Pub Date : 1991-11-03DOI: 10.1109/IROS.1991.174678
V. Utkin, S. Drakunov, H. Hashimoto, F. Harashima
The approach described consists in constructing potential fields in configuration space like an electrostatic one with changes distributed in such a way that the generalized force curves are attracted to the goal point and avoid obstacles. The system follows such force curves by using sliding mode. The strategy of robot path obstacle avoidance control with sliding mode is presented and discussed in the two-dimensional space.<>
{"title":"Robot path obstacle avoidance control via sliding mode approach","authors":"V. Utkin, S. Drakunov, H. Hashimoto, F. Harashima","doi":"10.1109/IROS.1991.174678","DOIUrl":"https://doi.org/10.1109/IROS.1991.174678","url":null,"abstract":"The approach described consists in constructing potential fields in configuration space like an electrostatic one with changes distributed in such a way that the generalized force curves are attracted to the goal point and avoid obstacles. The system follows such force curves by using sliding mode. The strategy of robot path obstacle avoidance control with sliding mode is presented and discussed in the two-dimensional space.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"88 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":"129002954","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.1991.174441
Yukinari Inoue, S. Kitamura, Yutaka Kidawara
A method of compliant and collision avoidance control is presented. The collision avoidance motion is first generated in off-line routine and its data are stored as as a sequence of desired joint angles. Next, virtual impedance model-following control is employed as force feedback control. Redundancy is used for minimization of the variance from the desired joint angle during compliant motion. In particular, the computation time for the inverse kinematics at each sampling time was reduced by using approximate values of Jacobian matrix. The stability of the control system is analyzed and the effectiveness of the proposed method is discussed.<>
{"title":"Force feedback control and collision avoidance of redundant manipulator","authors":"Yukinari Inoue, S. Kitamura, Yutaka Kidawara","doi":"10.1109/IROS.1991.174441","DOIUrl":"https://doi.org/10.1109/IROS.1991.174441","url":null,"abstract":"A method of compliant and collision avoidance control is presented. The collision avoidance motion is first generated in off-line routine and its data are stored as as a sequence of desired joint angles. Next, virtual impedance model-following control is employed as force feedback control. Redundancy is used for minimization of the variance from the desired joint angle during compliant motion. In particular, the computation time for the inverse kinematics at each sampling time was reduced by using approximate values of Jacobian matrix. The stability of the control system is analyzed and the effectiveness of the proposed method is discussed.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"85 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":"124559573","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.1991.174649
K. Osuka, N. Yoshida, T. Ono
The control ability of a human operator has several good points and is still needed in several fields. Therefore, to imitate the function of human operator, many theories have been developed, for example, fuzzy theory, neural network theory and so on. This paper tries to understand the control function of human operator from a viewpoint of many scientific fields such as cognitive science, biology and information science and tries to mimic it. Then the authors propose a framework of a cerebral model based intelligent control system (CEMICS)'.<>
{"title":"A cerebral model based intelligent control system","authors":"K. Osuka, N. Yoshida, T. Ono","doi":"10.1109/IROS.1991.174649","DOIUrl":"https://doi.org/10.1109/IROS.1991.174649","url":null,"abstract":"The control ability of a human operator has several good points and is still needed in several fields. Therefore, to imitate the function of human operator, many theories have been developed, for example, fuzzy theory, neural network theory and so on. This paper tries to understand the control function of human operator from a viewpoint of many scientific fields such as cognitive science, biology and information science and tries to mimic it. Then the authors propose a framework of a cerebral model based intelligent control system (CEMICS)'.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"1 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":"130501074","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.1991.174418
J. Albus
A theoretical model is proposed consisting of six basic elements: actuators, sensors, sensory processing, world modeling, behavior generation and value judgment. These elements are integrated into a hierarchical system architecture wherein control bandwidth decreases about an order of magnitude from level to level, goals expand in scope and planning horizons expand in space and time about an order-of-magnitude from level to level, and perception of spatial and temporal patterns, models of the world, and memories of events decrease in resolution and expand in spatial and temporal range by about an order-of-magnitude from level to level. At each level, functional modules perform behavior generation, world modeling, sensory processing, and value judgment. Behavior generation modules perform task planning and execution. The world model is the intelligent system's best estimate of the external world. Value judgments provide an evaluation of hypothesized plans, and perceived objects, events, and situations. Sensory processing modules transform sensory maps into world model maps and extract entity attributes and states. Sensory feedback control loops are closed at every level.<>
{"title":"A theory of intelligent machine systems","authors":"J. Albus","doi":"10.1109/IROS.1991.174418","DOIUrl":"https://doi.org/10.1109/IROS.1991.174418","url":null,"abstract":"A theoretical model is proposed consisting of six basic elements: actuators, sensors, sensory processing, world modeling, behavior generation and value judgment. These elements are integrated into a hierarchical system architecture wherein control bandwidth decreases about an order of magnitude from level to level, goals expand in scope and planning horizons expand in space and time about an order-of-magnitude from level to level, and perception of spatial and temporal patterns, models of the world, and memories of events decrease in resolution and expand in spatial and temporal range by about an order-of-magnitude from level to level. At each level, functional modules perform behavior generation, world modeling, sensory processing, and value judgment. Behavior generation modules perform task planning and execution. The world model is the intelligent system's best estimate of the external world. Value judgments provide an evaluation of hypothesized plans, and perceived objects, events, and situations. Sensory processing modules transform sensory maps into world model maps and extract entity attributes and states. Sensory feedback control loops are closed at every level.<<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":"123501435","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.1991.174445
Hisato Kobayashi, E. Shimemura, K. Suzuki
Describes a distributed autonomous control for an ultra-multi plane manipulator. Each controller independently determines the way how to move each link. The necessary information for the controller is the target position, the position of the end-effector and the position of the link. Each controller has the same control law and common information on the target position and the end-effector position. Thus, the authors call it 'distributed autonomous'. The proposed control architecture has two main advantages: (1) robustness, even if several number of links are out of order, the total system will still work normally; and (2) obstacle avoidance, if the obstacle satisfies some conditions, the robotic manipulator will avoid it automatically.<>
{"title":"An ultra-multi link manipulator","authors":"Hisato Kobayashi, E. Shimemura, K. Suzuki","doi":"10.1109/IROS.1991.174445","DOIUrl":"https://doi.org/10.1109/IROS.1991.174445","url":null,"abstract":"Describes a distributed autonomous control for an ultra-multi plane manipulator. Each controller independently determines the way how to move each link. The necessary information for the controller is the target position, the position of the end-effector and the position of the link. Each controller has the same control law and common information on the target position and the end-effector position. Thus, the authors call it 'distributed autonomous'. The proposed control architecture has two main advantages: (1) robustness, even if several number of links are out of order, the total system will still work normally; and (2) obstacle avoidance, if the obstacle satisfies some conditions, the robotic manipulator will avoid it automatically.<<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":"121345847","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.1991.174695
Yoji Yamada, H. Kozai, N. Tsuchida, K. Imai
Deals with a multi-sensor system for controlling a two-fingered hand to grasp various objects. The multiple sensors are grasping force sensors, a friction coefficient sensor, and a weight sensor, which are mounted on the hand. Algorithms to recognize objects and to control grasping force of the hand by integrating the detected sensory information are also presented. Experimental results of case studies show that the ability to detect grasping force of wide dynamic range, friction coefficient, and weight allows a hand to grasp many different objects.<>
{"title":"A multi-sensor system for controlling grasping force","authors":"Yoji Yamada, H. Kozai, N. Tsuchida, K. Imai","doi":"10.1109/IROS.1991.174695","DOIUrl":"https://doi.org/10.1109/IROS.1991.174695","url":null,"abstract":"Deals with a multi-sensor system for controlling a two-fingered hand to grasp various objects. The multiple sensors are grasping force sensors, a friction coefficient sensor, and a weight sensor, which are mounted on the hand. Algorithms to recognize objects and to control grasping force of the hand by integrating the detected sensory information are also presented. Experimental results of case studies show that the ability to detect grasping force of wide dynamic range, friction coefficient, and weight allows a hand to grasp many different objects.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"61 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":"116242549","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.1991.174461
N. Maru, A. Nishikawa, F. Miyazaki, S. Arimoto
The authors propose an active algorithm to detect binocular disparities without using additional constraints. It is based on the motion parallax obtained by the moving monocular camera. The search range of binocular disparity is restricted based on the monocular motion parallax. The condition to find binocular disparities is only the uniqueness of disparity. Experimental results with complicated scene are presented to demonstrate the effectiveness of this method.<>
{"title":"Active detection of binocular disparities","authors":"N. Maru, A. Nishikawa, F. Miyazaki, S. Arimoto","doi":"10.1109/IROS.1991.174461","DOIUrl":"https://doi.org/10.1109/IROS.1991.174461","url":null,"abstract":"The authors propose an active algorithm to detect binocular disparities without using additional constraints. It is based on the motion parallax obtained by the moving monocular camera. The search range of binocular disparity is restricted based on the monocular motion parallax. The condition to find binocular disparities is only the uniqueness of disparity. Experimental results with complicated scene are presented to demonstrate the effectiveness of this method.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"93 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":"124004484","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.1991.174584
K. Koh, H. Cho
A neural-net based control algorithm for the tracking control of a two-wheeled mobile robot is considered. The neural network was designed to generate feedforward control input to nullify the error between output and desired trajectory. The neural network controller was combined with local digital PD controllers for each wheel position control. The feedback-error learning methods is used as the learning mechanism such that the learning and control can be performed simultaneously. To evaluate the effectiveness of the proposed control scheme, a series of tracking simulations were performed for the dynamic model of the mobile robot.<>
{"title":"A neural net-based feedforward control scheme for mobile robots","authors":"K. Koh, H. Cho","doi":"10.1109/IROS.1991.174584","DOIUrl":"https://doi.org/10.1109/IROS.1991.174584","url":null,"abstract":"A neural-net based control algorithm for the tracking control of a two-wheeled mobile robot is considered. The neural network was designed to generate feedforward control input to nullify the error between output and desired trajectory. The neural network controller was combined with local digital PD controllers for each wheel position control. The feedback-error learning methods is used as the learning mechanism such that the learning and control can be performed simultaneously. To evaluate the effectiveness of the proposed control scheme, a series of tracking simulations were performed for the dynamic model of the mobile robot.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"21 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":"125653260","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.1991.174690
S. Takagi, Y. Okawa
To make a mobile robot do some meaningful job was the motivation to start the research work described. The authors define the problem and derived the equations of motion for a robot and a pushed box. The authors take the rule-based control scheme as a fundamental tool for control. The authors have analyzed the equations of motion and found that the situation is similar to the problem of an inverted pendulum popular in the usual automatic control theory. In normal situations the stability is more urgent than to follow a trajectory. By this observation the authors have introduced a hierarchical structure in rules. That is, the rules to maintain the angle between the robot and its box small is applied first. Other rules are considered only when the angle is sufficiently small. The authors adopt crisp rules, which means that they divide a given variable into intervals, and in each interval they have different set of rules. The total number of rules used in the experiments is 120.<>
{"title":"Rule-based control of a mobile robot for the push-a-box operation","authors":"S. Takagi, Y. Okawa","doi":"10.1109/IROS.1991.174690","DOIUrl":"https://doi.org/10.1109/IROS.1991.174690","url":null,"abstract":"To make a mobile robot do some meaningful job was the motivation to start the research work described. The authors define the problem and derived the equations of motion for a robot and a pushed box. The authors take the rule-based control scheme as a fundamental tool for control. The authors have analyzed the equations of motion and found that the situation is similar to the problem of an inverted pendulum popular in the usual automatic control theory. In normal situations the stability is more urgent than to follow a trajectory. By this observation the authors have introduced a hierarchical structure in rules. That is, the rules to maintain the angle between the robot and its box small is applied first. Other rules are considered only when the angle is sufficiently small. The authors adopt crisp rules, which means that they divide a given variable into intervals, and in each interval they have different set of rules. The total number of rules used in the experiments is 120.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"2 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":"127941176","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.1991.174471
Yunhui Liu, S. Arimoto
Presents an approach for optimizing the joint torques on the minimum-time trajectory in the criterion of minimum torque change. The torque change a summation of absolute values of differences between the torques at two discrete points, is a nonlinear function. To avoid the authors nonlinear optimization, the authors introduce a linear objective function which gives the same effect. On the basis of the linear objective function and dynamics of the system which constrains the joint torques and the internal forces between the manipulators and the object linearly, the linear programming approach is used to optimize the joint torques.<>
{"title":"Minimum-time trajectory planning for multiple manipulators handling an object with geometric path constraints","authors":"Yunhui Liu, S. Arimoto","doi":"10.1109/IROS.1991.174471","DOIUrl":"https://doi.org/10.1109/IROS.1991.174471","url":null,"abstract":"Presents an approach for optimizing the joint torques on the minimum-time trajectory in the criterion of minimum torque change. The torque change a summation of absolute values of differences between the torques at two discrete points, is a nonlinear function. To avoid the authors nonlinear optimization, the authors introduce a linear objective function which gives the same effect. On the basis of the linear objective function and dynamics of the system which constrains the joint torques and the internal forces between the manipulators and the object linearly, the linear programming approach is used to optimize the joint torques.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"15 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":"121771034","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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