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.2001.976347
R. Cortesão, R. Koeppe, U. Nunes, G. Hirzinger
The theory of active observers was initially described by Cortesao et al. (2000). This paper introduces properties of the Kalman gains used in the active observer (AOB) design. An important result of the state-space design is demonstrated, which allows stiffness adaptation without changing the control structure. Experiments with a human-robot skill transfer system to perform the peg-in-hole compliant motion task are described, showing the importance of the AOB.
{"title":"Compliant motion control with stochastic active observers","authors":"R. Cortesão, R. Koeppe, U. Nunes, G. Hirzinger","doi":"10.1109/IROS.2001.976347","DOIUrl":"https://doi.org/10.1109/IROS.2001.976347","url":null,"abstract":"The theory of active observers was initially described by Cortesao et al. (2000). This paper introduces properties of the Kalman gains used in the active observer (AOB) design. An important result of the state-space design is demonstrated, which allows stiffness adaptation without changing the control structure. Experiments with a human-robot skill transfer system to perform the peg-in-hole compliant motion task are described, showing the importance of the AOB.","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":"115234796","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.2001.976296
H. Ohta, M. Yamakita
The focus of this work is to generate and realize automatically an ideal periodic gait of walking robots which depends on properties of the system and an environment. In conventional works, a robot walking are realized by a tracking control for a predetermined desired trajectory. A necessary control for walking robots is not to track a desired trajectory but to generate a suitable trajectory according to changes of the environment. In order to realize this function, two methods will be discussed in this paper. The first one is the control method to realize a suitable steady periodic motion. The method will be called 'phase synchronous control,' which creates a stable limit cycle for the system which has an unstable one. The second one is the algorithm which is called 'desired state optimization' and modifies the motion to an optimal one, that a criterion function is optimized. Using this algorithm, if the environment of the system is changed, an ideal motion for the environment is automatically realized. The validity of the proposed method will be examined by numerical simulations.
{"title":"Periodic stabilizing control of systems with collisions-application to walking robots","authors":"H. Ohta, M. Yamakita","doi":"10.1109/IROS.2001.976296","DOIUrl":"https://doi.org/10.1109/IROS.2001.976296","url":null,"abstract":"The focus of this work is to generate and realize automatically an ideal periodic gait of walking robots which depends on properties of the system and an environment. In conventional works, a robot walking are realized by a tracking control for a predetermined desired trajectory. A necessary control for walking robots is not to track a desired trajectory but to generate a suitable trajectory according to changes of the environment. In order to realize this function, two methods will be discussed in this paper. The first one is the control method to realize a suitable steady periodic motion. The method will be called 'phase synchronous control,' which creates a stable limit cycle for the system which has an unstable one. The second one is the algorithm which is called 'desired state optimization' and modifies the motion to an optimal one, that a criterion function is optimized. Using this algorithm, if the environment of the system is changed, an ideal motion for the environment is automatically realized. The validity of the proposed method will be examined by numerical simulations.","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":"65 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":"115732281","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.2001.976304
H. B. Brown, Patrick M. Muir, A. Rizzi, M. C. Sensi, R. Hollis
We describe the mechanical and electronic design of a precision, 2-DOF robot manipulator. The manipulator is one of a wide variety of modular robotic agents in the minifactory, a rapidly deployable precision assembly system under development in our laboratory. The manipulator, in cooperation with another type of 2-DOF robot, termed a courier, can perform 4-DOF assembly operations emulating a SCARA robot. This arrangement provides increased precision, higher throughput, smaller footprint, and increased flexibility relative to the SCARA robot.
{"title":"A precision manipulator module for assembly in a minifactory environment","authors":"H. B. Brown, Patrick M. Muir, A. Rizzi, M. C. Sensi, R. Hollis","doi":"10.1109/IROS.2001.976304","DOIUrl":"https://doi.org/10.1109/IROS.2001.976304","url":null,"abstract":"We describe the mechanical and electronic design of a precision, 2-DOF robot manipulator. The manipulator is one of a wide variety of modular robotic agents in the minifactory, a rapidly deployable precision assembly system under development in our laboratory. The manipulator, in cooperation with another type of 2-DOF robot, termed a courier, can perform 4-DOF assembly operations emulating a SCARA robot. This arrangement provides increased precision, higher throughput, smaller footprint, and increased flexibility relative to the SCARA robot.","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":"24 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":"114255361","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.2001.976374
J. Roy, L. Whitcomb
This paper addresses the problem of achieving exact dynamic force control with manipulators possessing the low level position and/or velocity controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive force control algorithm for velocity/position controlled robot arms in contact with surfaces of unknown linear compliance is reported. The controller provably guarantees global asymptotic convergence of force trajectory tracking errors to zero when the robot is under exact or asymptotically exact inner loop velocity control. An additional result which guarantees arbitrarily small force errors for bounded inner loop velocity tracking errors is presented. Comparative experiments show the new adaptive velocity (position) based controller and its non-adaptive counterpart to provide performance superior to that of previously reported position based force controllers.
{"title":"Adaptive force control of position/velocity controlled robots: theory and experiment","authors":"J. Roy, L. Whitcomb","doi":"10.1109/IROS.2001.976374","DOIUrl":"https://doi.org/10.1109/IROS.2001.976374","url":null,"abstract":"This paper addresses the problem of achieving exact dynamic force control with manipulators possessing the low level position and/or velocity controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive force control algorithm for velocity/position controlled robot arms in contact with surfaces of unknown linear compliance is reported. The controller provably guarantees global asymptotic convergence of force trajectory tracking errors to zero when the robot is under exact or asymptotically exact inner loop velocity control. An additional result which guarantees arbitrarily small force errors for bounded inner loop velocity tracking errors is presented. Comparative experiments show the new adaptive velocity (position) based controller and its non-adaptive counterpart to provide performance superior to that of previously reported position based force controllers.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"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":"114595220","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976398
R. Höpler, M. Otter
Model based technologies form the core of advanced robotic applications such as model predictive control and feedback linearization. More sophisticated models result in higher quality but the use in embedded real-time control systems imposes strict requirements on timing, memory allocation, and robustness. To satisfy these constraints, the model implementation is often optimized by manual coding, an unwieldy and error prone process. The paper presents an approach that exploits code synthesis from high level intuitive and convenient multi-body system (MBS) model descriptions. It relies on an object-oriented C++ library of MBS components tailored to the computations required in robot control such as forward and inverse kinematics, inverse dynamics, and Jacobians. Efficient model evaluation algorithms are developed that apply to multi-body tree structures as well as kinematic loops that are solved analytically for a certain class of loop structures.
{"title":"A versatile C++ toolbox for model based, real time control systems of robotic manipulators","authors":"R. Höpler, M. Otter","doi":"10.1109/IROS.2001.976398","DOIUrl":"https://doi.org/10.1109/IROS.2001.976398","url":null,"abstract":"Model based technologies form the core of advanced robotic applications such as model predictive control and feedback linearization. More sophisticated models result in higher quality but the use in embedded real-time control systems imposes strict requirements on timing, memory allocation, and robustness. To satisfy these constraints, the model implementation is often optimized by manual coding, an unwieldy and error prone process. The paper presents an approach that exploits code synthesis from high level intuitive and convenient multi-body system (MBS) model descriptions. It relies on an object-oriented C++ library of MBS components tailored to the computations required in robot control such as forward and inverse kinematics, inverse dynamics, and Jacobians. Efficient model evaluation algorithms are developed that apply to multi-body tree structures as well as kinematic loops that are solved analytically for a certain class of loop structures.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114620656","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976286
Y. Morita, Keiji Tsujimura, H. Ukai, H. Kando
This paper presents a control strategy of flexible manipulators for the contact motion to a moving object with a constant velocity. Our purpose is to design a controller in order to accomplish the smooth transition from a free space to a constrained space with changing control laws at a collision. The proposed controller consists of a hybrid position/force PI control, vibration suppression control, and mode selector. In order to improve the control performance degraded by the elasticity of flexible arms, the controller is designed on the basis of the concept of decomposition of elastic vibration. Some experimental results show the effectiveness of the proposed controller.
{"title":"Control strategy of flexible manipulators for contact motion to moving object","authors":"Y. Morita, Keiji Tsujimura, H. Ukai, H. Kando","doi":"10.1109/IROS.2001.976286","DOIUrl":"https://doi.org/10.1109/IROS.2001.976286","url":null,"abstract":"This paper presents a control strategy of flexible manipulators for the contact motion to a moving object with a constant velocity. Our purpose is to design a controller in order to accomplish the smooth transition from a free space to a constrained space with changing control laws at a collision. The proposed controller consists of a hybrid position/force PI control, vibration suppression control, and mode selector. In order to improve the control performance degraded by the elasticity of flexible arms, the controller is designed on the basis of the concept of decomposition of elastic vibration. Some experimental results show the effectiveness of the proposed 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":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114834743","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.2001.976294
T. Fujimoto, J. Ota, T. Arai, T. Ueyama, T. Nishiyama
In this paper, the authors aim at realizing an accurate navigation system of automated guided vehicles (AGV). The authors propose a way of estimating positioning error with magnetic tape, which is widely used in a factory as an external sensor. However, flexibility for path relocation is insufficient, because, in general, the tape should be laid down on the floor from a start point to a goal point so that AGV can reach their target. To overcome this inefficiency, the authors firstly propose a semi-guided navigation methodology by means of two kinds of magnetic tapes based on an error analysis. The semi-guided navigation means that magnetic tapes are only placed at the start and the goal points individually. Therefore, this system enables us to remove most of the magnetic tape. Moreover, the authors attempt a fixed model learning to prevent stationary error while AGV run iteratively. Finally, the authors carry out experiments to evaluate and verify the efficiency of the proposed method.
{"title":"Semi-guided navigation of AGV through iterative learning","authors":"T. Fujimoto, J. Ota, T. Arai, T. Ueyama, T. Nishiyama","doi":"10.1109/IROS.2001.976294","DOIUrl":"https://doi.org/10.1109/IROS.2001.976294","url":null,"abstract":"In this paper, the authors aim at realizing an accurate navigation system of automated guided vehicles (AGV). The authors propose a way of estimating positioning error with magnetic tape, which is widely used in a factory as an external sensor. However, flexibility for path relocation is insufficient, because, in general, the tape should be laid down on the floor from a start point to a goal point so that AGV can reach their target. To overcome this inefficiency, the authors firstly propose a semi-guided navigation methodology by means of two kinds of magnetic tapes based on an error analysis. The semi-guided navigation means that magnetic tapes are only placed at the start and the goal points individually. Therefore, this system enables us to remove most of the magnetic tape. Moreover, the authors attempt a fixed model learning to prevent stationary error while AGV run iteratively. Finally, the authors carry out experiments to evaluate and verify the efficiency of the proposed 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":"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":"117286920","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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