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.1997.655093
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.1997.655133
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.1997.656439
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.1997.655158
Piotr Skrzypczyliski
In this paper a supervision and teleoperation system for an autonomous mobile robot is presented. The main hardware and software components of this system including the vehicle, sensors and navigation system are briefly described. The emphasis of this article is on methods for effective presentation of multisensor data to the human operator and on methods for cooperation between the operator and navigation system of the robot. A graphical user interface with 2D and 3D animation is presented. Experimental results are discussed.
{"title":"Supervision and teleoperation system for an autonomous mobile robot","authors":"Piotr Skrzypczyliski","doi":"10.1109/IROS.1997.655158","DOIUrl":"https://doi.org/10.1109/IROS.1997.655158","url":null,"abstract":"In this paper a supervision and teleoperation system for an autonomous mobile robot is presented. The main hardware and software components of this system including the vehicle, sensors and navigation system are briefly described. The emphasis of this article is on methods for effective presentation of multisensor data to the human operator and on methods for cooperation between the operator and navigation system of the robot. A graphical user interface with 2D and 3D animation is presented. Experimental results are discussed.","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":"2 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":"128482743","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.1997.649063
H. Adachi, N. Koyachi, T. Arai, Y. Shinohara
This paper describes a walking control scheme for a quadruped robot. In conventional walking control scheme, the leg motion is generated from the robot moving trajectory beforehand and it is difficult to control in real time. The proposed control scheme employs a real time command from a human operator instead of the moving trajectory. The operator gives a current planar moving velocity command to the robot. Body propulsive action is basically continued according with the command unless a problem arises. When a foot reaches the border of the work space of the leg, the body propulsive actions is interrupted and a supporting foot pattern is changed. That is, a foot's arrival at the border is considered as an event to trigger a recovery action for the body propulsion. The recovery actions are decided to converge to the intermittent crawl gait when straight walking command is continued. The proposed control scheme is evaluated using actual walking robot.
{"title":"Human-operated walking control of a quadruped by event-driven method","authors":"H. Adachi, N. Koyachi, T. Arai, Y. Shinohara","doi":"10.1109/IROS.1997.649063","DOIUrl":"https://doi.org/10.1109/IROS.1997.649063","url":null,"abstract":"This paper describes a walking control scheme for a quadruped robot. In conventional walking control scheme, the leg motion is generated from the robot moving trajectory beforehand and it is difficult to control in real time. The proposed control scheme employs a real time command from a human operator instead of the moving trajectory. The operator gives a current planar moving velocity command to the robot. Body propulsive action is basically continued according with the command unless a problem arises. When a foot reaches the border of the work space of the leg, the body propulsive actions is interrupted and a supporting foot pattern is changed. That is, a foot's arrival at the border is considered as an event to trigger a recovery action for the body propulsion. The recovery actions are decided to converge to the intermittent crawl gait when straight walking command is continued. The proposed control scheme is evaluated using actual walking 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":"35 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":"128540327","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.1997.656571
J. Kosecka, C. Tomlin, George J. Pappas, S. Sastry
We explore the use of distributed online motion planning algorithms for multiple mobile agents, in air traffic management systems (ATMS). The work is motivated by current trends in ATMS to move towards decentralized air traffic management, in which the aircraft operate in "free flight" mode instead of following prespecified "sky freeways". Conflict resolution strategies are an integral part of the free flight setting. The purpose of this paper is to obtain a set of manoeuvres to cover all possible conflict scenarios involving multiple agents. A distributed motion planning algorithm based on potential and vortex fields is used. While the algorithm is not always guaranteed to generate flyable trajectories, the obtained trajectories can serve as qualitative prototypes for coordination manoeuvres between multiple aircraft. The actual manoeuvres are generated by approximating these prototypes with trajectories made zip of straight lines and are further verified using hybrid verification techniques.
{"title":"Generation of conflict resolution manoeuvres for air traffic management","authors":"J. Kosecka, C. Tomlin, George J. Pappas, S. Sastry","doi":"10.1109/IROS.1997.656571","DOIUrl":"https://doi.org/10.1109/IROS.1997.656571","url":null,"abstract":"We explore the use of distributed online motion planning algorithms for multiple mobile agents, in air traffic management systems (ATMS). The work is motivated by current trends in ATMS to move towards decentralized air traffic management, in which the aircraft operate in \"free flight\" mode instead of following prespecified \"sky freeways\". Conflict resolution strategies are an integral part of the free flight setting. The purpose of this paper is to obtain a set of manoeuvres to cover all possible conflict scenarios involving multiple agents. A distributed motion planning algorithm based on potential and vortex fields is used. While the algorithm is not always guaranteed to generate flyable trajectories, the obtained trajectories can serve as qualitative prototypes for coordination manoeuvres between multiple aircraft. The actual manoeuvres are generated by approximating these prototypes with trajectories made zip of straight lines and are further verified using hybrid verification techniques.","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":"24 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":"130966749","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.1997.649077
R. Jarvis
This paper describes the integration of sensory data, path planning methodology and hydraulic motor power to create an autonomous, heavy duty, outdoor robotic tracked vehicle capable of hauling loads in working environments which can be initially unknown and time-varying. Potential applications include agricultural, forestry and surface mining operations as well as firefighting and search and rescue missions. Progress to date is reported along with development plans for the near future.
{"title":"An autonomous heavy duty outdoor robotic tracked vehicle","authors":"R. Jarvis","doi":"10.1109/IROS.1997.649077","DOIUrl":"https://doi.org/10.1109/IROS.1997.649077","url":null,"abstract":"This paper describes the integration of sensory data, path planning methodology and hydraulic motor power to create an autonomous, heavy duty, outdoor robotic tracked vehicle capable of hauling loads in working environments which can be initially unknown and time-varying. Potential applications include agricultural, forestry and surface mining operations as well as firefighting and search and rescue missions. Progress to date is reported along with development plans for the near future.","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":"34 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":"131063652","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.1997.656577
Sylvie Durand-Leguay, C. Reboulet
An analytical and algebraic procedure based on the screw-systems theory for the design of general parallel manipulators is presented. After recalling some theoretical features, serial kinematic chains are considered and then arranged in parallel, the resulting motion being specified as an elementary screw-system. Finally, constraints for the geometrical design as well as kinematic properties are deduced. The method described is applied to the design of a parallel structure with U-P-U joint kinematic chains.
{"title":"Design of a 3-DOF parallel translating manipulator with U-P-U joints kinematic chains","authors":"Sylvie Durand-Leguay, C. Reboulet","doi":"10.1109/IROS.1997.656577","DOIUrl":"https://doi.org/10.1109/IROS.1997.656577","url":null,"abstract":"An analytical and algebraic procedure based on the screw-systems theory for the design of general parallel manipulators is presented. After recalling some theoretical features, serial kinematic chains are considered and then arranged in parallel, the resulting motion being specified as an elementary screw-system. Finally, constraints for the geometrical design as well as kinematic properties are deduced. The method described is applied to the design of a parallel structure with U-P-U joint kinematic chains.","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":"130040283","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.1997.655070
A. Reina, J. Gonzáles
A radial laser scanner is a device that provides distances to the surrounding objects by scanning the environment in a plane (usually parallel to the ground). This paper is concerned with the calibration of one of such a sensor, called the Explorer. In particular we present a probabilistic sensor model that considers the sensor readings to be affected by Gaussian noise as well as truncated by the sensor resolution. We also describe some experiments aimed to characterize the range measurements against the operating time, different target materials, beam incidence angle, etc. A brief analysis of the angular error is also presented.
{"title":"Characterization of a radial laser scanner for mobile robot navigation","authors":"A. Reina, J. Gonzáles","doi":"10.1109/IROS.1997.655070","DOIUrl":"https://doi.org/10.1109/IROS.1997.655070","url":null,"abstract":"A radial laser scanner is a device that provides distances to the surrounding objects by scanning the environment in a plane (usually parallel to the ground). This paper is concerned with the calibration of one of such a sensor, called the Explorer. In particular we present a probabilistic sensor model that considers the sensor readings to be affected by Gaussian noise as well as truncated by the sensor resolution. We also describe some experiments aimed to characterize the range measurements against the operating time, different target materials, beam incidence angle, etc. A brief analysis of the angular error is 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":"34 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":"128163182","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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