Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97最新文献
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.656552
Doik Kim, W. Chung, Y. Youm
Generally, singularity analysis of 6-DOF parallel manipulators is very difficult and, as a result, the velocity relation has many uncertainties. Many researchers have reported that the forward position kinematics can be solved more easily with extra sensors. However, the relation of the velocity kinematics with extra sensors has not been fully studied yet. In this paper, an alternative method using the local structuralization method (LSM) for the analysis of singular configurations is presented. With LSM, the velocity relation can be represented in a simple form, and the result is totally equivalent to the conventional velocity relation. The velocity relation suggested in this paper gives a closed-form solution of singularities.
{"title":"Singularity analysis of 6-DOF parallel manipulator with local structuralization method","authors":"Doik Kim, W. Chung, Y. Youm","doi":"10.1109/IROS.1997.656552","DOIUrl":"https://doi.org/10.1109/IROS.1997.656552","url":null,"abstract":"Generally, singularity analysis of 6-DOF parallel manipulators is very difficult and, as a result, the velocity relation has many uncertainties. Many researchers have reported that the forward position kinematics can be solved more easily with extra sensors. However, the relation of the velocity kinematics with extra sensors has not been fully studied yet. In this paper, an alternative method using the local structuralization method (LSM) for the analysis of singular configurations is presented. With LSM, the velocity relation can be represented in a simple form, and the result is totally equivalent to the conventional velocity relation. The velocity relation suggested in this paper gives a closed-form solution of singularities.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130398964","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 : 1997-09-07DOI: 10.1109/IROS.1997.648974
M. Yamakita, Koji Suzuki, Xin-Zhi Zheng, M. Katayama, Koji Ito
Traditionally, tasks for a manipulator are specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such tasks, passive velocity field control (PVFC) has been proposed and the geometry of the controlled systems was analyzed. In this paper, a method to extend the PVFC to cooperative multiple manipulators is proposed, and the effectiveness of the control method is demonstrated by numerical simulations, and some properties are shown.
{"title":"An extension of passive velocity field control to cooperative multiple manipulator systems","authors":"M. Yamakita, Koji Suzuki, Xin-Zhi Zheng, M. Katayama, Koji Ito","doi":"10.1109/IROS.1997.648974","DOIUrl":"https://doi.org/10.1109/IROS.1997.648974","url":null,"abstract":"Traditionally, tasks for a manipulator are specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such tasks, passive velocity field control (PVFC) has been proposed and the geometry of the controlled systems was analyzed. In this paper, a method to extend the PVFC to cooperative multiple manipulators is proposed, and the effectiveness of the control method is demonstrated by numerical simulations, and some properties are shown.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123368871","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 : 1997-09-07DOI: 10.1109/IROS.1997.649072
Y. Kuno, T. Yagi, Y. Uchikawa
The purpose of this study is to develop a human-friendly communication tool between a man and a machine. In most of conventional communication tools, humans have control of the machine; however, we believe that the future machine should be able to sense the operator's behavior or intention in order to function. Therefore, focusing on the operator's "biological signals", we attempt to apply the signals to a tool to control a machine thus reducing the required action from the operator. In this paper, we demonstrate on how to control a mobile stage with one of the biological signals, the electro-oculogram (EOG), which is generated corresponding to the eye movements. In addition, we discuss the feasibility of eye-movement-related EEG (electro-encephalogram) application on the basis of the present result in our EEC study.
{"title":"Biological interaction between man and machine","authors":"Y. Kuno, T. Yagi, Y. Uchikawa","doi":"10.1109/IROS.1997.649072","DOIUrl":"https://doi.org/10.1109/IROS.1997.649072","url":null,"abstract":"The purpose of this study is to develop a human-friendly communication tool between a man and a machine. In most of conventional communication tools, humans have control of the machine; however, we believe that the future machine should be able to sense the operator's behavior or intention in order to function. Therefore, focusing on the operator's \"biological signals\", we attempt to apply the signals to a tool to control a machine thus reducing the required action from the operator. In this paper, we demonstrate on how to control a mobile stage with one of the biological signals, the electro-oculogram (EOG), which is generated corresponding to the eye movements. In addition, we discuss the feasibility of eye-movement-related EEG (electro-encephalogram) application on the basis of the present result in our EEC study.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122185104","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 : 1997-09-07DOI: 10.1109/IROS.1997.656600
Anhui Cai, T. Fukuda, F. Arai
Problems of information sharing among multi-robots in cellular robotic systems (CEBOT) are described. Information sharing in three aspects (task descriptions, acquiring of robot states and acquiring of environment states) and hierarchical control architecture related to the sharing in three levels are proposed to enhance the efficiency of reasoning and planning for cooperative actions. Then, sensing information sharing related to acquiring of environment states is mainly dealt with, which is refereed to as distributed sensing focussing on sensing information exchange and integration among robots. Through analyzing the nature of distributed sensing, an approach for integration of distributed sensing information, based on evidential reasoning, is proposed. The proposed approach is examined with an application environment map building and maintaining through simulation, and the effectiveness of the distributed sensing approach for acquiring of environment states is shown.
{"title":"Information sharing among multiple robots for cooperation in cellular robotic system","authors":"Anhui Cai, T. Fukuda, F. Arai","doi":"10.1109/IROS.1997.656600","DOIUrl":"https://doi.org/10.1109/IROS.1997.656600","url":null,"abstract":"Problems of information sharing among multi-robots in cellular robotic systems (CEBOT) are described. Information sharing in three aspects (task descriptions, acquiring of robot states and acquiring of environment states) and hierarchical control architecture related to the sharing in three levels are proposed to enhance the efficiency of reasoning and planning for cooperative actions. Then, sensing information sharing related to acquiring of environment states is mainly dealt with, which is refereed to as distributed sensing focussing on sensing information exchange and integration among robots. Through analyzing the nature of distributed sensing, an approach for integration of distributed sensing information, based on evidential reasoning, is proposed. The proposed approach is examined with an application environment map building and maintaining through simulation, and the effectiveness of the distributed sensing approach for acquiring of environment states is shown.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114200672","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 : 1997-09-07DOI: 10.1109/IROS.1997.656575
T. Arai, H. Funabashi, Yoshihiko Nakamura, Y. Takeda, Y. Koseki
We have established a research collaboration project to develop a precise and high-speed arm applied to assembly process in electrical product and machine industries, supported by the International Robots and Factory Automation Foundation (IROFA). The paper addresses the background of the development, the required specification for the robot arm, and the brief introduction of the prototype arm.
{"title":"High speed and high precision parallel mechanism","authors":"T. Arai, H. Funabashi, Yoshihiko Nakamura, Y. Takeda, Y. Koseki","doi":"10.1109/IROS.1997.656575","DOIUrl":"https://doi.org/10.1109/IROS.1997.656575","url":null,"abstract":"We have established a research collaboration project to develop a precise and high-speed arm applied to assembly process in electrical product and machine industries, supported by the International Robots and Factory Automation Foundation (IROFA). The paper addresses the background of the development, the required specification for the robot arm, and the brief introduction of the prototype arm.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121071995","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 : 1997-09-07DOI: 10.1109/IROS.1997.656417
Qiang Huang, S. Sugano, K. Tanie
In order for a mobile manipulator to move stably (not overturn) and execute the given motions of the end-effect and the vehicle simultaneously, a manipulator must have redundancy. By using this redundancy, it is possible to perform task at an optimal manipulation configuration when the robot is stable, and recovering the system's stability when the robot is unstable. The ability to recover stability by this manipulator compensation motion is limited. Thus in order to ensure the feasibility of stability compensation, the task plan or vehicle motion must be within this ability. In this paper, first the concept of stability compensation range by static posture change is proposed. Then, within the stability compensation range, the compensation motion of a redundant manipulator considering the manipulation configuration and the system stability is derived, given the motions of the end-effector and the vehicle. Finally, the effectiveness of this method is illustrated by simulation experiments.
{"title":"Stability compensation of a mobile manipulator by manipulator motion: feasibility and planning","authors":"Qiang Huang, S. Sugano, K. Tanie","doi":"10.1109/IROS.1997.656417","DOIUrl":"https://doi.org/10.1109/IROS.1997.656417","url":null,"abstract":"In order for a mobile manipulator to move stably (not overturn) and execute the given motions of the end-effect and the vehicle simultaneously, a manipulator must have redundancy. By using this redundancy, it is possible to perform task at an optimal manipulation configuration when the robot is stable, and recovering the system's stability when the robot is unstable. The ability to recover stability by this manipulator compensation motion is limited. Thus in order to ensure the feasibility of stability compensation, the task plan or vehicle motion must be within this ability. In this paper, first the concept of stability compensation range by static posture change is proposed. Then, within the stability compensation range, the compensation motion of a redundant manipulator considering the manipulation configuration and the system stability is derived, given the motions of the end-effector and the vehicle. Finally, the effectiveness of this method is illustrated by simulation experiments.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121704561","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 : 1997-09-07DOI: 10.1109/IROS.1997.656570
L. Parker
An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring the movements of targets navigating in a bounded area of interest. In this paper, we investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. We focus primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robed team member in the area of interest. This paper first formalizes the problem and discusses related work. We then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. We analyze the effectiveness of our approach by comparing it to three other feasible algorithms for cooperative control, showing the superiority of our approach for a large class of problems.
{"title":"Cooperative motion control for multi-target observation","authors":"L. Parker","doi":"10.1109/IROS.1997.656570","DOIUrl":"https://doi.org/10.1109/IROS.1997.656570","url":null,"abstract":"An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring the movements of targets navigating in a bounded area of interest. In this paper, we investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. We focus primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robed team member in the area of interest. This paper first formalizes the problem and discusses related work. We then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. We analyze the effectiveness of our approach by comparing it to three other feasible algorithms for cooperative control, showing the superiority of our approach for a large class of problems.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122926674","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 : 1997-09-07DOI: 10.1109/IROS.1997.656545
E. Piat, D. Meizel
In order to perform occupancy grid building of in-door environmental for autonomous mobile robot, this paper presents a methodology allowing the merging of beliefs associated to hypotheses represented by binary proposition H like "this particular element belongs to this particular set". In this paper, elements processed are vectors representing points which belong to obstacles. Belief notion is introduced in the combined framework of logic and probability theory and the problem is posed as follows: if different sensors give their own belief in an hypotheses H, how is it possible to merge these believes? Two cases necessary to solve formally occupancy grid building are developed: either sensors characterize different points or sensors characterize the same point. Obtained results are applied to ultrasonic range data fusion.
{"title":"Proposal of a probabilistic believes fusion framework. Application to range data fusion","authors":"E. Piat, D. Meizel","doi":"10.1109/IROS.1997.656545","DOIUrl":"https://doi.org/10.1109/IROS.1997.656545","url":null,"abstract":"In order to perform occupancy grid building of in-door environmental for autonomous mobile robot, this paper presents a methodology allowing the merging of beliefs associated to hypotheses represented by binary proposition H like \"this particular element belongs to this particular set\". In this paper, elements processed are vectors representing points which belong to obstacles. Belief notion is introduced in the combined framework of logic and probability theory and the problem is posed as follows: if different sensors give their own belief in an hypotheses H, how is it possible to merge these believes? Two cases necessary to solve formally occupancy grid building are developed: either sensors characterize different points or sensors characterize the same point. Obtained results are applied to ultrasonic range data fusion.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"10 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131471865","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 : 1997-09-07DOI: 10.1109/IROS.1997.656547
Takuya Ohko, K. Hiraki, Y. Anzai
This paper describes communication load reduction on task negotiation with contract net protocol (CNP) for multiple autonomous mobile robots. For controlling multiple robots, CNP is useful, but the broadcast of task announcement messages on CNP tends to consume much communication load. In order to overcome this problem, the authors have developed a system called LEMMING which learns proper addresses for the task announcement messages with case-based reasoning. However, the learning method used in LEMMING sometimes caused inefficient task execution. In this paper, we propose an extension of LEMMING with message interception which enables the system to execute tasks more efficiently by eavesdropping on leaked message.
{"title":"Reducing communication load on contract net by case-based reasoning-eavesdropping for utilizing message leakage","authors":"Takuya Ohko, K. Hiraki, Y. Anzai","doi":"10.1109/IROS.1997.656547","DOIUrl":"https://doi.org/10.1109/IROS.1997.656547","url":null,"abstract":"This paper describes communication load reduction on task negotiation with contract net protocol (CNP) for multiple autonomous mobile robots. For controlling multiple robots, CNP is useful, but the broadcast of task announcement messages on CNP tends to consume much communication load. In order to overcome this problem, the authors have developed a system called LEMMING which learns proper addresses for the task announcement messages with case-based reasoning. However, the learning method used in LEMMING sometimes caused inefficient task execution. In this paper, we propose an extension of LEMMING with message interception which enables the system to execute tasks more efficiently by eavesdropping on leaked message.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127716067","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 : 1997-09-07DOI: 10.1109/IROS.1997.649060
M. Piaggio, G. Vercelli, R. Zaccaria
In this paper we discuss the architecture a reactive agent that copes with autonomous robot navigation problems, with partial knowledge of the environment, and capable of accepting problems due to limit cycles or deadlocks. The agent is part of a general multilevel cognitive framework and we focus here on the model of the agent and the navigation problems it is well suited for, with particular attention to those ones which require a knowledge-based approach.
{"title":"A reactive sensor-based system for solving navigation problems of an autonomous robot","authors":"M. Piaggio, G. Vercelli, R. Zaccaria","doi":"10.1109/IROS.1997.649060","DOIUrl":"https://doi.org/10.1109/IROS.1997.649060","url":null,"abstract":"In this paper we discuss the architecture a reactive agent that copes with autonomous robot navigation problems, with partial knowledge of the environment, and capable of accepting problems due to limit cycles or deadlocks. The agent is part of a general multilevel cognitive framework and we focus here on the model of the agent and the navigation problems it is well suited for, with particular attention to those ones which require a knowledge-based approach.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127782657","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：