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.1997.648978
B. Cao, G. Dodds, G. Irwin
Planning for effective manipulation of single, redundant or multiple robot systems requires the consideration of the DOF, dexterity, tasks and constraints. A new approach to redundancy resolution for multiple cooperative robots is proposed. A relative Jacobian, thus relative dexterity, is clearly defined and derived for multiple robots. Sequential quadratic programming (SQP) is used to optimize the relative dexterity of the robots whilst satisfying task requirements and limits on joint angles. With this approach it is not necessary to balance the weightings between the performance index and those constraint terms in the cost function. Further the resulting joint configurations are globally optimal with respect to the specified cost. An illustrative example is included to demonstrate the usefulness of this approach. From this example, the relative dexterity of the arms has been found to be more useful than individual arm dexterities in planning the cooperative task.
{"title":"Optimal redundancy resolution for cooperative industrial robots","authors":"B. Cao, G. Dodds, G. Irwin","doi":"10.1109/IROS.1997.648978","DOIUrl":"https://doi.org/10.1109/IROS.1997.648978","url":null,"abstract":"Planning for effective manipulation of single, redundant or multiple robot systems requires the consideration of the DOF, dexterity, tasks and constraints. A new approach to redundancy resolution for multiple cooperative robots is proposed. A relative Jacobian, thus relative dexterity, is clearly defined and derived for multiple robots. Sequential quadratic programming (SQP) is used to optimize the relative dexterity of the robots whilst satisfying task requirements and limits on joint angles. With this approach it is not necessary to balance the weightings between the performance index and those constraint terms in the cost function. Further the resulting joint configurations are globally optimal with respect to the specified cost. An illustrative example is included to demonstrate the usefulness of this approach. From this example, the relative dexterity of the arms has been found to be more useful than individual arm dexterities in planning the cooperative task.","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":"185 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":"132225957","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.1997.656806
K. Osuka, T. Kinugasa, T. Ono
This paper shows the realization of sitting-down and standing-up motion of a legged robot. We present a new design method of nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then, through some experiments, we show the effectiveness of our control scheme.
{"title":"Nonlinear gain scheduling control of legged robot EMU-experimental result","authors":"K. Osuka, T. Kinugasa, T. Ono","doi":"10.1109/IROS.1997.656806","DOIUrl":"https://doi.org/10.1109/IROS.1997.656806","url":null,"abstract":"This paper shows the realization of sitting-down and standing-up motion of a legged robot. We present a new design method of nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then, through some experiments, we show the effectiveness of our control scheme.","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":"9 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":"115046361","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.1997.655137
K. Roh, Wang-Heon Lee, In-So Kweon
In this paper, we propose two new vision-based methods for indoor mobile robot navigation. One is a self-localization algorithm using projective invariant and the other is a method for obstacle detection by simple image difference and relative positioning. For a geometric model of corridor environment, we use natural features formed by floor, walls, and door frames. Using the cross-ratios of the features can be effective and robust in building and updating model-base, and image matching. We predefine a risk zone without obstacles for a robot, and store the image of the risk zone, which will be used to detect obstacles inside the zone by comparing the stored image with the current image of a new risk zone. The position of the robot and obstacles are determined by relative positioning. The robustness and feasibility of our algorithms have been demonstrated through experiments in corridor environments using the KASIRI-II indoor mobile robot.
{"title":"Obstacle detection and self-localization without camera calibration using projective invariants","authors":"K. Roh, Wang-Heon Lee, In-So Kweon","doi":"10.1109/IROS.1997.655137","DOIUrl":"https://doi.org/10.1109/IROS.1997.655137","url":null,"abstract":"In this paper, we propose two new vision-based methods for indoor mobile robot navigation. One is a self-localization algorithm using projective invariant and the other is a method for obstacle detection by simple image difference and relative positioning. For a geometric model of corridor environment, we use natural features formed by floor, walls, and door frames. Using the cross-ratios of the features can be effective and robust in building and updating model-base, and image matching. We predefine a risk zone without obstacles for a robot, and store the image of the risk zone, which will be used to detect obstacles inside the zone by comparing the stored image with the current image of a new risk zone. The position of the robot and obstacles are determined by relative positioning. The robustness and feasibility of our algorithms have been demonstrated through experiments in corridor environments using the KASIRI-II indoor mobile robot.","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":"22 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":"114571663","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.1997.649038
H. Kajita, K. Kosuge
This paper presents a force control strategy for a robot floating on the water. The central strategy reduces the number of vehicle actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. In this research, the relationship between thruster outputs and the contact force/moment at the endpoint is derived taking the restoring force into account, and the range of the realizable contact force is calculated using this relationship. Moreover, a simulator of the vehicle motion is developed and the results of experiment by means of this simulator illustrate the validity of the proposed algorithm.
{"title":"Force control of robot floating on the water utilizing vehicle restoring force","authors":"H. Kajita, K. Kosuge","doi":"10.1109/IROS.1997.649038","DOIUrl":"https://doi.org/10.1109/IROS.1997.649038","url":null,"abstract":"This paper presents a force control strategy for a robot floating on the water. The central strategy reduces the number of vehicle actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. In this research, the relationship between thruster outputs and the contact force/moment at the endpoint is derived taking the restoring force into account, and the range of the realizable contact force is calculated using this relationship. Moreover, a simulator of the vehicle motion is developed and the results of experiment by means of this simulator illustrate the validity of the proposed algorithm.","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":"114729396","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.1997.655068
Ben Stanley, P. McKerrow
Discusses the development of a binaural ultrasonic sensor for mobile robot navigation, which is capable of measuring the range and bearing angle to multiple targets. A novel aspect of the design of the sensor is that it calculates the bearing angle twice, using inter-aural time difference (ITD) and inter-aural amplitude difference (IAD). These calculations of bearing are independent of atmospheric fluctuations and the geometry of the reflecting object. These independent bearing calculations are used to solve the correspondence problem. Echo pairs whose bearings differ by more than an acceptable amount are discarded.
{"title":"Measuring range and bearing with a binaural ultrasonic sensor","authors":"Ben Stanley, P. McKerrow","doi":"10.1109/IROS.1997.655068","DOIUrl":"https://doi.org/10.1109/IROS.1997.655068","url":null,"abstract":"Discusses the development of a binaural ultrasonic sensor for mobile robot navigation, which is capable of measuring the range and bearing angle to multiple targets. A novel aspect of the design of the sensor is that it calculates the bearing angle twice, using inter-aural time difference (ITD) and inter-aural amplitude difference (IAD). These calculations of bearing are independent of atmospheric fluctuations and the geometry of the reflecting object. These independent bearing calculations are used to solve the correspondence problem. Echo pairs whose bearings differ by more than an acceptable amount are discarded.","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":"52 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":"116267235","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.1997.655100
P. Martín, J. Millán
This paper presents a modular neural controller that learns goal-oriented obstacle-avoiding motion strategies for a sensor-based three-link planar robot arm. It acquires these strategies through reinforcement learning from local sensory data. The controller has two reinforcement-based modules: a module for negotiating obstacles and a module for moving to the goal. Both modules generate actions that are interpreted with regard to a goal vector in the robot joint space. A differential inverse kinematics (DIV) module is used to obtain such a goal vector. The DIV module is based on the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics in polar coordinates. The controller achieves a satisfactory performance quite rapidly and shows good generalization capabilities in the face of new environments.
{"title":"A modular reinforcement-based neural controller for a three-link manipulator","authors":"P. Martín, J. Millán","doi":"10.1109/IROS.1997.655100","DOIUrl":"https://doi.org/10.1109/IROS.1997.655100","url":null,"abstract":"This paper presents a modular neural controller that learns goal-oriented obstacle-avoiding motion strategies for a sensor-based three-link planar robot arm. It acquires these strategies through reinforcement learning from local sensory data. The controller has two reinforcement-based modules: a module for negotiating obstacles and a module for moving to the goal. Both modules generate actions that are interpreted with regard to a goal vector in the robot joint space. A differential inverse kinematics (DIV) module is used to obtain such a goal vector. The DIV module is based on the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics in polar coordinates. The controller achieves a satisfactory performance quite rapidly and shows good generalization capabilities in the face of new environments.","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":"49 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":"115110461","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.1997.648971
Dong Sun, Yunhui Liu, J. Mills
Robotic manipulation of a general flexible object is an extremely difficult and challenging control problem. This paper shows that under a simple PD position feedback, the position/orientation of a general flexible object handled by two manipulators is able to approach the desired one and at the same time the vibration of each contact is suppressed. We use the "clamped-free" model to decompose the motion of the object into two components, a rigid and a flexible one, which allows us to treat them separately and achieve desired motions with a simple PD scheme. This is proved to work theoretically.
{"title":"Cooperative control of a two-manipulator system handling a general flexible object","authors":"Dong Sun, Yunhui Liu, J. Mills","doi":"10.1109/IROS.1997.648971","DOIUrl":"https://doi.org/10.1109/IROS.1997.648971","url":null,"abstract":"Robotic manipulation of a general flexible object is an extremely difficult and challenging control problem. This paper shows that under a simple PD position feedback, the position/orientation of a general flexible object handled by two manipulators is able to approach the desired one and at the same time the vibration of each contact is suppressed. We use the \"clamped-free\" model to decompose the motion of the object into two components, a rigid and a flexible one, which allows us to treat them separately and achieve desired motions with a simple PD scheme. This is proved to work theoretically.","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":"11 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":"115160212","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.1997.649071
Tomomasa Sato, T. Harada, Taketoshi Mori
This paper proposes a contact interaction robot (CIR) which utilizes contact behavior as the interaction means between a human and a robot. The CIR is a puppet robot designed so that the robot and the human touch each other. The psychological experiments are performed by utilizing a CIR equipped with pressure sensors on both sides of its neck and six servo motors in its neck, two arms and, two legs. The experimental results reveal that the CIR is able to moderate the painfulness perceived by the human as well as to bring a sense of relief.
{"title":"Contact interaction robot-communication between robot and human through contact behavior","authors":"Tomomasa Sato, T. Harada, Taketoshi Mori","doi":"10.1109/IROS.1997.649071","DOIUrl":"https://doi.org/10.1109/IROS.1997.649071","url":null,"abstract":"This paper proposes a contact interaction robot (CIR) which utilizes contact behavior as the interaction means between a human and a robot. The CIR is a puppet robot designed so that the robot and the human touch each other. The psychological experiments are performed by utilizing a CIR equipped with pressure sensors on both sides of its neck and six servo motors in its neck, two arms and, two legs. The experimental results reveal that the CIR is able to moderate the painfulness perceived by the human as well as to bring a sense of relief.","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":"5 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":"115256360","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.1997.655111
M. Oussalah, H. Maaref, C. Barret
In order to develop an autonomous system, the problem of determining accurately the position of the robot has to be solved. In this paper we deal with landmark-based method where the location of the landmark is known with regard to the environment. These landmarks are composed of a set of infrared LEDs that help the mobile robot to accurately increase the accuracy of the estimation of its local position as given by the odometer sensor. Odometry reading and exteroceptive sensors are modelled in the setting of the possibility theory. The possibility distributions relative to different sensors are turned into the same referential, and then combined by means of an adaptive combination rule.
{"title":"Positioning of a mobile robot with landmark-based method","authors":"M. Oussalah, H. Maaref, C. Barret","doi":"10.1109/IROS.1997.655111","DOIUrl":"https://doi.org/10.1109/IROS.1997.655111","url":null,"abstract":"In order to develop an autonomous system, the problem of determining accurately the position of the robot has to be solved. In this paper we deal with landmark-based method where the location of the landmark is known with regard to the environment. These landmarks are composed of a set of infrared LEDs that help the mobile robot to accurately increase the accuracy of the estimation of its local position as given by the odometer sensor. Odometry reading and exteroceptive sensors are modelled in the setting of the possibility theory. The possibility distributions relative to different sensors are turned into the same referential, and then combined by means of an adaptive combination rule.","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":"41 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":"123469876","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.1997.656804
A. Caffaz, S. Bernieri, G. Cannata, G. Casalino
This paper presents the prototype of the DIST robotic hand developed at the Graal-Lab of the University of Genova. In the current version, the hand is formed by a palm supporting four fingers. Each finger has four rotational degrees of freedom, and is equipped with custom built position sensors using Hall-effect transducers. The actuation of each finger is done using six tendons driven by five computer controlled DC motors. A kinematic analysis has been performed using simulation tools, with the goal of building a mechanism with size and mobility similar to those of human hand.
{"title":"The DIST-HAND robot","authors":"A. Caffaz, S. Bernieri, G. Cannata, G. Casalino","doi":"10.1109/IROS.1997.656804","DOIUrl":"https://doi.org/10.1109/IROS.1997.656804","url":null,"abstract":"This paper presents the prototype of the DIST robotic hand developed at the Graal-Lab of the University of Genova. In the current version, the hand is formed by a palm supporting four fingers. Each finger has four rotational degrees of freedom, and is equipped with custom built position sensors using Hall-effect transducers. The actuation of each finger is done using six tendons driven by five computer controlled DC motors. A kinematic analysis has been performed using simulation tools, with the goal of building a mechanism with size and mobility similar to those of human hand.","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":"16 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":"124469765","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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