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.1997.655153
A. Bauchspiess, S. A. Alfaro
This paper presents an online tracking optimization scheme for sensor guided robotic manipulators by associating the sensor information, manipulator dynamics and path generator model. Feedback linearization-decoupling permits the use of linear SISO prediction models for the dynamics of each robot joint. Scene interpretation of CCD-camera images generates spline fitted segments of future trajectory. In the sensor vision field the proposed optimization criteria minimizes the error between state variables of the prediction model and the state variables of the spline trajectory generator. These techniques, allied with the separation of disturbance rejection and path-tracking performance by the proposed feedforward following model predictive servo-controller design, permit very high path tracking dynamics (and consequently small errors). Experimental results on implementation of the CCD-camera guided hydraulic robot and welding robot demonstrates the practical relevance of the proposed approach.
{"title":"Predictive sensor guided robotic manipulators in automated welding cells","authors":"A. Bauchspiess, S. A. Alfaro","doi":"10.1109/IROS.1997.655153","DOIUrl":"https://doi.org/10.1109/IROS.1997.655153","url":null,"abstract":"This paper presents an online tracking optimization scheme for sensor guided robotic manipulators by associating the sensor information, manipulator dynamics and path generator model. Feedback linearization-decoupling permits the use of linear SISO prediction models for the dynamics of each robot joint. Scene interpretation of CCD-camera images generates spline fitted segments of future trajectory. In the sensor vision field the proposed optimization criteria minimizes the error between state variables of the prediction model and the state variables of the spline trajectory generator. These techniques, allied with the separation of disturbance rejection and path-tracking performance by the proposed feedforward following model predictive servo-controller design, permit very high path tracking dynamics (and consequently small errors). Experimental results on implementation of the CCD-camera guided hydraulic robot and welding robot demonstrates the practical relevance of the proposed approach.","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":"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":"125769607","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}
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.1997.655152
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.1997.655103
A. Konno, K. Nagashima, Ryouta Furukawa, K. Nishiwaki, T. Noda, M. Inaba, H. Inoue
This article addresses the development of a light-weight, human-size and low-cost developing humanoid robot named Saika. Saika has a 2-DOF neck, two 5-DOF upper arms, a torso and a head. Several types of hands and forearms are developed. They are chosen depending upon the tasks to perform. The features of Saika are: (a) Saika as modularized to reduce the developing cost and to make maintenance easy, (b) the total weight of the head, the neck, the two upper arms and the torso is only eight kilograms and (c) most of the motors are installed inside the arms and the torso.
{"title":"Development of a humanoid robot Saika","authors":"A. Konno, K. Nagashima, Ryouta Furukawa, K. Nishiwaki, T. Noda, M. Inaba, H. Inoue","doi":"10.1109/IROS.1997.655103","DOIUrl":"https://doi.org/10.1109/IROS.1997.655103","url":null,"abstract":"This article addresses the development of a light-weight, human-size and low-cost developing humanoid robot named Saika. Saika has a 2-DOF neck, two 5-DOF upper arms, a torso and a head. Several types of hands and forearms are developed. They are chosen depending upon the tasks to perform. The features of Saika are: (a) Saika as modularized to reduce the developing cost and to make maintenance easy, (b) the total weight of the head, the neck, the two upper arms and the torso is only eight kilograms and (c) most of the motors are installed inside the arms and the torso.","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":"122713748","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.1997.649076
M. Hashima, F. Hasegawa, S. Kanda, T. Maruyama, T. Uchiyama
This paper discusses a practical system which, when incorporated in an autonomous mobile robot moving indoors, can determine the position of the robot and detect obstacles so that the robot can navigate appropriately. We have developed new real-time, reliable techniques using correlation operations to achieve vision-based localization and obstacle detection. These techniques include a landmark detection technique that assures stable detection even under variable brightness and an obstacle measurement technique that combines obstacle region segmentation with stereo vision. Our experiments have proven that these techniques can make the necessary measurements in 100 ms, assure stable measurement in environments of varying brightness, and are sufficient for mobile robots.
{"title":"Localization and obstacle detection for robots for carrying food trays","authors":"M. Hashima, F. Hasegawa, S. Kanda, T. Maruyama, T. Uchiyama","doi":"10.1109/IROS.1997.649076","DOIUrl":"https://doi.org/10.1109/IROS.1997.649076","url":null,"abstract":"This paper discusses a practical system which, when incorporated in an autonomous mobile robot moving indoors, can determine the position of the robot and detect obstacles so that the robot can navigate appropriately. We have developed new real-time, reliable techniques using correlation operations to achieve vision-based localization and obstacle detection. These techniques include a landmark detection technique that assures stable detection even under variable brightness and an obstacle measurement technique that combines obstacle region segmentation with stereo vision. Our experiments have proven that these techniques can make the necessary measurements in 100 ms, assure stable measurement in environments of varying brightness, and are sufficient for mobile robots.","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":"45 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":"122844335","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.1997.655112
S. Rougeaux, Y. Kuniyoshi
Achieving the first step of a framework for human-robot interaction, we have designed a binocular tracking system which uses disparity and velocity information for the detection and pursuit of moving objects in cluttered environments without a-priori knowledge of the target shape or texture. The implemented system robustly tracks in real-time deformable objects such as human hands and faces, taking advantage of the mechanical and optical properties of ESCHeR, a high performances active vision head equipped with foveated wide-angle lenses.
{"title":"Robust real-time tracking on an active vision head","authors":"S. Rougeaux, Y. Kuniyoshi","doi":"10.1109/IROS.1997.655112","DOIUrl":"https://doi.org/10.1109/IROS.1997.655112","url":null,"abstract":"Achieving the first step of a framework for human-robot interaction, we have designed a binocular tracking system which uses disparity and velocity information for the detection and pursuit of moving objects in cluttered environments without a-priori knowledge of the target shape or texture. The implemented system robustly tracks in real-time deformable objects such as human hands and faces, taking advantage of the mechanical and optical properties of ESCHeR, a high performances active vision head equipped with foveated wide-angle lenses.","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":"122087478","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.1997.655111
M. Oussalah, H. Maaref, C. Barret
In order to develop an autonomous system, the problem of determining accurately the position of the robot has to be solved. In this paper we deal with landmark-based method where the location of the landmark is known with regard to the environment. These landmarks are composed of a set of infrared LEDs that help the mobile robot to accurately increase the accuracy of the estimation of its local position as given by the odometer sensor. Odometry reading and exteroceptive sensors are modelled in the setting of the possibility theory. The possibility distributions relative to different sensors are turned into the same referential, and then combined by means of an adaptive combination rule.
{"title":"Positioning of a mobile robot with landmark-based method","authors":"M. Oussalah, H. Maaref, C. Barret","doi":"10.1109/IROS.1997.655111","DOIUrl":"https://doi.org/10.1109/IROS.1997.655111","url":null,"abstract":"In order to develop an autonomous system, the problem of determining accurately the position of the robot has to be solved. In this paper we deal with landmark-based method where the location of the landmark is known with regard to the environment. These landmarks are composed of a set of infrared LEDs that help the mobile robot to accurately increase the accuracy of the estimation of its local position as given by the odometer sensor. Odometry reading and exteroceptive sensors are modelled in the setting of the possibility theory. The possibility distributions relative to different sensors are turned into the same referential, and then combined by means of an adaptive combination rule.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123469876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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