Pub Date : 1991-11-03DOI: 10.1109/IROS.1991.174437
T. Sobh, R. Bajcsy
The authors address the problem of observing a moving agent. In particular, they propose a system for observing a manipulation process, where a robot hand manipulates an object. A discrete event dynamic system framework is developed for the hand/object interaction over time and a stabilizing observer is constructed. Low-level modules are developed for recognizing the 'events' that cause state transitions within the dynamic manipulation system. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. The system utilizes different tracking techniques in order to observe and recognize the task in an active, adaptive and goal-directed manner.<>
{"title":"A model for observing a moving agent","authors":"T. Sobh, R. Bajcsy","doi":"10.1109/IROS.1991.174437","DOIUrl":"https://doi.org/10.1109/IROS.1991.174437","url":null,"abstract":"The authors address the problem of observing a moving agent. In particular, they propose a system for observing a manipulation process, where a robot hand manipulates an object. A discrete event dynamic system framework is developed for the hand/object interaction over time and a stabilizing observer is constructed. Low-level modules are developed for recognizing the 'events' that cause state transitions within the dynamic manipulation system. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. The system utilizes different tracking techniques in order to observe and recognize the task in an active, adaptive and goal-directed manner.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"39 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":"124124418","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.1991.174607
I. Rudas, G. Mester
The novel control method presented addresses the problem to design a nonlinear feedback controller in case of uncertain dynamical parameters and other disturbances. The input torques necessary to drive the robot manipulator are on-line computed as a function of the unbiased, minimum variance estimates of the joint coordinates and velocities, and the corrected accelerations. The state estimator is given by the discrete Schmidt-Kalman filter. The development of the system model, the control law and the implementation of the technique are outlined.<>
{"title":"Industrial robot control in case of uncertain dynamical parameters","authors":"I. Rudas, G. Mester","doi":"10.1109/IROS.1991.174607","DOIUrl":"https://doi.org/10.1109/IROS.1991.174607","url":null,"abstract":"The novel control method presented addresses the problem to design a nonlinear feedback controller in case of uncertain dynamical parameters and other disturbances. The input torques necessary to drive the robot manipulator are on-line computed as a function of the unbiased, minimum variance estimates of the joint coordinates and velocities, and the corrected accelerations. The state estimator is given by the discrete Schmidt-Kalman filter. The development of the system model, the control law and the implementation of the technique are outlined.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"246 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":"124704583","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.1991.174550
T. Manabe, F. Miyazaki
Discusses a new type of learning control scheme for a class of discrete-time nonlinear system. The algorithm of the proposed learning control utilizes a local linearization technique by using a discrete Fourier transform (DFT) to design a learning operator and the numerical function iterative techniques. The secant method is used, which can find the best learning operator by itself at each learning step, in other words, at each calculation step of iteration. This proposed learning algorithm has been extensively tested by simulation on the computer.<>
{"title":"Learning control based on local linearization by using DFT","authors":"T. Manabe, F. Miyazaki","doi":"10.1109/IROS.1991.174550","DOIUrl":"https://doi.org/10.1109/IROS.1991.174550","url":null,"abstract":"Discusses a new type of learning control scheme for a class of discrete-time nonlinear system. The algorithm of the proposed learning control utilizes a local linearization technique by using a discrete Fourier transform (DFT) to design a learning operator and the numerical function iterative techniques. The secant method is used, which can find the best learning operator by itself at each learning step, in other words, at each calculation step of iteration. This proposed learning algorithm has been extensively tested by simulation on the computer.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"22 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":"128647944","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.1991.174442
F. Cheng, Tsing-Hua Chen, York-Yih Sun
The inverse kinematic problem of redundant manipulators is solved by the compact formulation technique. The compact formulation is derived by applying Gaussian elimination, then the general solutions are still formulated as a particular solution together with homogeneous solutions. The homogeneous solutions are merely functions of free variables. Inverse kinematic solutions derived by the pseudoinverse formulation can always be converted into a compact form. Also, it is proven that the implementation by the compact formulation is computationally more efficient. The inherent singularity problems of inverse kinematics are also considered. In order to obtain continuous and feasible joint-rate solutions even at or in the neighborhood of singular points and to improve the exactness in the achievable directions, the compact-inverse method is introduced. The compact-inverse method applies the compact formulation to constrain the manipulator to move into the achievable directions. It is believed that the compact formulation approach can resolve the inverse kinematic redundancy problem more efficiently and exactly than the traditional pseudoinverse formulation.<>
{"title":"Inverse kinematic solutions for redundant manipulators using compact formulation","authors":"F. Cheng, Tsing-Hua Chen, York-Yih Sun","doi":"10.1109/IROS.1991.174442","DOIUrl":"https://doi.org/10.1109/IROS.1991.174442","url":null,"abstract":"The inverse kinematic problem of redundant manipulators is solved by the compact formulation technique. The compact formulation is derived by applying Gaussian elimination, then the general solutions are still formulated as a particular solution together with homogeneous solutions. The homogeneous solutions are merely functions of free variables. Inverse kinematic solutions derived by the pseudoinverse formulation can always be converted into a compact form. Also, it is proven that the implementation by the compact formulation is computationally more efficient. The inherent singularity problems of inverse kinematics are also considered. In order to obtain continuous and feasible joint-rate solutions even at or in the neighborhood of singular points and to improve the exactness in the achievable directions, the compact-inverse method is introduced. The compact-inverse method applies the compact formulation to constrain the manipulator to move into the achievable directions. It is believed that the compact formulation approach can resolve the inverse kinematic redundancy problem more efficiently and exactly than the traditional pseudoinverse formulation.<<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":"130262303","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.1991.174536
C. Mirolo, E. Pagello
Starting from their (1989) past work on geometric modelling, the authors discuss various techniques for the robot motion planning problem and suggest further work in this field. The efficiency of any approach to motion planning is strongly related to the ability of getting relevant information from a small subset of the geometric items. Considering a restricted portion of the configuration space around the current configuration of the introduces some local issues. So, a spatial reasoning system is defined by the interactions between local focusing and a global view of the planning process.<>
{"title":"Local geometric issues for spatial reasoning in robot motion planning","authors":"C. Mirolo, E. Pagello","doi":"10.1109/IROS.1991.174536","DOIUrl":"https://doi.org/10.1109/IROS.1991.174536","url":null,"abstract":"Starting from their (1989) past work on geometric modelling, the authors discuss various techniques for the robot motion planning problem and suggest further work in this field. The efficiency of any approach to motion planning is strongly related to the ability of getting relevant information from a small subset of the geometric items. Considering a restricted portion of the configuration space around the current configuration of the introduces some local issues. So, a spatial reasoning system is defined by the interactions between local focusing and a global view of the planning process.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"13 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":"124448110","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.1991.174526
S. Hirai, Tadataka Asakawa
Proposes a method to estimate hand-to-object transformation for a hand-eye system. The method estimates hand-to-object transformation by achieving rotation about a fixed point on the object. The primary feature of the method is that the obtained estimation is almost free from visual measurement error. Several experimental results are also included.<>
{"title":"An active method for estimating the pose of an object grasped by a robot","authors":"S. Hirai, Tadataka Asakawa","doi":"10.1109/IROS.1991.174526","DOIUrl":"https://doi.org/10.1109/IROS.1991.174526","url":null,"abstract":"Proposes a method to estimate hand-to-object transformation for a hand-eye system. The method estimates hand-to-object transformation by achieving rotation about a fixed point on the object. The primary feature of the method is that the obtained estimation is almost free from visual measurement error. Several experimental results are also included.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"100 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":"126060973","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.1991.174426
H. Terasaki, T. Hasegawa, Hironobu Takahashi, T. Arakawa
This paper describes a method of planning grasps for parallel two-fingered grippers in order to pick up user-specified objects and place them at user-specified configurations. By characterizing local space around gripping positions, the method can plan grasps where the hand can move as freely as possible and then easily plan a path. It can plan regrasping where the grasps themselves and the regrasping placements are computed flexibly according to the environment. It can plan minimal sequences of regraspings for objects that have rotational symmetries.<>
{"title":"Automatic grasping and regrasping by space characterization for pick-and-place operations","authors":"H. Terasaki, T. Hasegawa, Hironobu Takahashi, T. Arakawa","doi":"10.1109/IROS.1991.174426","DOIUrl":"https://doi.org/10.1109/IROS.1991.174426","url":null,"abstract":"This paper describes a method of planning grasps for parallel two-fingered grippers in order to pick up user-specified objects and place them at user-specified configurations. By characterizing local space around gripping positions, the method can plan grasps where the hand can move as freely as possible and then easily plan a path. It can plan regrasping where the grasps themselves and the regrasping placements are computed flexibly according to the environment. It can plan minimal sequences of regraspings for objects that have rotational symmetries.<<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":"127516149","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.1991.174656
T. Fukuda, M. Fujiyoshi, K. Kosuge, F. Arai
A new mechanism of an electrostatic micromanipulator which has 6 DOF is proposed. Its main features are summarized as follows. First, it can be constructed in a very compact form, since the actuator system is fabricated and assembled through the photoetching process. Second, it can move along three axes (6 DOF) and rotate around each axis, and has high resolution with no backlash. In the experiments, a movable range of 3.15 micron and a rotatable angle of 1.1*10/sup -2/ degree are attained with an applied voltage of 350 V. A simulation result for dynamics to estimate the motion of the micromanipulator is shown.<>
{"title":"Electrostatic micromanipulator with 6 DOF","authors":"T. Fukuda, M. Fujiyoshi, K. Kosuge, F. Arai","doi":"10.1109/IROS.1991.174656","DOIUrl":"https://doi.org/10.1109/IROS.1991.174656","url":null,"abstract":"A new mechanism of an electrostatic micromanipulator which has 6 DOF is proposed. Its main features are summarized as follows. First, it can be constructed in a very compact form, since the actuator system is fabricated and assembled through the photoetching process. Second, it can move along three axes (6 DOF) and rotate around each axis, and has high resolution with no backlash. In the experiments, a movable range of 3.15 micron and a rotatable angle of 1.1*10/sup -2/ degree are attained with an applied voltage of 350 V. A simulation result for dynamics to estimate the motion of the micromanipulator is shown.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"462 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113998112","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.1991.174729
Junmin Pan, Junshi Cheng
Presents an experimental study of climbing and walking down a slope by the JTUWM-II quadruped robot. A scheme by which the walking robot detects the slope and measures the gradient of the slope with tactile sensors is proposed. An algorithm for the body to turn parallel with the sloping surface is developed. In the transition area gait adjustment is made for stable walking. Also the maximum gradient of the slope for the robot and the optimum body height are given.<>
{"title":"Study of quadruped walking robot climbing and walking down slope","authors":"Junmin Pan, Junshi Cheng","doi":"10.1109/IROS.1991.174729","DOIUrl":"https://doi.org/10.1109/IROS.1991.174729","url":null,"abstract":"Presents an experimental study of climbing and walking down a slope by the JTUWM-II quadruped robot. A scheme by which the walking robot detects the slope and measures the gradient of the slope with tactile sensors is proposed. An algorithm for the body to turn parallel with the sloping surface is developed. In the transition area gait adjustment is made for stable walking. Also the maximum gradient of the slope for the robot and the optimum body height are given.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"20 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":"121281949","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.1991.174594
T. Echigo
Proposes a new approach in which a 3D scene is segmented into free areas and object surfaces using: (1) sparse data which are obtained from trinocular stereo; and (2) occluded edges which can not be seen from at least one of the three cameras. Trinocular stereo is employed not only because it is more reliable for finding correspondences than binocular stereo, but also because it clearly classifies edge segments into 3D edge segments which can be seen from all three cameras and ones which can not be seen from at least one of the three cameras. The approach proposed consists of three steps: (1) to obtain free areas by using 3D edge segments which can be seen from all three cameras; (2) the free areas can be expanded by using edges occluded from at least one of the three cameras; and (3) to determine object surfaces. It is necessary to determine whether the 3D edge segments are occluding boundaries by using occluded edges which can not be seen from one of the cameras. One side of an occluding boundary can be taken to be an object surface. Therefore, object surfaces can be inferred using the occluded edges in trinocular stereo.<>
{"title":"Segmentation of a 3D scene into free areas and object surfaces by using occluded edges of trinocular stereo","authors":"T. Echigo","doi":"10.1109/IROS.1991.174594","DOIUrl":"https://doi.org/10.1109/IROS.1991.174594","url":null,"abstract":"Proposes a new approach in which a 3D scene is segmented into free areas and object surfaces using: (1) sparse data which are obtained from trinocular stereo; and (2) occluded edges which can not be seen from at least one of the three cameras. Trinocular stereo is employed not only because it is more reliable for finding correspondences than binocular stereo, but also because it clearly classifies edge segments into 3D edge segments which can be seen from all three cameras and ones which can not be seen from at least one of the three cameras. The approach proposed consists of three steps: (1) to obtain free areas by using 3D edge segments which can be seen from all three cameras; (2) the free areas can be expanded by using edges occluded from at least one of the three cameras; and (3) to determine object surfaces. It is necessary to determine whether the 3D edge segments are occluding boundaries by using occluded edges which can not be seen from one of the cameras. One side of an occluding boundary can be taken to be an object surface. Therefore, object surfaces can be inferred using the occluded edges in trinocular stereo.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"80 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":"126989023","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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