Pub Date : 1991-11-03DOI: 10.1109/IROS.1991.174574
Y. Shin, M. Chung
The authors propose an optimal force distribution method, called weak point force minimization, which minimizes linear, one-norm, or infinite-norm objective functions. A weak point is a generalized one which can be any point in multiple robots as well as a joint and/or an end-effector. To solve the weak point force minimization, the weak point forces are converted to the contact forces of end-effectors so as to reduce the computational burden. Then, the contact forces are obtained by using linear programming. The proposed method is applicable to diverse areas such as a long object, weakly connected assembly parts long links and weak joints in cooperating multiple robots. The method is also applicable to the multilegged vehicle and the multifingered hand.<>
{"title":"Optimal force distribution by weak point force minimization in cooperating multiple robots","authors":"Y. Shin, M. Chung","doi":"10.1109/IROS.1991.174574","DOIUrl":"https://doi.org/10.1109/IROS.1991.174574","url":null,"abstract":"The authors propose an optimal force distribution method, called weak point force minimization, which minimizes linear, one-norm, or infinite-norm objective functions. A weak point is a generalized one which can be any point in multiple robots as well as a joint and/or an end-effector. To solve the weak point force minimization, the weak point forces are converted to the contact forces of end-effectors so as to reduce the computational burden. Then, the contact forces are obtained by using linear programming. The proposed method is applicable to diverse areas such as a long object, weakly connected assembly parts long links and weak joints in cooperating multiple robots. The method is also applicable to the multilegged vehicle and the multifingered hand.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"42 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":"116464968","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.1991.174727
Ma Lie, Ma Peisun
This paper studies the realization of turning gait control, taking a quadruped walking vehicle as the subject of the research. Based on the analyses of previous works, a kind of turning gait with the center of gravity of the vehicle walking along multiple broken lines has been planned, which is more suitable for practical control than previous methods. The process of the turning gait and its feasibility are discussed in detail. The turning gait presented is being implemented in the omnidirectional quadruped walking robot JTUWM-II.<>
{"title":"A study of turning gait control for quadruped walking vehicle","authors":"Ma Lie, Ma Peisun","doi":"10.1109/IROS.1991.174727","DOIUrl":"https://doi.org/10.1109/IROS.1991.174727","url":null,"abstract":"This paper studies the realization of turning gait control, taking a quadruped walking vehicle as the subject of the research. Based on the analyses of previous works, a kind of turning gait with the center of gravity of the vehicle walking along multiple broken lines has been planned, which is more suitable for practical control than previous methods. The process of the turning gait and its feasibility are discussed in detail. The turning gait presented is being implemented in the omnidirectional quadruped walking robot JTUWM-II.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"16 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":"122014326","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.1991.174655
Yoshimaru Tanaka, A. Yamada
Deals with the response of the actuator using shape memory alloy (SMA). The SMA actuator was developed for a robot. This study aims at the development of the position control system; control parameters are set automatically for the SMA actuator drives any kind of load. The SMA actuator in this study is box type actuator which is installed to a robot. This SMA actuator is compact. It works by repeat cooling and heating of the SMA wire. Step response and frequency response of the SMA actuator system without load showed good experimental results. Performance of SMA actuator system was calculated using results of the step response and other experimental results. Experimental results of the step response when the authors installed load to transmission shaft of the SMA actuator were shown. The step response data of experimental results were used for identification of the SMA actuator system. Results of identification on the SMA actuator system were calculated as a transfer function. Experimental results and identification results of the SMA actuator system were presented.<>
{"title":"A rotary actuator using shape memory alloy for a robot -analysis of the response with load","authors":"Yoshimaru Tanaka, A. Yamada","doi":"10.1109/IROS.1991.174655","DOIUrl":"https://doi.org/10.1109/IROS.1991.174655","url":null,"abstract":"Deals with the response of the actuator using shape memory alloy (SMA). The SMA actuator was developed for a robot. This study aims at the development of the position control system; control parameters are set automatically for the SMA actuator drives any kind of load. The SMA actuator in this study is box type actuator which is installed to a robot. This SMA actuator is compact. It works by repeat cooling and heating of the SMA wire. Step response and frequency response of the SMA actuator system without load showed good experimental results. Performance of SMA actuator system was calculated using results of the step response and other experimental results. Experimental results of the step response when the authors installed load to transmission shaft of the SMA actuator were shown. The step response data of experimental results were used for identification of the SMA actuator system. Results of identification on the SMA actuator system were calculated as a transfer function. Experimental results and identification results of the SMA actuator system were presented.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"209 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":"124698892","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.1991.174534
M. Habib, H. Asama
A technique is developed based on free link concept to construct the available free space between obstacles within robot's environment in terms of free convex area. Then, a new kind of vertex graph called MAKLINK is constructed to support the generation of a collision free path. This graph is constructed using the midpoints of common free links between free convex area as passing points. These points correspond to nodes in a graph and the connection between them within each convex area as arcs in this graph. A collision free path can be efficiently generated using the MAKLINK graph. The complexity of the search for a collision free path is greatly reduced by minimizing the size of the graph to be searched concerning the number of nodes and the number of arcs connecting them. The analysis of the proposed algorithm shows its efficiency in terms of computation ability, safety, optimality, and in supporting robot navigation along the generated path.<>
{"title":"Efficient method to generate collision free paths for an autonomous mobile robot based on new free space structuring approach","authors":"M. Habib, H. Asama","doi":"10.1109/IROS.1991.174534","DOIUrl":"https://doi.org/10.1109/IROS.1991.174534","url":null,"abstract":"A technique is developed based on free link concept to construct the available free space between obstacles within robot's environment in terms of free convex area. Then, a new kind of vertex graph called MAKLINK is constructed to support the generation of a collision free path. This graph is constructed using the midpoints of common free links between free convex area as passing points. These points correspond to nodes in a graph and the connection between them within each convex area as arcs in this graph. A collision free path can be efficiently generated using the MAKLINK graph. The complexity of the search for a collision free path is greatly reduced by minimizing the size of the graph to be searched concerning the number of nodes and the number of arcs connecting them. The analysis of the proposed algorithm shows its efficiency in terms of computation ability, safety, optimality, and in supporting robot navigation along the generated path.<<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":"129619141","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.1991.174422
Edward J. Nicolson, R. Fearing
A dynamic simulation of threaded insertion is developed based on Euler's equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based by the kinematic description. The simulation is used to investigate the behavior of a bolt during insertion into a nut under grasp stiffness and damper control.<>
{"title":"Dynamic modeling of a part mating problem: threaded fastener insertion","authors":"Edward J. Nicolson, R. Fearing","doi":"10.1109/IROS.1991.174422","DOIUrl":"https://doi.org/10.1109/IROS.1991.174422","url":null,"abstract":"A dynamic simulation of threaded insertion is developed based on Euler's equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based by the kinematic description. The simulation is used to investigate the behavior of a bolt during insertion into a nut under grasp stiffness and damper control.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"36 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":"129964188","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.1991.174472
P. Fraisse, X. Delebarre, P. Dauchez, F. Pierrot
In order to perform complex coordinated tasks with a two-arm robot, some kind of robust hybrid position/force control is necessary. As a first step towards such a control scheme, the authors present mainly the results they have obtained in simulation with a single-arm robot. They have developed a simulator which allows one to test various control algorithms. In particular, they have tested a variable structure system for the hybrid control of a Puma robot. Several experimental results are presented in this case. Controlled variables for a two-arm system are also proposed.<>
{"title":"Towards robust hybrid control for two-arm robots","authors":"P. Fraisse, X. Delebarre, P. Dauchez, F. Pierrot","doi":"10.1109/IROS.1991.174472","DOIUrl":"https://doi.org/10.1109/IROS.1991.174472","url":null,"abstract":"In order to perform complex coordinated tasks with a two-arm robot, some kind of robust hybrid position/force control is necessary. As a first step towards such a control scheme, the authors present mainly the results they have obtained in simulation with a single-arm robot. They have developed a simulator which allows one to test various control algorithms. In particular, they have tested a variable structure system for the hybrid control of a Puma robot. Several experimental results are presented in this case. Controlled variables for a two-arm system are also proposed.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"3 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":"130884202","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.1991.174480
T. Arai, K. Umeda
Detecting three dimensional motion is one of the most important issues on robot vision. In this paper, an essential equation, the motion-range equation, is introduced for detecting 3D motion from 'range images'. The equation is represented in linear form against 3D motion parameters. Using the equation, the motion parameters are directly obtained without detecting the positions of an object. Statistical analysis is made and computational method is established by means of the equation. Analysis of the equation is performed. Experimental results on actual range images prove that the motion detection method described is simple and efficient.<>
{"title":"Measurement of 3D motion parameters from range images","authors":"T. Arai, K. Umeda","doi":"10.1109/IROS.1991.174480","DOIUrl":"https://doi.org/10.1109/IROS.1991.174480","url":null,"abstract":"Detecting three dimensional motion is one of the most important issues on robot vision. In this paper, an essential equation, the motion-range equation, is introduced for detecting 3D motion from 'range images'. The equation is represented in linear form against 3D motion parameters. Using the equation, the motion parameters are directly obtained without detecting the positions of an object. Statistical analysis is made and computational method is established by means of the equation. Analysis of the equation is performed. Experimental results on actual range images prove that the motion detection method described is simple and efficient.<<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":"130937398","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.1991.174519
Jiming Liu, L. Daneshmend
Presents a qualitative reasoning approach to synthesizing robot motion plans from task-level specifications. This method relies on representing the knowledge about robot manipulation as a task grammar augmented with a domain-dependent task analyzer. The task analyzer tests constraints for deriving suboperations pertaining to a higher-level operation and performs commonsense reasoning about the manipulator-level motion strategies. Through several examples, the authors show how syntactical knowledge about robot operations can be formulated for real-world manipulation tasks and how commonsense knowledge can be augmented to constrain the syntactical reasoning.<>
{"title":"Qualitative physics for robot task planning. I. Grammatical reasoning and commonsense augmentations","authors":"Jiming Liu, L. Daneshmend","doi":"10.1109/IROS.1991.174519","DOIUrl":"https://doi.org/10.1109/IROS.1991.174519","url":null,"abstract":"Presents a qualitative reasoning approach to synthesizing robot motion plans from task-level specifications. This method relies on representing the knowledge about robot manipulation as a task grammar augmented with a domain-dependent task analyzer. The task analyzer tests constraints for deriving suboperations pertaining to a higher-level operation and performs commonsense reasoning about the manipulator-level motion strategies. Through several examples, the authors show how syntactical knowledge about robot operations can be formulated for real-world manipulation tasks and how commonsense knowledge can be augmented to constrain the syntactical reasoning.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"45 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":"130461123","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.1991.174726
P. Sinha, R. Bajcsy
For robots to traverse rugged terrain successfully using legged locomotion, they need not only constantly to maintain structural stability but also, and perhaps more importantly, to detect and adapt to changes in the terrain properties. The authors address the issue of exploration to extract material properties from a given surface for the specific purpose of aiding in and improving the quality of legged locomotion. While it is important to evaluate terrain properties prior to the start of locomotion, it is even more important to evaluate these properties actively during locomotion so that the robot does not sink, slip or fall. It is proposed that the legs of a robot be used not only for stepping and walking but also as probes to examine those properties of the surface that would contribute to the efficiency of locomotion, one way or another. The proposed framework for active perception for legged locomotion suggests that for stable stepping and walking in an unknown environment, it is necessary actively to recover the material properties of penetrability, compliance and surface traction from the supporting surface. These attributes must be recovered by exploratory procedures that are built into the mobile robotic system. This paper focusses on the implementation of the perceptual scheme so that feedback from the measurement of material properties is used to control robot foot forces during legged locomotion.<>
{"title":"Implementation of an active perceptual scheme for legged locomotion of robots","authors":"P. Sinha, R. Bajcsy","doi":"10.1109/IROS.1991.174726","DOIUrl":"https://doi.org/10.1109/IROS.1991.174726","url":null,"abstract":"For robots to traverse rugged terrain successfully using legged locomotion, they need not only constantly to maintain structural stability but also, and perhaps more importantly, to detect and adapt to changes in the terrain properties. The authors address the issue of exploration to extract material properties from a given surface for the specific purpose of aiding in and improving the quality of legged locomotion. While it is important to evaluate terrain properties prior to the start of locomotion, it is even more important to evaluate these properties actively during locomotion so that the robot does not sink, slip or fall. It is proposed that the legs of a robot be used not only for stepping and walking but also as probes to examine those properties of the surface that would contribute to the efficiency of locomotion, one way or another. The proposed framework for active perception for legged locomotion suggests that for stable stepping and walking in an unknown environment, it is necessary actively to recover the material properties of penetrability, compliance and surface traction from the supporting surface. These attributes must be recovered by exploratory procedures that are built into the mobile robotic system. This paper focusses on the implementation of the perceptual scheme so that feedback from the measurement of material properties is used to control robot foot forces during legged locomotion.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"112 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":"126849583","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.1991.174482
H. Mori, Mitukuni Sano
The concepts of guide dog robot Harunobu-5 and a stereotyped motion following a person are described. The guide dog robot consists of a mission planner, digital map, interactive navigator, vision system and undercarriage system. Following a person is activated when the robot fails to move along sign pattern. The robot stops and finds a moving pedestrian by color vision. After that the robot follows it by tracking its jacket or trousers image. The following person concept was implemented and tested on Harunobu-5 and was successful in following only one person.<>
{"title":"A guide dog robot Harunobu-5-following a person","authors":"H. Mori, Mitukuni Sano","doi":"10.1109/IROS.1991.174482","DOIUrl":"https://doi.org/10.1109/IROS.1991.174482","url":null,"abstract":"The concepts of guide dog robot Harunobu-5 and a stereotyped motion following a person are described. The guide dog robot consists of a mission planner, digital map, interactive navigator, vision system and undercarriage system. Following a person is activated when the robot fails to move along sign pattern. The robot stops and finds a moving pedestrian by color vision. After that the robot follows it by tracking its jacket or trousers image. The following person concept was implemented and tested on Harunobu-5 and was successful in following only one person.<<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":"123218734","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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