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.1997.655060
H. Noborio, T. Yoshioka, Shoji Tominaga
In the last decade, many sensor-based navigation algorithms have been proposed. In the sensor-based navigation, a robot arrives at its goal globally while avoiding neighbor obstacles locally by sensor information. In every environment, a mobile robot arrives at its goal surely. However if an environment has complicated shape, a mobile robot sometimes joins a loop and consequently runs long until its goal. In general, a loop consists of routes which a robot follows obstacles in the same direction. Nevertheless in most previous algorithms, a mobile robot follows an encountered obstacle in a constant direction. On this observation, a robot is exempted from participation of a loop by reversing a direction to follow an obstacle. The authors discuss algorithms in which the following direction is alternatively changed. This strategy has been adopted by cockroaches living in a natural environment. They then propose algorithms in which the following direction is randomly reversed. Then they compare paths generated by constant, alternative, and random selections in Bug2 and Classl under a graphics simulator for 2D complicated environments.
{"title":"On the sensor-based navigation by changing a direction to follow an encountered obstacle","authors":"H. Noborio, T. Yoshioka, Shoji Tominaga","doi":"10.1109/IROS.1997.655060","DOIUrl":"https://doi.org/10.1109/IROS.1997.655060","url":null,"abstract":"In the last decade, many sensor-based navigation algorithms have been proposed. In the sensor-based navigation, a robot arrives at its goal globally while avoiding neighbor obstacles locally by sensor information. In every environment, a mobile robot arrives at its goal surely. However if an environment has complicated shape, a mobile robot sometimes joins a loop and consequently runs long until its goal. In general, a loop consists of routes which a robot follows obstacles in the same direction. Nevertheless in most previous algorithms, a mobile robot follows an encountered obstacle in a constant direction. On this observation, a robot is exempted from participation of a loop by reversing a direction to follow an obstacle. The authors discuss algorithms in which the following direction is alternatively changed. This strategy has been adopted by cockroaches living in a natural environment. They then propose algorithms in which the following direction is randomly reversed. Then they compare paths generated by constant, alternative, and random selections in Bug2 and Classl under a graphics simulator for 2D complicated 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":"41 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121005761","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.1997.656806
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.1997.656796
E. I. Konukseven, B. Kaftanoglu
Robotics research continuously seeks to improve productivity in manufacturing automation. In the last several years, more and more efforts have been put in the integration of multiple sensors into robot systems. The goal is to make robots more adaptive and flexible in unstructured or frequently changing environments, and to enable robots to execute intelligent tasks. Thus the robot productivity as well as applicability can be improved. The object of this study is to develop a multisensor controlled robotic tracking and automatic pick and place system. The system is designed for recognizing and tracking an object which is selected from multiple objects that are unknown and randomly placed on a moving conveyor belt, using a vision, infrared and encoder sensors in the feedback loop. The robot tracks the parts and transfers them to the proper pallets.
{"title":"Moving part recognition and automatic pick and place using an industrial robot","authors":"E. I. Konukseven, B. Kaftanoglu","doi":"10.1109/IROS.1997.656796","DOIUrl":"https://doi.org/10.1109/IROS.1997.656796","url":null,"abstract":"Robotics research continuously seeks to improve productivity in manufacturing automation. In the last several years, more and more efforts have been put in the integration of multiple sensors into robot systems. The goal is to make robots more adaptive and flexible in unstructured or frequently changing environments, and to enable robots to execute intelligent tasks. Thus the robot productivity as well as applicability can be improved. The object of this study is to develop a multisensor controlled robotic tracking and automatic pick and place system. The system is designed for recognizing and tracking an object which is selected from multiple objects that are unknown and randomly placed on a moving conveyor belt, using a vision, infrared and encoder sensors in the feedback loop. The robot tracks the parts and transfers them to the proper pallets.","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":"68 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":"116021435","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.1997.655127
Takahiro Watanabe, M. Yachida
This paper presents a method of real time gesture recognition from image sequences. Real time gesture recognition is required for man machine interfaces and many multimedia applications. Our method recognizes a user's gesture in a low dimensional 'gesture space' which is constituted by Karhunen-Loeve (KL) expansion of model image sequences. We first segment a human part image in real time using the maskable template model which is an improved template matching method for gesture recognition. The segmented image sequence is represented as a gesture curve in the gesture space, and gesture is recognized by analyzing the curve. Using our method, we realize a real time interactive system, the Virtual Conductor System, which can control music played by a computer using gesture recognition results and indicates the usefulness of our method.
{"title":"Real-time gesture recognition using KL expansion of image sequence","authors":"Takahiro Watanabe, M. Yachida","doi":"10.1109/IROS.1997.655127","DOIUrl":"https://doi.org/10.1109/IROS.1997.655127","url":null,"abstract":"This paper presents a method of real time gesture recognition from image sequences. Real time gesture recognition is required for man machine interfaces and many multimedia applications. Our method recognizes a user's gesture in a low dimensional 'gesture space' which is constituted by Karhunen-Loeve (KL) expansion of model image sequences. We first segment a human part image in real time using the maskable template model which is an improved template matching method for gesture recognition. The segmented image sequence is represented as a gesture curve in the gesture space, and gesture is recognized by analyzing the curve. Using our method, we realize a real time interactive system, the Virtual Conductor System, which can control music played by a computer using gesture recognition results and indicates the usefulness of our method.","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":"116824930","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.1997.649038
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.1997.656612
Mark Ollis, A. Stentz
This paper describes a vision-based perception system which has been used to guide an automated harvester cutting fields of alfalfa hay. The system tracks the boundary between cut and uncut crop; indicates when the end of a crop row has been reached; and identifies obstacles in the harvester's path. The system adapts to local variations in lighting and crop conditions, and explicitly models and removes noise due to shadow. In field tests, the machine has successfully operated in four different locations, at sites in Pennsylvania, Kansas, and California. Using the vision system as the sole means of guidance, over 60 acres have been cut at speeds of up to 4.5 mph (typical human operating speeds range from 3-6 mph). Future work largely centers around combining vision and GPS based navigation techniques to produce a commercially viable product for use either as a navigation aid or for a completely autonomous system.
{"title":"Vision-based perception for an automated harvester","authors":"Mark Ollis, A. Stentz","doi":"10.1109/IROS.1997.656612","DOIUrl":"https://doi.org/10.1109/IROS.1997.656612","url":null,"abstract":"This paper describes a vision-based perception system which has been used to guide an automated harvester cutting fields of alfalfa hay. The system tracks the boundary between cut and uncut crop; indicates when the end of a crop row has been reached; and identifies obstacles in the harvester's path. The system adapts to local variations in lighting and crop conditions, and explicitly models and removes noise due to shadow. In field tests, the machine has successfully operated in four different locations, at sites in Pennsylvania, Kansas, and California. Using the vision system as the sole means of guidance, over 60 acres have been cut at speeds of up to 4.5 mph (typical human operating speeds range from 3-6 mph). Future work largely centers around combining vision and GPS based navigation techniques to produce a commercially viable product for use either as a navigation aid or for a completely autonomous system.","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":"12 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":"121404625","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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