Pub Date : 1991-11-03DOI: 10.1109/IROS.1991.174544
A. Giancaspro, S. Losito
Describes an environment to interface final users with a plan-generating system for application domains where cooperative agents are involved. The approach to support the acquisition phase of action and state descriptions is described. A theory to construct meaningful simultaneous actions is outlined by defining a characterization of legal action and state descriptions.<>
{"title":"A framework to deal with simultaneous actions for a plan-generating system","authors":"A. Giancaspro, S. Losito","doi":"10.1109/IROS.1991.174544","DOIUrl":"https://doi.org/10.1109/IROS.1991.174544","url":null,"abstract":"Describes an environment to interface final users with a plan-generating system for application domains where cooperative agents are involved. The approach to support the acquisition phase of action and state descriptions is described. A theory to construct meaningful simultaneous actions is outlined by defining a characterization of legal action and state descriptions.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"78 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":"126299198","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.1991.174633
F. Noreils
Describes an algorithm for collision avoidance between multiple mobile robots. As robots actually exchange information, algorithms are based on two hypotheses: (i) the working space is decomposed into cells and a limited number of robots is affected to each cell-thus a robot exchanges information only with robots in its vicinity and (ii) the trajectory of a robot is decomposed into sections-thus robots exchange only relevant information among themselves. A pipeline algorithm is proposed where a robot computes collisions with other robots on the section S/sub j+1/ while the it moves along the section S/sub j/. These algorithms are fully integrated in a more general architecture for mobile robots. Examples are described to show the interest of this approach.<>
{"title":"Coordinated execution of trajectories by multiple mobile robots","authors":"F. Noreils","doi":"10.1109/IROS.1991.174633","DOIUrl":"https://doi.org/10.1109/IROS.1991.174633","url":null,"abstract":"Describes an algorithm for collision avoidance between multiple mobile robots. As robots actually exchange information, algorithms are based on two hypotheses: (i) the working space is decomposed into cells and a limited number of robots is affected to each cell-thus a robot exchanges information only with robots in its vicinity and (ii) the trajectory of a robot is decomposed into sections-thus robots exchange only relevant information among themselves. A pipeline algorithm is proposed where a robot computes collisions with other robots on the section S/sub j+1/ while the it moves along the section S/sub j/. These algorithms are fully integrated in a more general architecture for mobile robots. Examples are described to show the interest of this approach.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"118 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114110944","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.1991.174591
J. Frau, V. Llario
A near-real time, highly efficient and robust visual tracking system for multiple moving objects using image sequences taken from a stationary or moving camera is presented. The module provides an estimate of the translational and rotational target positions on the image plane based on the self-management order paradigm (SMOP). This technique deals with the motion estimation from regression analysis as well as the estimation of the optimum order of the motion model from sample to sample. Finally, SMOP allows one to predict the next location of the target on the image plane and to constrain the zone of the image where the recognition algorithm has to be applied.<>
{"title":"Predictive tracking of targets using image sequences","authors":"J. Frau, V. Llario","doi":"10.1109/IROS.1991.174591","DOIUrl":"https://doi.org/10.1109/IROS.1991.174591","url":null,"abstract":"A near-real time, highly efficient and robust visual tracking system for multiple moving objects using image sequences taken from a stationary or moving camera is presented. The module provides an estimate of the translational and rotational target positions on the image plane based on the self-management order paradigm (SMOP). This technique deals with the motion estimation from regression analysis as well as the estimation of the optimum order of the motion model from sample to sample. Finally, SMOP allows one to predict the next location of the target on the image plane and to constrain the zone of the image where the recognition algorithm has to be applied.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"108 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":"120892081","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.1991.174419
S. Arimoto
It is claimed that 'robotics' is not a test bed for AI but should involve a research frontier relating to the physics underlying human activities such as perception, remembering, planning, practice, and skill. In addition to traditional AI and neural network approaches, other domains that can account for any aspect of human intellectual behavior must be exploited, and tools that actualize real implementation of intelligence in machines need to be devised. A practice-based learning domain for skill refinement and a design tool for a signal-based structured information base for skill acquisition are presented.<>
{"title":"Learning for skill refinement","authors":"S. Arimoto","doi":"10.1109/IROS.1991.174419","DOIUrl":"https://doi.org/10.1109/IROS.1991.174419","url":null,"abstract":"It is claimed that 'robotics' is not a test bed for AI but should involve a research frontier relating to the physics underlying human activities such as perception, remembering, planning, practice, and skill. In addition to traditional AI and neural network approaches, other domains that can account for any aspect of human intellectual behavior must be exploited, and tools that actualize real implementation of intelligence in machines need to be devised. A practice-based learning domain for skill refinement and a design tool for a signal-based structured information base for skill acquisition are presented.<<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":"116213857","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.1991.174634
M. Saito, T. Tsumura
Addresses collision avoidance problem among multiple mobile robots traveling over two dimensional path network. A local approach based on nonlinear programming is given to solve this problem. The basic idea of this method is to find the desired velocity vector for robot given as the optimal solution of objective function under velocity vector constraint. Collision free navigation of robot is carried out by following the desired velocity vector. This method is implemented using experimental robot and simulated one. The feasibility and effectiveness of this method is discussed through the results.<>
{"title":"Collision free motion control of multiple mobile robots on path network","authors":"M. Saito, T. Tsumura","doi":"10.1109/IROS.1991.174634","DOIUrl":"https://doi.org/10.1109/IROS.1991.174634","url":null,"abstract":"Addresses collision avoidance problem among multiple mobile robots traveling over two dimensional path network. A local approach based on nonlinear programming is given to solve this problem. The basic idea of this method is to find the desired velocity vector for robot given as the optimal solution of objective function under velocity vector constraint. Collision free navigation of robot is carried out by following the desired velocity vector. This method is implemented using experimental robot and simulated one. The feasibility and effectiveness of this method is discussed through the results.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"161 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":"116545719","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.1991.174464
J. Dias, A. T. Almeida, Helder Sabino de Araújo, Jorge Batista
Addresses the geometric modelling aspects related with the use of a pair of video cameras mounted on a six degrees-of-freedom manipulator in an hand-eye configuration. The information obtained by these sensors shall be used to generate the depth map of the environment where the manipulator works. The procedure to determining the image formation parameters is known by camera calibration and a method to optimize these calibration parameters is presented. After presenting the calibration technique used, the authors develop a calibration matrix invariant to movement. The optimization process is applied to this matrix to obtain a better performance in the numerical data.<>
{"title":"Improving camera calibration by using multiple frames in hand-eye robotic systems","authors":"J. Dias, A. T. Almeida, Helder Sabino de Araújo, Jorge Batista","doi":"10.1109/IROS.1991.174464","DOIUrl":"https://doi.org/10.1109/IROS.1991.174464","url":null,"abstract":"Addresses the geometric modelling aspects related with the use of a pair of video cameras mounted on a six degrees-of-freedom manipulator in an hand-eye configuration. The information obtained by these sensors shall be used to generate the depth map of the environment where the manipulator works. The procedure to determining the image formation parameters is known by camera calibration and a method to optimize these calibration parameters is presented. After presenting the calibration technique used, the authors develop a calibration matrix invariant to movement. The optimization process is applied to this matrix to obtain a better performance in the numerical data.<<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":"125258046","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.1991.174704
K. Takayama, H. Kano
A concept of unit motions and a new scheme based on it for synthesizing free motions of robotic manipulators are proposed. First, unit motions for free motions having some smoothness properties are defined. Various operations on the free motions that can be executed in a dynamical way are also defined. Then, formal representations of motions by means of the so-called control polygons are presented. Formal representations of operations including joining and separating motions are also presented. Such formal representations yield concise descriptions of motions and operations. Finally, using some simulation examples it is shown how to synthesize free motions. Properties of resulting motions by this approach are described. Conditions for control systems to generate unit motions are also described. The concepts of unit motions and control polygons offer a basis to deal with the motions formally.<>
{"title":"A new approach to synthesizing free motions of robotic manipulators based on a concept of unit motions","authors":"K. Takayama, H. Kano","doi":"10.1109/IROS.1991.174704","DOIUrl":"https://doi.org/10.1109/IROS.1991.174704","url":null,"abstract":"A concept of unit motions and a new scheme based on it for synthesizing free motions of robotic manipulators are proposed. First, unit motions for free motions having some smoothness properties are defined. Various operations on the free motions that can be executed in a dynamical way are also defined. Then, formal representations of motions by means of the so-called control polygons are presented. Formal representations of operations including joining and separating motions are also presented. Such formal representations yield concise descriptions of motions and operations. Finally, using some simulation examples it is shown how to synthesize free motions. Properties of resulting motions by this approach are described. Conditions for control systems to generate unit motions are also described. The concepts of unit motions and control polygons offer a basis to deal with the motions formally.<<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":"125271862","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.1991.174462
F. Gandolfo, M. Tistarelli, G. Sandini
Present a perspective in relation to the use of vision for the control of robots and for the monitoring of robot actions. In order to explain the approach some experiments have been performed in the field of object manipulation and robot navigation. In particular the monitoring of pushing and tapping actions by means of dynamic measurements performed on image sequences are reported. The experiments show that, not only it seems possible to detect unexpected events, but it is possible to control the arm or vehicle trajectory in such a way to achieve a complex task like the pushing of an unknown object along a predetermined trajectory.<>
{"title":"Visual monitoring of robot actions","authors":"F. Gandolfo, M. Tistarelli, G. Sandini","doi":"10.1109/IROS.1991.174462","DOIUrl":"https://doi.org/10.1109/IROS.1991.174462","url":null,"abstract":"Present a perspective in relation to the use of vision for the control of robots and for the monitoring of robot actions. In order to explain the approach some experiments have been performed in the field of object manipulation and robot navigation. In particular the monitoring of pushing and tapping actions by means of dynamic measurements performed on image sequences are reported. The experiments show that, not only it seems possible to detect unexpected events, but it is possible to control the arm or vehicle trajectory in such a way to achieve a complex task like the pushing of an unknown object along a predetermined trajectory.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"72 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":"127595329","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.1991.174734
Vassilios K. Papantoniou
Experiments in which actively balanced legged robots perform complex control operations by working in parallel on adequately decomposed tasks have given positive results, but the performance of the prototypes themselves contradicts the essence of the active balance concepts. These concepts aim to ameliorate the power efficiency of the legged systems by use of the systems intrinsic dynamic properties. The reason for this is the utilization of pneumatic and hydraulic actuators for the realisation of the prototypes. These actuators provide high effective power-to-mass ratios, thus facilitating the control task. Yet, the whole system's efficiency (pumps, piping, servovalves, etc) remains poor. The direct implementation of the control concepts in small-scale (e.g. human sized) energy-sufficient systems thus represent a serious engineering problem. The authors propose an electromechanical design for an electrically powered actively balanced one-leg planar machine, capable of operating with an average 48 W power requirement, at a maximum speed of 0.3 m/sec, with 7.5 kg of mass. In order to obtain that, an original mechanical design of an articulated leg and leg attitude control are realised.<>
{"title":"Electromechanical design for an electrically powered, actively balanced one leg planar robot","authors":"Vassilios K. Papantoniou","doi":"10.1109/IROS.1991.174734","DOIUrl":"https://doi.org/10.1109/IROS.1991.174734","url":null,"abstract":"Experiments in which actively balanced legged robots perform complex control operations by working in parallel on adequately decomposed tasks have given positive results, but the performance of the prototypes themselves contradicts the essence of the active balance concepts. These concepts aim to ameliorate the power efficiency of the legged systems by use of the systems intrinsic dynamic properties. The reason for this is the utilization of pneumatic and hydraulic actuators for the realisation of the prototypes. These actuators provide high effective power-to-mass ratios, thus facilitating the control task. Yet, the whole system's efficiency (pumps, piping, servovalves, etc) remains poor. The direct implementation of the control concepts in small-scale (e.g. human sized) energy-sufficient systems thus represent a serious engineering problem. The authors propose an electromechanical design for an electrically powered actively balanced one-leg planar machine, capable of operating with an average 48 W power requirement, at a maximum speed of 0.3 m/sec, with 7.5 kg of mass. In order to obtain that, an original mechanical design of an articulated leg and leg attitude control are realised.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"128 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":"128115688","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.1991.174577
R. Stoughton, T. Arai
A design for a 6-DOF parallel actuated robot is presented. The design is a generalization of the Stewart-platform, and has the potential for improved dexterity compared with the traditional design. Methods for handling the forward kinematics problem are discussed. These methods include approximate linear analysis using numerical integration of the Jacobian matrix, and the use of redundant position sensors. There are several alternative locations for placement of these sensors. The accuracy and complexity of the computations for the forward kinematics vary with different locations of the sensors. Further, for some configurations it is possible to continue operation when one more sensors are lost or damaged, leading to a more robust design for remote operations.<>
{"title":"Optimal sensor placement for forward kinematics evaluation of a 6-DOF parallel link manipulator","authors":"R. Stoughton, T. Arai","doi":"10.1109/IROS.1991.174577","DOIUrl":"https://doi.org/10.1109/IROS.1991.174577","url":null,"abstract":"A design for a 6-DOF parallel actuated robot is presented. The design is a generalization of the Stewart-platform, and has the potential for improved dexterity compared with the traditional design. Methods for handling the forward kinematics problem are discussed. These methods include approximate linear analysis using numerical integration of the Jacobian matrix, and the use of redundant position sensors. There are several alternative locations for placement of these sensors. The accuracy and complexity of the computations for the forward kinematics vary with different locations of the sensors. Further, for some configurations it is possible to continue operation when one more sensors are lost or damaged, leading to a more robust design for remote operations.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"58 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":"133154630","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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