Pub Date : 1991-11-03DOI: 10.1109/IROS.1991.174434
P. Lefèvre, M. Neyer, R. Gorez, J. Barreto
The authors study internal-model representations in the framework of control theory and of visual system modelling. It is shown that the control of rapid orienting movements of the visual axis in space (saccadic system) can be modelled as a control system based on internal models. Moreover, a fuzzy approach is found to be very well adapted for the modelling of some parts of the saccadic system (related to highly nonlinear sensors and/or internal representations). Classical properties of this control structure such as robustness and disturbance rejection are met.<>
{"title":"Fuzzy internal models in vision systems modelling","authors":"P. Lefèvre, M. Neyer, R. Gorez, J. Barreto","doi":"10.1109/IROS.1991.174434","DOIUrl":"https://doi.org/10.1109/IROS.1991.174434","url":null,"abstract":"The authors study internal-model representations in the framework of control theory and of visual system modelling. It is shown that the control of rapid orienting movements of the visual axis in space (saccadic system) can be modelled as a control system based on internal models. Moreover, a fuzzy approach is found to be very well adapted for the modelling of some parts of the saccadic system (related to highly nonlinear sensors and/or internal representations). Classical properties of this control structure such as robustness and disturbance rejection are met.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115390377","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 : 1991-11-03DOI: 10.1109/IROS.1991.174549
S. Tso, Y. X. Ma
With a view to improving the quality of learning and simplifying the iterative learning controller implementation, a new discrete strategy for robot motion control is proposed. A systematic means is devised to merge the position and velocity data in consecutive cycles for effective learning control. The convergence property is also established.<>
{"title":"A discrete learning algorithm for robot motion control with both position and velocity sensing","authors":"S. Tso, Y. X. Ma","doi":"10.1109/IROS.1991.174549","DOIUrl":"https://doi.org/10.1109/IROS.1991.174549","url":null,"abstract":"With a view to improving the quality of learning and simplifying the iterative learning controller implementation, a new discrete strategy for robot motion control is proposed. A systematic means is devised to merge the position and velocity data in consecutive cycles for effective learning control. The convergence property is also established.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115469882","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 : 1991-11-03DOI: 10.1109/IROS.1991.174659
T. Fukuda, G. Xue, F. Arai, H. Asama, H. Omori, I. Endo, H. Kaetsu
Deals with a kind of cellular robotic system (CEBOT), called self organizing manipulator system. In this system the configuration of the manipulator can be changed according to the given task. The authors use two manipulators to assemble, disassemble, and reassemble cellular universal manipulator by cooperation work. When a simple task is given, the system can analyze the task and generate the structure of the cellular manipulator. The assembling work was divided into modular subtasks, and then the system generate the macro command based on the database. The order of subtask and the collision avoidance are considered for planning the cooperation work by using the collision database which was calculated before hand. They show the algorithm for calculation the collision database and for planning the cooperation work. The results of the simulation and the experiment are shown.<>
{"title":"A study on dynamically reconfigurable robotic systems: assembling, disassembling and reconfiguration of cellular manipulator by cooperation of two robot manipulators","authors":"T. Fukuda, G. Xue, F. Arai, H. Asama, H. Omori, I. Endo, H. Kaetsu","doi":"10.1109/IROS.1991.174659","DOIUrl":"https://doi.org/10.1109/IROS.1991.174659","url":null,"abstract":"Deals with a kind of cellular robotic system (CEBOT), called self organizing manipulator system. In this system the configuration of the manipulator can be changed according to the given task. The authors use two manipulators to assemble, disassemble, and reassemble cellular universal manipulator by cooperation work. When a simple task is given, the system can analyze the task and generate the structure of the cellular manipulator. The assembling work was divided into modular subtasks, and then the system generate the macro command based on the database. The order of subtask and the collision avoidance are considered for planning the cooperation work by using the collision database which was calculated before hand. They show the algorithm for calculation the collision database and for planning the cooperation work. The results of the simulation and the experiment are shown.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125254339","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 : 1991-11-03DOI: 10.1109/IROS.1991.174435
I. Suh, Tae Won Kim, S. Heu, Sang-Rok Oh
A visual servoing method is proposed for eye-in-hand robots. It employs a self-organizing fuzzy controller. There is defined a Jacobian that is not a function of a relative position of the object but is a function of the image features. Instead of obtaining an analytic form of the proposed Jacobian, a self-organizing fuzzy controller is then proposed to alleviate difficulties in real-time implementation. To show its validity, the proposed method is applied to a 2D visual servoing task.<>
{"title":"Visual servoing by a fuzzy reasoning method","authors":"I. Suh, Tae Won Kim, S. Heu, Sang-Rok Oh","doi":"10.1109/IROS.1991.174435","DOIUrl":"https://doi.org/10.1109/IROS.1991.174435","url":null,"abstract":"A visual servoing method is proposed for eye-in-hand robots. It employs a self-organizing fuzzy controller. There is defined a Jacobian that is not a function of a relative position of the object but is a function of the image features. Instead of obtaining an analytic form of the proposed Jacobian, a self-organizing fuzzy controller is then proposed to alleviate difficulties in real-time implementation. To show its validity, the proposed method is applied to a 2D visual servoing task.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122712581","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 : 1991-11-03DOI: 10.1109/IROS.1991.174555
K. Iwama
This paper proposes a method of examining whether a plan of mating objects is successfully performed under given uncertainties; in particular, the method examines whether a contact relationship among objects determines uniquely the direction of a robot motion. It first discusses the motivation for developing such a method, and then describes the method. In the method, uncertainties about objects are considered to be differences between the configurations of objects in a planned world and those in a real world, and are modeled as a region in the configuration space. The uncertainties in the region are examined in one dimension at one time when the plan of mating objects adds a contact relationship among the objects in the dimension.<>
{"title":"A method of examining uniqueness in determining the directions of robotic motions on the basis of contact relationships in an assembly plan","authors":"K. Iwama","doi":"10.1109/IROS.1991.174555","DOIUrl":"https://doi.org/10.1109/IROS.1991.174555","url":null,"abstract":"This paper proposes a method of examining whether a plan of mating objects is successfully performed under given uncertainties; in particular, the method examines whether a contact relationship among objects determines uniquely the direction of a robot motion. It first discusses the motivation for developing such a method, and then describes the method. In the method, uncertainties about objects are considered to be differences between the configurations of objects in a planned world and those in a real world, and are modeled as a region in the configuration space. The uncertainties in the region are examined in one dimension at one time when the plan of mating objects adds a contact relationship among the objects in the dimension.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122845796","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 : 1991-11-03DOI: 10.1109/IROS.1991.174748
Han-Gyoo Kim
A new easy-to-understand physical interpretation of complicated robot control system is given in this paper. Theorems are provided to derive the new physical interpretation of the robot arms as passive dynamical system and the controller as hyperstable system. Utilizing the fact that the multilayer feedforward networks are universal approximators to any continuous function, this new view expands its range of application to neural net type controller and possibly, other AI based controller like fuzzy logic controller.<>
{"title":"A new interpretation of force/servo control of robot arms","authors":"Han-Gyoo Kim","doi":"10.1109/IROS.1991.174748","DOIUrl":"https://doi.org/10.1109/IROS.1991.174748","url":null,"abstract":"A new easy-to-understand physical interpretation of complicated robot control system is given in this paper. Theorems are provided to derive the new physical interpretation of the robot arms as passive dynamical system and the controller as hyperstable system. Utilizing the fact that the multilayer feedforward networks are universal approximators to any continuous function, this new view expands its range of application to neural net type controller and possibly, other AI based controller like fuzzy logic controller.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122982803","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 : 1991-11-03DOI: 10.1109/IROS.1991.174440
W. Chung, W. Chung, Y. Youm
This paper presents a real-time dynamic control method for kinematically redundant manipulators. The proposed method aims at reducing excessive joint torques, which have caused the instability of conventional local torque minimization algorithms, by preserving the signs of full row rank minors of the manipulator Jacobian. It is shown by computer simulations that these minors have close relation with the dynamics of redundant manipulators, which has not been treated carefully. The proposed method is found to be effective for torque reduction when compared with conventional approaches including the inertia-weighted pseudoinverse method, the null space vector method, and the redundancy decomposition control method.<>
{"title":"J-minor based dynamic control (JMDC) for kinematically redundant manipulators","authors":"W. Chung, W. Chung, Y. Youm","doi":"10.1109/IROS.1991.174440","DOIUrl":"https://doi.org/10.1109/IROS.1991.174440","url":null,"abstract":"This paper presents a real-time dynamic control method for kinematically redundant manipulators. The proposed method aims at reducing excessive joint torques, which have caused the instability of conventional local torque minimization algorithms, by preserving the signs of full row rank minors of the manipulator Jacobian. It is shown by computer simulations that these minors have close relation with the dynamics of redundant manipulators, which has not been treated carefully. The proposed method is found to be effective for torque reduction when compared with conventional approaches including the inertia-weighted pseudoinverse method, the null space vector method, and the redundancy decomposition control method.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121869584","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 : 1991-11-03DOI: 10.1109/IROS.1991.174602
Y. Yagi, Y. Nishizawa, M. Yachida
Proposes a new omnidirectional image sensor, COPIS (conic projection image sensor), for guiding navigation of a mobile robot. It features passive sensing of omnidirectional images of the environment in real-time (at the frame rate of a TV camera) using a conic mirror. COPIS is a suitable sensor for visual navigation in real world environment with moving objects. The paper describes a method for estimating the location and the motion of the robot by detecting the azimuth of each object in the omnidirectional image. It also presents a method to avoid collision against unknown obstacles and estimates their locations by detecting their azimuth changes while the robot is moving in the environment.<>
{"title":"Estimating location and avoiding collision against unknown obstacles for the mobile robot using omnidirectional image sensor COPIS","authors":"Y. Yagi, Y. Nishizawa, M. Yachida","doi":"10.1109/IROS.1991.174602","DOIUrl":"https://doi.org/10.1109/IROS.1991.174602","url":null,"abstract":"Proposes a new omnidirectional image sensor, COPIS (conic projection image sensor), for guiding navigation of a mobile robot. It features passive sensing of omnidirectional images of the environment in real-time (at the frame rate of a TV camera) using a conic mirror. COPIS is a suitable sensor for visual navigation in real world environment with moving objects. The paper describes a method for estimating the location and the motion of the robot by detecting the azimuth of each object in the omnidirectional image. It also presents a method to avoid collision against unknown obstacles and estimates their locations by detecting their azimuth changes while the robot is moving in the environment.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122071599","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 : 1991-11-03DOI: 10.1109/IROS.1991.174424
O. Khatib, B. Roth
The authors note a need to overcome the deficiencies inherent in conventional manipulator mechanisms. Joint torque controllability, optimal dynamic characteristics, motion redundancy, and fine manipulation ability are among the basic characteristics that would be desirable attributes of advanced robot systems. The paper discusses the limitations of current robot technology and describes the ongoing effort at Stanford University for the development of high-performance force-controlled robot systems to provide the advanced capabilities needed for carrying out dextrous manipulation tasks.<>
{"title":"New robot mechanisms for new robot capabilities","authors":"O. Khatib, B. Roth","doi":"10.1109/IROS.1991.174424","DOIUrl":"https://doi.org/10.1109/IROS.1991.174424","url":null,"abstract":"The authors note a need to overcome the deficiencies inherent in conventional manipulator mechanisms. Joint torque controllability, optimal dynamic characteristics, motion redundancy, and fine manipulation ability are among the basic characteristics that would be desirable attributes of advanced robot systems. The paper discusses the limitations of current robot technology and describes the ongoing effort at Stanford University for the development of high-performance force-controlled robot systems to provide the advanced capabilities needed for carrying out dextrous manipulation tasks.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116609649","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 : 1991-11-03DOI: 10.1109/IROS.1991.174477
Yutaka Tanaka, Hideki Tsukaoka, H. Takeda, K. Honda, Takaaki Sarai
A high-speed method of 3-D distance acquisition based on the triangulation principle is presented. This method uses conventional devices such as a CCD camera, a laser emitting semiconductor, and scanning mirrors; however, new circuits have been developed for detecting the position of spot image on the CCD. This development enables the high speed measurement and reduces the cost of the apparatus. Experiments showed that the apparatus and the method gave the practical measuring accuracy and speed, and it was found that the system is useful for image recognition. This method can easily display the stereoscopic image and cross-sectional figure of the object body. The method of real time processing has also been developed with the view to apply the device to the range finders for robots and blind persons.<>
{"title":"High-speed processing for obtaining three-dimensional distance image and its application","authors":"Yutaka Tanaka, Hideki Tsukaoka, H. Takeda, K. Honda, Takaaki Sarai","doi":"10.1109/IROS.1991.174477","DOIUrl":"https://doi.org/10.1109/IROS.1991.174477","url":null,"abstract":"A high-speed method of 3-D distance acquisition based on the triangulation principle is presented. This method uses conventional devices such as a CCD camera, a laser emitting semiconductor, and scanning mirrors; however, new circuits have been developed for detecting the position of spot image on the CCD. This development enables the high speed measurement and reduces the cost of the apparatus. Experiments showed that the apparatus and the method gave the practical measuring accuracy and speed, and it was found that the system is useful for image recognition. This method can easily display the stereoscopic image and cross-sectional figure of the object body. The method of real time processing has also been developed with the view to apply the device to the range finders for robots and blind persons.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116837745","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}
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