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.2001.973348
T. Tabata, Y. Aiyama
There are some researches which perform complex manipulation tasks with low degree-of-freedom manipulator by sliding, rolling, releasing etc. They are called dynamic manipulation. In this paper, tossing manipulation is introduced as a form of dynamic manipulation. A 1-DOF manipulator swings its arm to roll/slide an object on it, and then tosses it to locate to goal position. This paper shows an analysis and a simulation of kinematic model of tossing manipulation. To locate an object to desired position, inverse problem is solved with various optimizations. Finally some experiments and their consideration are discussed.
{"title":"Tossing manipulation by 1 degree-of-freedom manipulator","authors":"T. Tabata, Y. Aiyama","doi":"10.1109/IROS.2001.973348","DOIUrl":"https://doi.org/10.1109/IROS.2001.973348","url":null,"abstract":"There are some researches which perform complex manipulation tasks with low degree-of-freedom manipulator by sliding, rolling, releasing etc. They are called dynamic manipulation. In this paper, tossing manipulation is introduced as a form of dynamic manipulation. A 1-DOF manipulator swings its arm to roll/slide an object on it, and then tosses it to locate to goal position. This paper shows an analysis and a simulation of kinematic model of tossing manipulation. To locate an object to desired position, inverse problem is solved with various optimizations. Finally some experiments and their consideration are discussed.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"22 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":"133594382","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}
Pub Date : 2001-10-29DOI: 10.1109/IROS.2001.976329
H. Miwa, A. Takanishi, H. Takanobu
The authors have been developing human-like head robots in order to develop new head mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotions. We think that the personality of the robot is extremely important in attaining smooth and effective communication. We introduced a robot personality that consists of the sensing personality and the expression personality. The sensing personality determines how a stimulus works for a robot's mental state. A 3D mental space was defined in the robot. Seven emotions were mapped out in the 3D mental space. After the robot determines its emotion, it expresses its emotion by the expression personality. We expressed the expression personality using a matrix. Moreover, we assigned and loaded six robot personalities into the robot. The robot can express various personalities.
{"title":"Experimental study on robot personality for humanoid head robot","authors":"H. Miwa, A. Takanishi, H. Takanobu","doi":"10.1109/IROS.2001.976329","DOIUrl":"https://doi.org/10.1109/IROS.2001.976329","url":null,"abstract":"The authors have been developing human-like head robots in order to develop new head mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotions. We think that the personality of the robot is extremely important in attaining smooth and effective communication. We introduced a robot personality that consists of the sensing personality and the expression personality. The sensing personality determines how a stimulus works for a robot's mental state. A 3D mental space was defined in the robot. Seven emotions were mapped out in the 3D mental space. After the robot determines its emotion, it expresses its emotion by the expression personality. We expressed the expression personality using a matrix. Moreover, we assigned and loaded six robot personalities into the robot. The robot can express various personalities.","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":"177 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":"114974485","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.2001.976248
W. Lo, Yantao Shen, Yunhui Liu
Presents an integrated tactile feedback system for a multifingered robot hand to enable a human operator to feel contacts/interactions between the robot finger and the environment remotely. The system presented consists of a finger-shaped tactile sensor measuring contact areas on the fingertip and a tactile display rendering the contact information to the human operator. The tactile sensor, designed on the total internal reflection principle, can capture high resolution and high quality tactile images on the fingertip. The tactile display with 24 pins spaced at 2.5 mm uses DC solenoids structured in multi-layers to render the contacts between the fingertip and the environment. We have integrated the tactile sensor and the tactile display into a five-fingered robot hand system and verified the performance of the integrated system by experiments.
{"title":"An integrated tactile feedback system for multifingered robot hands","authors":"W. Lo, Yantao Shen, Yunhui Liu","doi":"10.1109/IROS.2001.976248","DOIUrl":"https://doi.org/10.1109/IROS.2001.976248","url":null,"abstract":"Presents an integrated tactile feedback system for a multifingered robot hand to enable a human operator to feel contacts/interactions between the robot finger and the environment remotely. The system presented consists of a finger-shaped tactile sensor measuring contact areas on the fingertip and a tactile display rendering the contact information to the human operator. The tactile sensor, designed on the total internal reflection principle, can capture high resolution and high quality tactile images on the fingertip. The tactile display with 24 pins spaced at 2.5 mm uses DC solenoids structured in multi-layers to render the contacts between the fingertip and the environment. We have integrated the tactile sensor and the tactile display into a five-fingered robot hand system and verified the performance of the integrated system by experiments.","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 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":"116318911","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.2001.976347
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.2001.973404
Sungchul Kang, K. Komoriya, K. Yokoi, T. Kotoku, K. Tanie
Deals with the reduced inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation. The experimental results show that the reduced inertial effect of the mobile manipulator alleviates the impact force at collision.
{"title":"Reduced inertial effect in damping-based posture control of mobile manipulator","authors":"Sungchul Kang, K. Komoriya, K. Yokoi, T. Kotoku, K. Tanie","doi":"10.1109/IROS.2001.973404","DOIUrl":"https://doi.org/10.1109/IROS.2001.973404","url":null,"abstract":"Deals with the reduced inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation. The experimental results show that the reduced inertial effect of the mobile manipulator alleviates the impact force at collision.","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":"87 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":"115881727","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.2001.973366
Y. Ota, K. Yoneda, Yusuke Muramatsu, S. Hirose
In order to perform tasks and move using separate mechanisms, robots are required to have many degrees of freedom (DOF). As a result, robots become heavy and lose their mobility. In this paper, an effective design of robots with reduced DOF is described. An 8-DOF bipedal configuration robot with high tasking and moving performance was developed. In this robot, the DOF are reduced as much as possible without hampering the its mobility, by finding a balance between the increase in weight with additional DOF and the loss of manipulability with a reduction of DOF.
{"title":"Development of walking and task performing robot with bipedal configuration","authors":"Y. Ota, K. Yoneda, Yusuke Muramatsu, S. Hirose","doi":"10.1109/IROS.2001.973366","DOIUrl":"https://doi.org/10.1109/IROS.2001.973366","url":null,"abstract":"In order to perform tasks and move using separate mechanisms, robots are required to have many degrees of freedom (DOF). As a result, robots become heavy and lose their mobility. In this paper, an effective design of robots with reduced DOF is described. An 8-DOF bipedal configuration robot with high tasking and moving performance was developed. In this robot, the DOF are reduced as much as possible without hampering the its mobility, by finding a balance between the increase in weight with additional DOF and the loss of manipulability with a reduction of DOF.","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":"28 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":"115394545","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.2001.976296
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}
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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