Pub Date : 2005-07-18DOI: 10.1109/ICAR.2005.1507461
Chi-Yi Tsai, K. Song
This paper presents a novel visual tracking model in image plane for autonomous mobile robots. Based on this control model, a single visual tracking controller is proposed for both static and moving objects in a two-dimensional plane. In this design, the mobile robot is equipped with a fixed camera for environment detection. The visual feedback is used to control the robot pose for tracking a moving object of interest. A novel state space representation of the camera-object visual interaction model fully defined in the image plane is first derived, a closed-loop stabilizing control law is then designed. The visual tracking control scheme achieves exponential convergence of the closed-loop visual tracking system through pole-placement method. Simulation results verify the effectiveness of the proposed control scheme, both in terms of tracking performance and system convergence
{"title":"Visual tracking control of a mobile robot using a new model in image plane","authors":"Chi-Yi Tsai, K. Song","doi":"10.1109/ICAR.2005.1507461","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507461","url":null,"abstract":"This paper presents a novel visual tracking model in image plane for autonomous mobile robots. Based on this control model, a single visual tracking controller is proposed for both static and moving objects in a two-dimensional plane. In this design, the mobile robot is equipped with a fixed camera for environment detection. The visual feedback is used to control the robot pose for tracking a moving object of interest. A novel state space representation of the camera-object visual interaction model fully defined in the image plane is first derived, a closed-loop stabilizing control law is then designed. The visual tracking control scheme achieves exponential convergence of the closed-loop visual tracking system through pole-placement method. Simulation results verify the effectiveness of the proposed control scheme, both in terms of tracking performance and system convergence","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130836198","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507427
T. Danko, A. Kellas, P. Oh
Perch and stare is a maneuver where a vehicle flies to an overhead vantage point to provide a user with improved tactical information. This may include landing on rooftops, flying from rooftop to rooftop, or to windowsills all while carrying cameras or other intelligence gathering sensors. Miniature rotorcraft are ideal surveillance platforms, especially for perch and stare maneuvers because of their unique ability to take off and land vertically. Minimal vehicle size and weight also greatly enhance portability. Real world environmental influences such as fog, smoke, wind and cluttered or moving landing areas greatly complicate perch and stare maneuvers. This paper describes the application of optic flow and ultrasonic range finding sensors to increase miniature robotic rotorcraft autonomy for perch and stare maneuvers, especially in degraded environments
{"title":"Robotic rotorcraft and perch-and-stare: sensing landing zones and handling obscurants","authors":"T. Danko, A. Kellas, P. Oh","doi":"10.1109/ICAR.2005.1507427","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507427","url":null,"abstract":"Perch and stare is a maneuver where a vehicle flies to an overhead vantage point to provide a user with improved tactical information. This may include landing on rooftops, flying from rooftop to rooftop, or to windowsills all while carrying cameras or other intelligence gathering sensors. Miniature rotorcraft are ideal surveillance platforms, especially for perch and stare maneuvers because of their unique ability to take off and land vertically. Minimal vehicle size and weight also greatly enhance portability. Real world environmental influences such as fog, smoke, wind and cluttered or moving landing areas greatly complicate perch and stare maneuvers. This paper describes the application of optic flow and ultrasonic range finding sensors to increase miniature robotic rotorcraft autonomy for perch and stare maneuvers, especially in degraded environments","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121750052","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507433
Dongheui Lee, Y. Nakamura
In this paper, a new mimesis scheme is proposed. This scheme enables for a humanoid to imitate human's motion even though the humanoid cannot see human's whole-body motion and the humanoid has not seen the exactly same motion so far. Mimesis framework is based on continuous hidden Markov model. Viterbi algorithm is applied in order to generate more various motion patterns than the number of existing hidden Markov models. In order to imitate other's motion in a smooth way, a smoothing technique in generation problem is realized. The feasibility of this method is demonstrated by simulation on a 20 degrees of freedom humanoid robot configuration
{"title":"Probabilistic model of whole-body motion imitation from partial observations","authors":"Dongheui Lee, Y. Nakamura","doi":"10.1109/ICAR.2005.1507433","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507433","url":null,"abstract":"In this paper, a new mimesis scheme is proposed. This scheme enables for a humanoid to imitate human's motion even though the humanoid cannot see human's whole-body motion and the humanoid has not seen the exactly same motion so far. Mimesis framework is based on continuous hidden Markov model. Viterbi algorithm is applied in order to generate more various motion patterns than the number of existing hidden Markov models. In order to imitate other's motion in a smooth way, a smoothing technique in generation problem is realized. The feasibility of this method is demonstrated by simulation on a 20 degrees of freedom humanoid robot configuration","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121028237","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507495
Z. Butler
The addition of mobility to sensor networks gives users the ability to efficiently monitor environments about which little is known ahead of time. For example, if there is a suspected path through the forest that should be monitored, but its exact location is not known, sensors can be scattered through the area and converge on the path as people or animals are detected on it. In this work, we present several distributed algorithms for sensors to produce this convergence. The first is a robust positioning technique for open rectangular spaces. We also build on this to produce an algorithm for arbitrary connected spaces. In addition, we consider sensors that are inherently constrained in their motion, such as tethered sensors fixed to a single line of motion. We present both analytical and empirical results for a variety of cases and discuss extensions that will provide greater effectiveness
{"title":"Motion-constrained mobile sensor networks","authors":"Z. Butler","doi":"10.1109/ICAR.2005.1507495","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507495","url":null,"abstract":"The addition of mobility to sensor networks gives users the ability to efficiently monitor environments about which little is known ahead of time. For example, if there is a suspected path through the forest that should be monitored, but its exact location is not known, sensors can be scattered through the area and converge on the path as people or animals are detected on it. In this work, we present several distributed algorithms for sensors to produce this convergence. The first is a robust positioning technique for open rectangular spaces. We also build on this to produce an algorithm for arbitrary connected spaces. In addition, we consider sensors that are inherently constrained in their motion, such as tethered sensors fixed to a single line of motion. We present both analytical and empirical results for a variety of cases and discuss extensions that will provide greater effectiveness","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115538487","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507499
Yongjun Hou, G. Luecke
A control scheme for teleoperation systems with time delay is proposed based on a passivity concept. This control method requires neither the knowledge of the manipulator systems nor the environmental models. Moreover, the approach is applicable for any time delays. This model independence and time delay independence features make the proposed control method well suitable for teleoperation in the physical world. The applications include remote site explorations, telesurgery, space explorations and teleoperation through the Internet. The main contribution of this method is that it is less conservative than the traditional passivity based method. In our method, the passivity controller only operates when the system loses passivity, while in a traditional passivity formulation, the controller works all the time during the operations that may adversely affect the performance of the system
{"title":"Time delayed teleoperation system control, A passivity-based method","authors":"Yongjun Hou, G. Luecke","doi":"10.1109/ICAR.2005.1507499","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507499","url":null,"abstract":"A control scheme for teleoperation systems with time delay is proposed based on a passivity concept. This control method requires neither the knowledge of the manipulator systems nor the environmental models. Moreover, the approach is applicable for any time delays. This model independence and time delay independence features make the proposed control method well suitable for teleoperation in the physical world. The applications include remote site explorations, telesurgery, space explorations and teleoperation through the Internet. The main contribution of this method is that it is less conservative than the traditional passivity based method. In our method, the passivity controller only operates when the system loses passivity, while in a traditional passivity formulation, the controller works all the time during the operations that may adversely affect the performance of the system","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115100845","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507395
M. Kazemi, M. Mehrandezh, K. Gupta
We present a new sensor-based robot motion planning framework for mobile robot navigation in unknown environments. The main idea of the proposed planning approach, inspired by our recent works on using harmonic function-based probabilistic roadmaps (HFPRM) for robotic navigation in known environments (model-based cases) (Kazemi et al., 2004, 2005), is to utilize a fluid dynamic (FD) paradigm based on potential flows to identify and prioritize critical regions, i.e. narrow passages and hard-to-navigate regions, at the scan planning stage of a sensor-based probabilistic roadmap (PRM). The PRM, which efficiently captures the connectivity of the free space, is incrementally expanded as the robot senses the physical workspace. Computer simulations and experimental results obtained using a mobile robot equipped with ultrasonic range finders are presented
{"title":"Sensor-based robot path planning using harmonic function-based probabilistic roadmaps","authors":"M. Kazemi, M. Mehrandezh, K. Gupta","doi":"10.1109/ICAR.2005.1507395","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507395","url":null,"abstract":"We present a new sensor-based robot motion planning framework for mobile robot navigation in unknown environments. The main idea of the proposed planning approach, inspired by our recent works on using harmonic function-based probabilistic roadmaps (HFPRM) for robotic navigation in known environments (model-based cases) (Kazemi et al., 2004, 2005), is to utilize a fluid dynamic (FD) paradigm based on potential flows to identify and prioritize critical regions, i.e. narrow passages and hard-to-navigate regions, at the scan planning stage of a sensor-based probabilistic roadmap (PRM). The PRM, which efficiently captures the connectivity of the free space, is incrementally expanded as the robot senses the physical workspace. Computer simulations and experimental results obtained using a mobile robot equipped with ultrasonic range finders are presented","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117015966","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507409
S. Pagnottelli, S. Taraglio, P. Valigi, A. Zanela
An architecture for robot localization and navigation performing fusion among odometry, laser range data and range from a neural stereoscopic vision system is presented. The estimate robot position is used to safely navigate through the environment. The stereoscopic sub system delivers dense information in the entire field of view. This feature allows a safer navigation of the robot, since, for example, arch-like obstacles may be avoided. Experimental results are presented concerning localization and obstacle detection. The precision attained by the system allows safe navigation. The use of visual data is of great importance in many operative scenarios
{"title":"Visual and laser sensory data fusion for outdoor robot localisation and navigation","authors":"S. Pagnottelli, S. Taraglio, P. Valigi, A. Zanela","doi":"10.1109/ICAR.2005.1507409","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507409","url":null,"abstract":"An architecture for robot localization and navigation performing fusion among odometry, laser range data and range from a neural stereoscopic vision system is presented. The estimate robot position is used to safely navigate through the environment. The stereoscopic sub system delivers dense information in the entire field of view. This feature allows a safer navigation of the robot, since, for example, arch-like obstacles may be avoided. Experimental results are presented concerning localization and obstacle detection. The precision attained by the system allows safe navigation. The use of visual data is of great importance in many operative scenarios","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133710166","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507459
C. Carignan, M. Liszka, S. Roderick
The evolution of an arm exoskeleton design for treating shoulder pathology is examined. Tradeoffs between various kinematics configurations are explored, and a device with five active degrees of freedom is proposed. Two rapid-prototype designs were built and fitted to several subjects to verify the kinematic design and determine passive link adjustments. Control modes are developed for exercise therapy and functional rehabilitation, and a distributed software architecture that incorporates computer safety monitoring is described. Although intended primarily for therapy, the exoskeleton is also used to monitor progress in strength, range of motion, and functional task performance
{"title":"Design of an arm exoskeleton with scapula motion for shoulder rehabilitation","authors":"C. Carignan, M. Liszka, S. Roderick","doi":"10.1109/ICAR.2005.1507459","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507459","url":null,"abstract":"The evolution of an arm exoskeleton design for treating shoulder pathology is examined. Tradeoffs between various kinematics configurations are explored, and a device with five active degrees of freedom is proposed. Two rapid-prototype designs were built and fitted to several subjects to verify the kinematic design and determine passive link adjustments. Control modes are developed for exercise therapy and functional rehabilitation, and a distributed software architecture that incorporates computer safety monitoring is described. Although intended primarily for therapy, the exoskeleton is also used to monitor progress in strength, range of motion, and functional task performance","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133172187","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507415
C. Paul, J. Roberts, Hod Lipson, F. Cuevas
The design of legged robots for movement has usually been based on a series of rigid links connected by actuated or passively compliant joints. However, the potential utility of tensegrity, in which form can be achieved using a disconnected set of rigid elements connected by a continuous network of tensile elements, has not been considered in the design of legged robots. This paper introduces the idea of a legged robot based on a tensegrity structure, and demonstrates that the dynamics of such structures can be utilized for locomotion. A mobile robot based on a triangular tensegrity prism is presented, which is actuated by contraction of its transverse cables. The automatic design of a controller architecture for forward locomotion is performed in simulation using a genetic algorithm which demonstrates that the structure can generate multiple effective gait patterns for forward locomotion. A real world tensegrity robot is implemented based on the simulated robot, which is shown to be capable of producing forward locomotion. The results suggest that a tensegrity structure can provide the basis for extremely lightweight and robust mobile robots
{"title":"Gait production in a tensegrity based robot","authors":"C. Paul, J. Roberts, Hod Lipson, F. Cuevas","doi":"10.1109/ICAR.2005.1507415","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507415","url":null,"abstract":"The design of legged robots for movement has usually been based on a series of rigid links connected by actuated or passively compliant joints. However, the potential utility of tensegrity, in which form can be achieved using a disconnected set of rigid elements connected by a continuous network of tensile elements, has not been considered in the design of legged robots. This paper introduces the idea of a legged robot based on a tensegrity structure, and demonstrates that the dynamics of such structures can be utilized for locomotion. A mobile robot based on a triangular tensegrity prism is presented, which is actuated by contraction of its transverse cables. The automatic design of a controller architecture for forward locomotion is performed in simulation using a genetic algorithm which demonstrates that the structure can generate multiple effective gait patterns for forward locomotion. A real world tensegrity robot is implemented based on the simulated robot, which is shown to be capable of producing forward locomotion. The results suggest that a tensegrity structure can provide the basis for extremely lightweight and robust mobile robots","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129099788","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 : 2005-07-18DOI: 10.1109/ICAR.2005.1507384
Yueshi Shen, K. Huper
This paper presents a novel approach to plan an optimal joint trajectory for a manipulator robot performing a compliant motion task. In general, a two-step scheme are deployed to find the optimal robot joint curve. Firstly, we approximate the functional and use Newton's iteration to numerically calculate the joint trajectory's intermediate discretized points, instead of solving a corresponding nonlinear, implicit Euler-Lagrange equation. Secondly, we interpolate these points to get the final joint curve in a way such that the motion constraints will always be sustained throughout the movement. An example of motion planning for a 4-degree-of-freedom robot WAM are given at the end of this paper
{"title":"Optimal trajectory planning of manipulators subject to motion constraints","authors":"Yueshi Shen, K. Huper","doi":"10.1109/ICAR.2005.1507384","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507384","url":null,"abstract":"This paper presents a novel approach to plan an optimal joint trajectory for a manipulator robot performing a compliant motion task. In general, a two-step scheme are deployed to find the optimal robot joint curve. Firstly, we approximate the functional and use Newton's iteration to numerically calculate the joint trajectory's intermediate discretized points, instead of solving a corresponding nonlinear, implicit Euler-Lagrange equation. Secondly, we interpolate these points to get the final joint curve in a way such that the motion constraints will always be sustained throughout the movement. An example of motion planning for a 4-degree-of-freedom robot WAM are given at the end of this paper","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123343962","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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