Pub Date : 1991-11-03DOI: 10.1109/IROS.1991.174709
Christian Doncarli, J. L. Corre, O. Devise
The goal of the work described is to provide an estimation algorithm of the dynamics of a mobile robot. The measured variables are the control laws of the motors and the angles between the robot principal axis and a lot of fixed beacons, given by a rotative onboard camera. The specific problems are of several types: the motion of the robot is described by a continuous-time nonlinear equation. The measures are uncadenced and nonlinear (angles). The state of the robot is not observable by a single measure. So a specific continuous/discrete-time extended Kalman filter with measurement reconstruction is developed.<>
{"title":"Dynamic location of a mobile robot by extended Kalman filtering","authors":"Christian Doncarli, J. L. Corre, O. Devise","doi":"10.1109/IROS.1991.174709","DOIUrl":"https://doi.org/10.1109/IROS.1991.174709","url":null,"abstract":"The goal of the work described is to provide an estimation algorithm of the dynamics of a mobile robot. The measured variables are the control laws of the motors and the angles between the robot principal axis and a lot of fixed beacons, given by a rotative onboard camera. The specific problems are of several types: the motion of the robot is described by a continuous-time nonlinear equation. The measures are uncadenced and nonlinear (angles). The state of the robot is not observable by a single measure. So a specific continuous/discrete-time extended Kalman filter with measurement reconstruction is developed.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"9 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":"115862839","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.1991.174625
M. Adams, P. P. Smith
Presents a unified approach to the navigation and control of a mobile robot. In the past, path planning has often been referred to as a 'high level' task and has been completely separated from the so called 'lower level' control of a real mobile vehicle. The authors consider here the total energy of a mobile vehicle when influenced under a good seeking navigation strategy. This energy function is used to produce a control law directly to drive a mobile vehicle. The authors also incorporate directly an estimate of an artificial repulsive potential field into the low level controller.<>
{"title":"Mobile robot motion planning-stability, convergence and control","authors":"M. Adams, P. P. Smith","doi":"10.1109/IROS.1991.174625","DOIUrl":"https://doi.org/10.1109/IROS.1991.174625","url":null,"abstract":"Presents a unified approach to the navigation and control of a mobile robot. In the past, path planning has often been referred to as a 'high level' task and has been completely separated from the so called 'lower level' control of a real mobile vehicle. The authors consider here the total energy of a mobile vehicle when influenced under a good seeking navigation strategy. This energy function is used to produce a control law directly to drive a mobile vehicle. The authors also incorporate directly an estimate of an artificial repulsive potential field into the low level controller.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"03 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":"129962028","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.1991.174586
C. Chung, K. S. Lee
Path planning is an important task for optimal motion of a robot in a structured or unstructured environment. The paper shows how to plan the shortest collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. A path coordinator is proposed having the capabilities of an obstacle avoidance strategy and a traveling salesman problem (TSP) strategy. The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the neural network. The obstacle avoidance strategy can be implemented by the optimal edges by the modified genetic algorithm and computes the optimal nodes along the optimal edges by the recursive compensation algorithm.<>
{"title":"Neural network application to the obstacle avoidance path planning for CIM computer integrated manufacturing","authors":"C. Chung, K. S. Lee","doi":"10.1109/IROS.1991.174586","DOIUrl":"https://doi.org/10.1109/IROS.1991.174586","url":null,"abstract":"Path planning is an important task for optimal motion of a robot in a structured or unstructured environment. The paper shows how to plan the shortest collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. A path coordinator is proposed having the capabilities of an obstacle avoidance strategy and a traveling salesman problem (TSP) strategy. The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the neural network. The obstacle avoidance strategy can be implemented by the optimal edges by the modified genetic algorithm and computes the optimal nodes along the optimal edges by the recursive compensation algorithm.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"48 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":"130243327","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.1991.174556
B. Hannaford
A method is presented for using hidden Markov models (HMMs) for the analysis of force, torque, and position signals from sensors in manufacturing machines. The HMM can detect the transitions between contact states and compute a measure of the task quality using a model of the task developed by the manufacturing engineer and optimized on training data. The HMM method has been evaluated in extensive experimentation with teleoperation and the results suggest even higher effectiveness in automation and manufacturing applications.<>
{"title":"Hidden Markov model analysis of manufacturing process information","authors":"B. Hannaford","doi":"10.1109/IROS.1991.174556","DOIUrl":"https://doi.org/10.1109/IROS.1991.174556","url":null,"abstract":"A method is presented for using hidden Markov models (HMMs) for the analysis of force, torque, and position signals from sensors in manufacturing machines. The HMM can detect the transitions between contact states and compute a measure of the task quality using a model of the task developed by the manufacturing engineer and optimized on training data. The HMM method has been evaluated in extensive experimentation with teleoperation and the results suggest even higher effectiveness in automation and manufacturing applications.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"40 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":"131531034","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.1991.174447
G. Chirikjian, J. Burdick
Hyper-redundant robots have a large or infinite number of degrees of freedom. Such robots are analogous to snakes or tentacles and are useful for operation in highly constrained environments and novel forms of locomotion. The paper reviews newly developed methods for the kinematic analysis of hyper-redundant manipulators. These methods can be applied to a wide variety of hyper-redundant morphologies and lead to very efficient inverse kinematic, path planning, obstacle avoidance, locomotion, and grasping schemes. It also reviews the design and implementation of a planar 30 degree of freedom variable geometry truss hyper-redundant robot.<>
{"title":"Hyper-redundant robot mechanisms and their applications","authors":"G. Chirikjian, J. Burdick","doi":"10.1109/IROS.1991.174447","DOIUrl":"https://doi.org/10.1109/IROS.1991.174447","url":null,"abstract":"Hyper-redundant robots have a large or infinite number of degrees of freedom. Such robots are analogous to snakes or tentacles and are useful for operation in highly constrained environments and novel forms of locomotion. The paper reviews newly developed methods for the kinematic analysis of hyper-redundant manipulators. These methods can be applied to a wide variety of hyper-redundant morphologies and lead to very efficient inverse kinematic, path planning, obstacle avoidance, locomotion, and grasping schemes. It also reviews the design and implementation of a planar 30 degree of freedom variable geometry truss hyper-redundant robot.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"37 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":"127853951","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.1991.174756
A. Rovetta
Deals with the design, modelling and construction of a prototype of a space telerobot for the rescue and recovery of astronauts in the area around a space station. The objective of the FRIEND robot project (an acronym of Flying Robot with Intelligently Ended Nursing Dexterity) is the testing of a telerobotised system controlled by a remote operator. The FRIEND robot is designed and constituted by a mechanical structure with two arms, an autonomous energy source, a sensor and motion control structure, a visual recognition system which acts as operator support, an expert intelligent system memorised in the computer for alternative choices in the stage of rescue and recovery of an astronaut in an emergency.<>
{"title":"'FRIEND' robot, space telerobot for rescue and recovery of astronauts in space stations","authors":"A. Rovetta","doi":"10.1109/IROS.1991.174756","DOIUrl":"https://doi.org/10.1109/IROS.1991.174756","url":null,"abstract":"Deals with the design, modelling and construction of a prototype of a space telerobot for the rescue and recovery of astronauts in the area around a space station. The objective of the FRIEND robot project (an acronym of Flying Robot with Intelligently Ended Nursing Dexterity) is the testing of a telerobotised system controlled by a remote operator. The FRIEND robot is designed and constituted by a mechanical structure with two arms, an autonomous energy source, a sensor and motion control structure, a visual recognition system which acts as operator support, an expert intelligent system memorised in the computer for alternative choices in the stage of rescue and recovery of an astronaut in an emergency.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"55 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":"133821485","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.1991.174515
Antti Autere
Describes a method for reducing systematic errors encountered between a true system behavior and the one predicted by a model. The structure of the model corresponds to the structure of the system only up to a certain limit. Error correcting is formulated as an optimization problem where the norm of the difference between the measured and the predicted system behavior is minimized. The solution is searched iteratively by doing the same task or experiment repeatedly and utilizing previously observed results. It is argued that the optimization approach may be useful in understanding the problems encountered in memory-based modeling, particularly in robot control. An iterative algorithm is given to correct the robot positioning errors. It is shown to converge to the right solution by making some general assumptions of the existing robot controller. An example is given with the PUMA robot where the precision of the arm movement is increased by repeatedly doing the movement task.<>
{"title":"On correcting systematic errors without analyzing them by performing a repetitive task","authors":"Antti Autere","doi":"10.1109/IROS.1991.174515","DOIUrl":"https://doi.org/10.1109/IROS.1991.174515","url":null,"abstract":"Describes a method for reducing systematic errors encountered between a true system behavior and the one predicted by a model. The structure of the model corresponds to the structure of the system only up to a certain limit. Error correcting is formulated as an optimization problem where the norm of the difference between the measured and the predicted system behavior is minimized. The solution is searched iteratively by doing the same task or experiment repeatedly and utilizing previously observed results. It is argued that the optimization approach may be useful in understanding the problems encountered in memory-based modeling, particularly in robot control. An iterative algorithm is given to correct the robot positioning errors. It is shown to converge to the right solution by making some general assumptions of the existing robot controller. An example is given with the PUMA robot where the precision of the arm movement is increased by repeatedly doing the movement task.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"40 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":"114792615","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.1991.174510
T. Yoshikawa, M. Kurisu
When mobile robots convey objects on a floor by pushing them, the motion of the pushed object is closely related to the distribution of the frictional force between the object and the floor. When the pushing force vector applied to an object passes through the center of friction which is the centroid of the friction distribution, the motion of the object is a pure translation. The authors describe a method for estimating the friction distribution of an object and the position of the center of friction by pushing the object several times using a manipulator mounted on a mobile robot, which also has a visual sensor. Simulation and experimental results show the effectiveness of the approach.<>
{"title":"Indentification of the center of friction from pushing an object by a mobile robot","authors":"T. Yoshikawa, M. Kurisu","doi":"10.1109/IROS.1991.174510","DOIUrl":"https://doi.org/10.1109/IROS.1991.174510","url":null,"abstract":"When mobile robots convey objects on a floor by pushing them, the motion of the pushed object is closely related to the distribution of the frictional force between the object and the floor. When the pushing force vector applied to an object passes through the center of friction which is the centroid of the friction distribution, the motion of the object is a pure translation. The authors describe a method for estimating the friction distribution of an object and the position of the center of friction by pushing the object several times using a manipulator mounted on a mobile robot, which also has a visual sensor. Simulation and experimental results show the effectiveness of the approach.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"180 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":"114378723","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.1991.174551
M. Gotou, E. Ueda, Akihiko Nakamura, Keisuke Matsuo
The authors have developed a new servo system, called the multirate sampling repetitive learning servo system, having the multirate sampling repetitive learning compensator newly developed so as to reduce the learning memory size. It was applied to the speed control of the capstan motor in a camcorder, and the speed fluctuation of the capstan was reduced considerably as a result of the improved sensitivity to disturbances.<>
{"title":"Development of multirate sampling repetitive learning servo system and its application to a compact camcorder","authors":"M. Gotou, E. Ueda, Akihiko Nakamura, Keisuke Matsuo","doi":"10.1109/IROS.1991.174551","DOIUrl":"https://doi.org/10.1109/IROS.1991.174551","url":null,"abstract":"The authors have developed a new servo system, called the multirate sampling repetitive learning servo system, having the multirate sampling repetitive learning compensator newly developed so as to reduce the learning memory size. It was applied to the speed control of the capstan motor in a camcorder, and the speed fluctuation of the capstan was reduced considerably as a result of the improved sensitivity to disturbances.<<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":"114900363","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.1991.174596
G. Attolico, A. Distante, T. D’orazio, E. Stella
Recovering three-dimensional visible surfaces is an important cue in computer vision. Like most of the inverse problems it is hard to be solved due to the insufficient and inaccurate data that can be collected using passive sensors. Data fusion and integration over time can be used to overcome this problem. In this paper the depth and orientation are acquired from a scene and are used together to build a dense map of the visible surface for each of several points of view. An incremental estimator is used to integrate these maps, as soon as they become available, in a more reliable result.<>
{"title":"Dynamic update of dense depth map by Kalman filtering","authors":"G. Attolico, A. Distante, T. D’orazio, E. Stella","doi":"10.1109/IROS.1991.174596","DOIUrl":"https://doi.org/10.1109/IROS.1991.174596","url":null,"abstract":"Recovering three-dimensional visible surfaces is an important cue in computer vision. Like most of the inverse problems it is hard to be solved due to the insufficient and inaccurate data that can be collected using passive sensors. Data fusion and integration over time can be used to overcome this problem. In this paper the depth and orientation are acquired from a scene and are used together to build a dense map of the visible surface for each of several points of view. An incremental estimator is used to integrate these maps, as soon as they become available, in a more reliable result.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"18 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":"115065344","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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