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.1997.655086
N. Miyake, T. Aono, K. Fujii, Yuji Matsuda, S. Hatsumoto
A method for estimating the vehicle position by using a fiber optic gyroscope and wheel rotation encoders, as wall as a method for controlling the vehicle path using a path attracting force model, has been proposed. A method for improving the estimation accuracy by using the Global Positioning System (GPS), along with the above sensors, has also been proposed. An autonomous mobile robot is developed bases on a manually driven lawn-mower, and the performance of the proposed methods has been studied experimentally. The experimental results show the effectiveness of the proposed methods, and practicality as an autonomous lawn-mower has been confirmed.
{"title":"Position estimation and path control of an autonomous land vehicle","authors":"N. Miyake, T. Aono, K. Fujii, Yuji Matsuda, S. Hatsumoto","doi":"10.1109/IROS.1997.655086","DOIUrl":"https://doi.org/10.1109/IROS.1997.655086","url":null,"abstract":"A method for estimating the vehicle position by using a fiber optic gyroscope and wheel rotation encoders, as wall as a method for controlling the vehicle path using a path attracting force model, has been proposed. A method for improving the estimation accuracy by using the Global Positioning System (GPS), along with the above sensors, has also been proposed. An autonomous mobile robot is developed bases on a manually driven lawn-mower, and the performance of the proposed methods has been studied experimentally. The experimental results show the effectiveness of the proposed methods, and practicality as an autonomous lawn-mower has been confirmed.","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":"42 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":"124524086","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.1997.656464
G. Appenzeller, Joo-Ho Lee, H. Hashimoto
Intelligent spaces are rooms or areas that are equipped with sensors such as microphones or cameras that enable them to perceive what is happening in them. In such spaces that have an intelligence of their own a world model no longer is something the robot has alone but a service offered by the information infrastructure of the space. In this article we show how such an intelligent space can generate a topological map for robots by looking at the movements of people in the room. We describe the stereo vision system that is capable of tracking the 3D movements of several humans in real time and give experimental results obtained in a real-world environment with several people.
{"title":"Building topological maps by looking at people: an example of cooperation between intelligent spaces and robots","authors":"G. Appenzeller, Joo-Ho Lee, H. Hashimoto","doi":"10.1109/IROS.1997.656464","DOIUrl":"https://doi.org/10.1109/IROS.1997.656464","url":null,"abstract":"Intelligent spaces are rooms or areas that are equipped with sensors such as microphones or cameras that enable them to perceive what is happening in them. In such spaces that have an intelligence of their own a world model no longer is something the robot has alone but a service offered by the information infrastructure of the space. In this article we show how such an intelligent space can generate a topological map for robots by looking at the movements of people in the room. We describe the stereo vision system that is capable of tracking the 3D movements of several humans in real time and give experimental results obtained in a real-world environment with several people.","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":"131329035","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.1997.649004
K. Yoshida, K. Osuka, T. Nakano, T. Ono
A new design concept of a manipulator is proposed, which is called torque-unit manipulator (TUM). The TUM was just born out of an idea of utilizing counter-torque, and its position-controllability has been shown theoretically. Hence, mechanical implementation and experimental examination are very important for the TUM to be in practical use. In this paper, experimental results are shown using a prototype TUM which is 2 degree-of-freedom and a discussion is given.
{"title":"Experimental research of a torque-unit manipulator","authors":"K. Yoshida, K. Osuka, T. Nakano, T. Ono","doi":"10.1109/IROS.1997.649004","DOIUrl":"https://doi.org/10.1109/IROS.1997.649004","url":null,"abstract":"A new design concept of a manipulator is proposed, which is called torque-unit manipulator (TUM). The TUM was just born out of an idea of utilizing counter-torque, and its position-controllability has been shown theoretically. Hence, mechanical implementation and experimental examination are very important for the TUM to be in practical use. In this paper, experimental results are shown using a prototype TUM which is 2 degree-of-freedom and a discussion is given.","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":"25 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":"130171186","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.1997.655093
T. Mukai, N. Ohnishi
Image changes produced by a moving camera (optical flow) are an important information source of the observer's motion and structure of environment. Determination of the 3D motion and structure from optical flow is one of the most important problems in computer vision and intensively studied by researchers. However, previous works in this field have been unsatisfactory because they require the solution of nonlinear simultaneous equations using iterative search. In the present paper, we propose a method for the recovery of motion and structure from prospectively projected optical flow of feature points which move rigidly. In order to simplify the computation and obtain clear perspectives, we adopt a spherical image screen and arrange equations in linear form. As a result, our method does not require the solution of nonlinear simultaneous equations, but only requires solving linear ones. Simulation results of our method are also presented.
{"title":"Motion and structure from prospectively projected optical flow by solving linear simultaneous equation","authors":"T. Mukai, N. Ohnishi","doi":"10.1109/IROS.1997.655093","DOIUrl":"https://doi.org/10.1109/IROS.1997.655093","url":null,"abstract":"Image changes produced by a moving camera (optical flow) are an important information source of the observer's motion and structure of environment. Determination of the 3D motion and structure from optical flow is one of the most important problems in computer vision and intensively studied by researchers. However, previous works in this field have been unsatisfactory because they require the solution of nonlinear simultaneous equations using iterative search. In the present paper, we propose a method for the recovery of motion and structure from prospectively projected optical flow of feature points which move rigidly. In order to simplify the computation and obtain clear perspectives, we adopt a spherical image screen and arrange equations in linear form. As a result, our method does not require the solution of nonlinear simultaneous equations, but only requires solving linear ones. Simulation results of our method are also presented.","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":"55 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":"121634188","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.1997.655133
S. Maeda, Y. Kuno, Y. Shirai
The parametric eigenspace method was proposed by Murase-Nayar (1995) to recognize objects and their poses. It could be applied to robot navigation to locate the robot position. However, since similar images may often be taken at multiple locations in real scenes, it cannot always give the robot position reliably with a single image input. This problem can be solved using active vision, that is, combining localization results for images taken at multiple camera positions. Since similar images are projected to points close to one another in the eigenspace, we can tell before actual navigation when we cannot expect reliable localization results with a single image by examining the eigenspace. Moreover, further analysis of the eigenspace can give the best action sequences of camera motion to efficiently localize the robot position. This paper presents such an eigenspace analysis method. Experimental results show the effectiveness of the method.
{"title":"Active navigation vision based on eigenspace analysis","authors":"S. Maeda, Y. Kuno, Y. Shirai","doi":"10.1109/IROS.1997.655133","DOIUrl":"https://doi.org/10.1109/IROS.1997.655133","url":null,"abstract":"The parametric eigenspace method was proposed by Murase-Nayar (1995) to recognize objects and their poses. It could be applied to robot navigation to locate the robot position. However, since similar images may often be taken at multiple locations in real scenes, it cannot always give the robot position reliably with a single image input. This problem can be solved using active vision, that is, combining localization results for images taken at multiple camera positions. Since similar images are projected to points close to one another in the eigenspace, we can tell before actual navigation when we cannot expect reliable localization results with a single image by examining the eigenspace. Moreover, further analysis of the eigenspace can give the best action sequences of camera motion to efficiently localize the robot position. This paper presents such an eigenspace analysis method. Experimental results show the effectiveness of the 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":"28 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":"122424295","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.1997.656813
H. Kitano
An overview of RoboCup (The World Cup Robot Soccer), which offers opportunities for AI and robotics research by providing an attractive but formidable challenge. It also provides a range of challenge programs which is designed to evaluate specific technical issues. The challenge program will be up-dated and new challenges will be offered as technology progresses. Along with other programs such as an education program, RoboCup offers a comprehensive research program which promotes AI and robotics.
{"title":"RoboCup as a research program","authors":"H. Kitano","doi":"10.1109/IROS.1997.656813","DOIUrl":"https://doi.org/10.1109/IROS.1997.656813","url":null,"abstract":"An overview of RoboCup (The World Cup Robot Soccer), which offers opportunities for AI and robotics research by providing an attractive but formidable challenge. It also provides a range of challenge programs which is designed to evaluate specific technical issues. The challenge program will be up-dated and new challenges will be offered as technology progresses. Along with other programs such as an education program, RoboCup offers a comprehensive research program which promotes AI and robotics.","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":"27 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":"122453761","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.1997.656439
P. Hélin, M. Calin, V. Sadaune, N. Chaillet, C. Druon, A. Bourjault
This paper describes a micro-conveying station for micro-component assembly. It incorporates micro-grippers joined up a micro-conveyer stage. The micro-grippers are fabricated from a mechanical structure in polymer using micro-stereophotolithography process and actuated by shape memory alloy wires. The micro-grippers can work in a space of 10 mm diameter and can carry out opening and closing movements. Neural network identification and PID control are proposed for the closed-loop control the micro-grippers, and trajectory control is realized on one finger. The micro-conveyer stage uses surface acoustic waves generated from interdigital transducers to move a slider onto the surface of the substrate with a high degree of resolution (nanometer) and in several centimetres of operation length. A mechanical model for the energy transfer from the acoustic wave to the slider is proposed. A good agreement between the theory and the experiment is obtained.
{"title":"Micro-conveying station for assembly of micro-components","authors":"P. Hélin, M. Calin, V. Sadaune, N. Chaillet, C. Druon, A. Bourjault","doi":"10.1109/IROS.1997.656439","DOIUrl":"https://doi.org/10.1109/IROS.1997.656439","url":null,"abstract":"This paper describes a micro-conveying station for micro-component assembly. It incorporates micro-grippers joined up a micro-conveyer stage. The micro-grippers are fabricated from a mechanical structure in polymer using micro-stereophotolithography process and actuated by shape memory alloy wires. The micro-grippers can work in a space of 10 mm diameter and can carry out opening and closing movements. Neural network identification and PID control are proposed for the closed-loop control the micro-grippers, and trajectory control is realized on one finger. The micro-conveyer stage uses surface acoustic waves generated from interdigital transducers to move a slider onto the surface of the substrate with a high degree of resolution (nanometer) and in several centimetres of operation length. A mechanical model for the energy transfer from the acoustic wave to the slider is proposed. A good agreement between the theory and the experiment is obtained.","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":"122456013","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.1997.655060
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.1997.655128
R. Colbaugh, E. Barany, K. Glass
This paper presents a new adaptive controller as a solution to the problem of stabilizing nonholonomic mechanical systems in the presence of incomplete information concerning the system dynamic model. The proposed control system consists of two subsystems: a slightly modified version of the kinematic stabilization strategy of M'Closkey and Murray, which generates a desired velocity trajectory for the nonholonomic system, and an adaptive control scheme which ensures that this velocity trajectory is accurately tracked. This approach is shown to provide arbitrarily accurate stabilization to any desired configuration and can be implemented with no knowledge of the system dynamic model. The efficacy of the proposed stabilization strategy is illustrated through computer simulations with two nonholonomic mechanical systems.
{"title":"Adaptive stabilization of uncertain nonholonomic mechanical systems","authors":"R. Colbaugh, E. Barany, K. Glass","doi":"10.1109/IROS.1997.655128","DOIUrl":"https://doi.org/10.1109/IROS.1997.655128","url":null,"abstract":"This paper presents a new adaptive controller as a solution to the problem of stabilizing nonholonomic mechanical systems in the presence of incomplete information concerning the system dynamic model. The proposed control system consists of two subsystems: a slightly modified version of the kinematic stabilization strategy of M'Closkey and Murray, which generates a desired velocity trajectory for the nonholonomic system, and an adaptive control scheme which ensures that this velocity trajectory is accurately tracked. This approach is shown to provide arbitrarily accurate stabilization to any desired configuration and can be implemented with no knowledge of the system dynamic model. The efficacy of the proposed stabilization strategy is illustrated through computer simulations with two nonholonomic mechanical systems.","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":"127054586","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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