optimal load-sensitive control algorithm for an actuator unit comprising a CVT and an electric motor. The introduced control algorithm takes into account both the electrical motor and the CVT efficiency. The validity of the proposed method is demonstrated by simulations and experiments carried out on an actual stair-climbing mobile robot \"HELIOS-VI\".","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":"62 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":"132453389","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.2001.973414
S. Nagasawa, R. Kanzaki, I. Shimoyama
In this paper an evaluation method by using an insect-size mobile robot for insect sensorimotor models is proposed. The method can be advantageous especially when dealing with environments and sensors, which are difficult to express mathematically. Biological observations are used to build an olfactory sensorimotor model and the model is evaluated using the presented evaluation method. It is confirmed that this evaluation method is effective for investigations of sensorimotor systems.
{"title":"An evaluation method for insect sensorimotor models using an insect-size mobile robot","authors":"S. Nagasawa, R. Kanzaki, I. Shimoyama","doi":"10.1109/IROS.2001.973414","DOIUrl":"https://doi.org/10.1109/IROS.2001.973414","url":null,"abstract":"In this paper an evaluation method by using an insect-size mobile robot for insect sensorimotor models is proposed. The method can be advantageous especially when dealing with environments and sensors, which are difficult to express mathematically. Biological observations are used to build an olfactory sensorimotor model and the model is evaluated using the presented evaluation method. It is confirmed that this evaluation method is effective for investigations of sensorimotor systems.","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":"133382870","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.2001.973370
Changjiu Zhou
Sensor-based operation of autonomous robots in unstructured environments has been proved to be an extremely challenging problem. However, humans seem to cope very well with uncertain and unpredictable environments, often relying on their perceptions. Furthermore, humans can also utilize the perceptions to guide their learning on those parts of the perception-action space that are actually relevant for the task. To make use of perceptions to assist robot learning and control, by using computational theory of perceptions (CTP), a linguistic version of Lyapunov synthesis working with fuzzy arithmetic operations in the domain of computing with words (CW) is proposed to derive a set of stable fuzzy control rules from the perception-based information. Then the fuzzy rules are incorporated in a fuzzy reinforcement learning (FRL) agent to accelerate its learning. The experimental and simulation results show that it is possible for a robot to start with the perception-based information and then refine its behavior through further learning.
{"title":"Robot learning assisted by perception-based information: a computing with words approach","authors":"Changjiu Zhou","doi":"10.1109/IROS.2001.973370","DOIUrl":"https://doi.org/10.1109/IROS.2001.973370","url":null,"abstract":"Sensor-based operation of autonomous robots in unstructured environments has been proved to be an extremely challenging problem. However, humans seem to cope very well with uncertain and unpredictable environments, often relying on their perceptions. Furthermore, humans can also utilize the perceptions to guide their learning on those parts of the perception-action space that are actually relevant for the task. To make use of perceptions to assist robot learning and control, by using computational theory of perceptions (CTP), a linguistic version of Lyapunov synthesis working with fuzzy arithmetic operations in the domain of computing with words (CW) is proposed to derive a set of stable fuzzy control rules from the perception-based information. Then the fuzzy rules are incorporated in a fuzzy reinforcement learning (FRL) agent to accelerate its learning. The experimental and simulation results show that it is possible for a robot to start with the perception-based information and then refine its behavior through further learning.","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":"47 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":"133419217","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.2001.977225
N. Mitsunaga, M. Asada
Visual attention is one of the most important issues for a vision guided mobile robot not simply because visual information brings a huge amount of data but also because the visual field is limited, therefore gaze control is necessary. The paper proposes a method of sensor space segmentation for visual attention control that enables mobile robots to realize efficient observation. The efficiency is considered from a viewpoint of not geometrical reconstruction but unique action selection based on information criterion regardless of localization uncertainty. The method builds a decision tree based on the information criterion while taking the time needed for observation into account, and attention control is done by following the tree. The tree is rebuilt by introducing contextual information for more efficient attention control. The method is applied to a four legged robot that tries to shoot a ball into the goal. Discussion on the visual attention control in the method is given and the future issues are shown.
{"title":"Sensor space segmentation for visual attention control of a mobile robot based on information criterion","authors":"N. Mitsunaga, M. Asada","doi":"10.1109/IROS.2001.977225","DOIUrl":"https://doi.org/10.1109/IROS.2001.977225","url":null,"abstract":"Visual attention is one of the most important issues for a vision guided mobile robot not simply because visual information brings a huge amount of data but also because the visual field is limited, therefore gaze control is necessary. The paper proposes a method of sensor space segmentation for visual attention control that enables mobile robots to realize efficient observation. The efficiency is considered from a viewpoint of not geometrical reconstruction but unique action selection based on information criterion regardless of localization uncertainty. The method builds a decision tree based on the information criterion while taking the time needed for observation into account, and attention control is done by following the tree. The tree is rebuilt by introducing contextual information for more efficient attention control. The method is applied to a four legged robot that tries to shoot a ball into the goal. Discussion on the visual attention control in the method is given and the future issues are shown.","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":"941 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132948408","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976284
Tomohiro Miyabe, M. Yamano, A. Konno, M. Uchiyama
This paper discusses an object recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.
{"title":"An approach toward a robust object recovery with flexible manipulators","authors":"Tomohiro Miyabe, M. Yamano, A. Konno, M. Uchiyama","doi":"10.1109/IROS.2001.976284","DOIUrl":"https://doi.org/10.1109/IROS.2001.976284","url":null,"abstract":"This paper discusses an object recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132646528","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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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