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.1997.655152
M. Wargui, M. Tadjine, A. Rachid
Most existing studies dealing with the scheduling of real-time control systems had neglected time variation in the perception, decision and actions loops of the controlled system, especially when this system is distributed over a broadcast network. In this paper, a distributed mobile robot architecture which takes into account the previous problem is proposed. To this end, a scheduling algorithm which allows one to determine accurately the message interarrival time at each node is developed. An application on a multiplexed field bus, named the controller area network (CAN), is also discussed.
{"title":"A scheduling approach for decentralized mobile robot control system","authors":"M. Wargui, M. Tadjine, A. Rachid","doi":"10.1109/IROS.1997.655152","DOIUrl":"https://doi.org/10.1109/IROS.1997.655152","url":null,"abstract":"Most existing studies dealing with the scheduling of real-time control systems had neglected time variation in the perception, decision and actions loops of the controlled system, especially when this system is distributed over a broadcast network. In this paper, a distributed mobile robot architecture which takes into account the previous problem is proposed. To this end, a scheduling algorithm which allows one to determine accurately the message interarrival time at each node is developed. An application on a multiplexed field bus, named the controller area network (CAN), is also 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":"18 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":"127208837","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.1997.656812
M. Asada
This paper presents an overview of three technical challenges as the RoboCup Physical Agent Challenge Phase 1: (1) moving the ball to the specified area (shooting, passing, and dribbling) with no stationary or moving obstacles, (2) catching the ball from an opponent or a common side player (receiving, goal-keeping, and intercepting), and (3) passing the ball between two players. The first two are concerned with single agent skills while the third one is related to a simple cooperative behavior. Motivation for these challenges and evaluation methodology are given.
{"title":"An overview of the RoboCup physical agent challenge: phase I","authors":"M. Asada","doi":"10.1109/IROS.1997.656812","DOIUrl":"https://doi.org/10.1109/IROS.1997.656812","url":null,"abstract":"This paper presents an overview of three technical challenges as the RoboCup Physical Agent Challenge Phase 1: (1) moving the ball to the specified area (shooting, passing, and dribbling) with no stationary or moving obstacles, (2) catching the ball from an opponent or a common side player (receiving, goal-keeping, and intercepting), and (3) passing the ball between two players. The first two are concerned with single agent skills while the third one is related to a simple cooperative behavior. Motivation for these challenges and evaluation methodology are 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":"06 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":"127368396","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.1997.656566
F. Kobayashi, T. Fukuda, K. Shimojima, Teruhiko Takusagawa
In this paper, we propose a new method for measuring the shape of objects. The proposed method is based on integrating stereo vision and shape-from-shading with evolutionary programming (EP). In some traditional methods the reflection of objects is treated as diffused reflection. However, the reflection of real objects consists of diffused and specular reflections, thus some methods cannot be applied to real objects. Photometric stereo can be applied to real objects, but this method needs many original images for measuring the shape accurately. The proposed method can apply Phong model to a reflectivity function and measure the shape of the object which have the effect of diffused and specular reflections. The method described using EP identifies the reflectivity function accurately.
{"title":"Shape measurement method integrating stereo vision and shape-from-shading with evolutionary programming","authors":"F. Kobayashi, T. Fukuda, K. Shimojima, Teruhiko Takusagawa","doi":"10.1109/IROS.1997.656566","DOIUrl":"https://doi.org/10.1109/IROS.1997.656566","url":null,"abstract":"In this paper, we propose a new method for measuring the shape of objects. The proposed method is based on integrating stereo vision and shape-from-shading with evolutionary programming (EP). In some traditional methods the reflection of objects is treated as diffused reflection. However, the reflection of real objects consists of diffused and specular reflections, thus some methods cannot be applied to real objects. Photometric stereo can be applied to real objects, but this method needs many original images for measuring the shape accurately. The proposed method can apply Phong model to a reflectivity function and measure the shape of the object which have the effect of diffused and specular reflections. The method described using EP identifies the reflectivity function accurately.","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":"127441281","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.1997.656571
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.1997.649103
Y. Tsumaki, H. Naruse, D. Nenchev, M. Uchiyama
We analyze some aspects of human physical skill and propose a model thereof, with a view to implementing such skills in robots. We implement our model in a control scheme which makes use of impedance control in combination with low-gain force control and feedforward control. The summation results show that the model is able to achieve the reference force, and at the same time, the manipulator shows impedance-type behavior. Furthermore, with this scheme it is possible to track the reference force quickly, when the disturbance is known apriori. The experiments show that the performance of our control scheme is very close to that of the human operator.
{"title":"On force control in human physical skill","authors":"Y. Tsumaki, H. Naruse, D. Nenchev, M. Uchiyama","doi":"10.1109/IROS.1997.649103","DOIUrl":"https://doi.org/10.1109/IROS.1997.649103","url":null,"abstract":"We analyze some aspects of human physical skill and propose a model thereof, with a view to implementing such skills in robots. We implement our model in a control scheme which makes use of impedance control in combination with low-gain force control and feedforward control. The summation results show that the model is able to achieve the reference force, and at the same time, the manipulator shows impedance-type behavior. Furthermore, with this scheme it is possible to track the reference force quickly, when the disturbance is known apriori. The experiments show that the performance of our control scheme is very close to that of the human operator.","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":"37 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":"132788910","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.1997.649063
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.1997.655088
A. Ohya, A. Kosaka, A. Kak
This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a mode-based vision system, and a non-stop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We report on experiments in a hallway using the YAMABICO robot.
{"title":"Vision-based navigation of mobile robot with obstacle avoidance by single camera vision and ultrasonic sensing","authors":"A. Ohya, A. Kosaka, A. Kak","doi":"10.1109/IROS.1997.655088","DOIUrl":"https://doi.org/10.1109/IROS.1997.655088","url":null,"abstract":"This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is done with a mode-based vision system, and a non-stop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We report on experiments in a hallway using the YAMABICO 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":"580 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":"134303952","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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