Pub Date : 2005-07-18DOI: 10.1109/ICAR.2005.1507453
T. Bandyopadhyay, Zheng Liu, M. Ang, W. Seah
How to enable a robot to explore in an unknown environment containing obstacles via local sensing is an important research issue for robot navigation, map building, and localization. In this paper, a reactive and visibility-based exploration algorithm is proposed. By line-of-sight sensors, the robot can find the occlusion points between covered and uncovered regions, and then approach these occlusion points to "sweep" the area. In addition, a prediction model based on local sensing is applied to refine the trajectory when the robot is moving; therefore as the robot tries to cover unknown area, it also tries to maximize the monitoring of covered area. Simulation experiment shows the efficacy of our approach
{"title":"Visibility-based exploration in unknown environment containing structured obstacles","authors":"T. Bandyopadhyay, Zheng Liu, M. Ang, W. Seah","doi":"10.1109/ICAR.2005.1507453","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507453","url":null,"abstract":"How to enable a robot to explore in an unknown environment containing obstacles via local sensing is an important research issue for robot navigation, map building, and localization. In this paper, a reactive and visibility-based exploration algorithm is proposed. By line-of-sight sensors, the robot can find the occlusion points between covered and uncovered regions, and then approach these occlusion points to \"sweep\" the area. In addition, a prediction model based on local sensing is applied to refine the trajectory when the robot is moving; therefore as the robot tries to cover unknown area, it also tries to maximize the monitoring of covered area. Simulation experiment shows the efficacy of our approach","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"10 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":"125632190","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.2005.1507445
W. Takano, H. Tanie, Y. Nakamura
Mimesis is a hypothesis that human intelligence originated where motion recognition and motion generation interact through imitation. We previously proposed the mathematical model of mimesis using hidden Markov models (HMM) and constructed the proto symbol space from parameters of each HMM. The proto symbol space included only 10 motion patterns. No attention was paid on the relationship between behavior pattern and parts of body. It is common that a human observer pays an attention to the relationship between the parts of body and the behaviors recognizing performer's behavior pattern. In this paper, we discuss key feature extraction from a rich database of behavior patterns based on probabilistic categorization among HMMs. The method is also applied to extract body parts that characterize behavior patterns
{"title":"Key feature extraction for probabilistic categorization of human motion patterns","authors":"W. Takano, H. Tanie, Y. Nakamura","doi":"10.1109/ICAR.2005.1507445","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507445","url":null,"abstract":"Mimesis is a hypothesis that human intelligence originated where motion recognition and motion generation interact through imitation. We previously proposed the mathematical model of mimesis using hidden Markov models (HMM) and constructed the proto symbol space from parameters of each HMM. The proto symbol space included only 10 motion patterns. No attention was paid on the relationship between behavior pattern and parts of body. It is common that a human observer pays an attention to the relationship between the parts of body and the behaviors recognizing performer's behavior pattern. In this paper, we discuss key feature extraction from a rich database of behavior patterns based on probabilistic categorization among HMMs. The method is also applied to extract body parts that characterize behavior patterns","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"33 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":"127369196","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.2005.1507452
F. Ando, Alfredo Weitzenfeld Ridel
The robotic implementation of Rana computatrix uses a geometric algorithm to regain visual input that is "lost" as the result of its orienting behavior. In this paper the Crowley-Arbib saccade model is implemented in order to give this problem a solution with a biological basis. Three approaches are proposed and simulated and one is used in a small four-legged robot
{"title":"Visual input compensation using the Crowley-Arbib saccade model","authors":"F. Ando, Alfredo Weitzenfeld Ridel","doi":"10.1109/ICAR.2005.1507452","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507452","url":null,"abstract":"The robotic implementation of Rana computatrix uses a geometric algorithm to regain visual input that is \"lost\" as the result of its orienting behavior. In this paper the Crowley-Arbib saccade model is implemented in order to give this problem a solution with a biological basis. Three approaches are proposed and simulated and one is used in a small four-legged robot","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"4 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":"116917249","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.2005.1507486
K. Hoshino, I. Kawabuchi
It is difficult to generate the action of stably pinching paper or needle, etc. with the finger tips, which is one of the important functions to be realized by humanoid robot hands. In this paper, the authors firstly propose a small-sized and light-weight robotic hand designed according to the concept of extracting required minimum motor functions and implementing them to the robot, and secondly propose a new robot hand capable of properly realizing a pinching motion with finger tips, by adding the minimum required degree of supplementary freedom which can be realized only with a machine. In the new robot hand, the authors mainly focus on additions of the degrees of freedom of independent motion to the terminal fingers and the degree of freedom of twisting motion to the thumb. Experiments were carried out to investigate force control characteristics of the finger tip joint. The results showed that providing the finger tip with a joint rich in force control performance even with weak maximum generated force is effective for securing delicate control characteristics finger tip force
{"title":"Pinching with finger tips in humanoid robot hand","authors":"K. Hoshino, I. Kawabuchi","doi":"10.1109/ICAR.2005.1507486","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507486","url":null,"abstract":"It is difficult to generate the action of stably pinching paper or needle, etc. with the finger tips, which is one of the important functions to be realized by humanoid robot hands. In this paper, the authors firstly propose a small-sized and light-weight robotic hand designed according to the concept of extracting required minimum motor functions and implementing them to the robot, and secondly propose a new robot hand capable of properly realizing a pinching motion with finger tips, by adding the minimum required degree of supplementary freedom which can be realized only with a machine. In the new robot hand, the authors mainly focus on additions of the degrees of freedom of independent motion to the terminal fingers and the degree of freedom of twisting motion to the thumb. Experiments were carried out to investigate force control characteristics of the finger tip joint. The results showed that providing the finger tip with a joint rich in force control performance even with weak maximum generated force is effective for securing delicate control characteristics finger tip force","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"45 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":"130761549","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.2005.1507420
Li-Chun Lai, Tsong-Li Lee, H. Fan, Chia-Ju Wu
This paper presents a system, which is composed of a laser range finder and four artificial reflectors, for the three-dimensional (3D) localization of a mobile robot. In this system, it will be proved that the position and the heading angle of a mobile robot in a 3D space with respect to a reference frame can be determined provided that the four artificial reflectors are not installed in the same plane. Since the artificial reflectors cannot be treated as points in practice, the proposed localization procedure will be formulated as a nonlinear programming problem to account for the actual sizes of the artificial reflectors. To show the feasibility of the proposed method, experiments will be given for illustration
{"title":"A nonlinear programming method for 3D localization of mobile robots","authors":"Li-Chun Lai, Tsong-Li Lee, H. Fan, Chia-Ju Wu","doi":"10.1109/ICAR.2005.1507420","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507420","url":null,"abstract":"This paper presents a system, which is composed of a laser range finder and four artificial reflectors, for the three-dimensional (3D) localization of a mobile robot. In this system, it will be proved that the position and the heading angle of a mobile robot in a 3D space with respect to a reference frame can be determined provided that the four artificial reflectors are not installed in the same plane. Since the artificial reflectors cannot be treated as points in practice, the proposed localization procedure will be formulated as a nonlinear programming problem to account for the actual sizes of the artificial reflectors. To show the feasibility of the proposed method, experiments will be given for illustration","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"27 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":"128972263","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.2005.1507461
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.2005.1507482
Xin Ma, Wei Liu, Yibin Li, R. Song
This paper presents a LVQ (learning vector quantization) neural network based target differentiation method for mobile robots. The typical targets can be differentiated efficiently in indoor environments with LVQ neural network by fusing the time-of-flight data and amplitude data of sonar system. The algorithm is simple and real-time and has high accuracy and robustness. The uncertainty of sonar data can be effectively dealt with the method and mobile robots can classify the targets quickly and reliably in indoor environments. In simulation experiments, a hierarchical configuration is adopted and the sonar data is preprocessed before inputted to neural network to improve the differentiation performance of LVQ network farther. The simulation experiments prove that the algorithm is effective and robust
{"title":"LVQ neural network based target differentiation method for mobile robot","authors":"Xin Ma, Wei Liu, Yibin Li, R. Song","doi":"10.1109/ICAR.2005.1507482","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507482","url":null,"abstract":"This paper presents a LVQ (learning vector quantization) neural network based target differentiation method for mobile robots. The typical targets can be differentiated efficiently in indoor environments with LVQ neural network by fusing the time-of-flight data and amplitude data of sonar system. The algorithm is simple and real-time and has high accuracy and robustness. The uncertainty of sonar data can be effectively dealt with the method and mobile robots can classify the targets quickly and reliably in indoor environments. In simulation experiments, a hierarchical configuration is adopted and the sonar data is preprocessed before inputted to neural network to improve the differentiation performance of LVQ network farther. The simulation experiments prove that the algorithm is effective and robust","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"23 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":"134539945","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.2005.1507455
R. Haraguchi, K. Osuka, S. Makita, S. Tadokoro
This paper proposes a new type of inspection robot for rescue activity MOIRA2. We have developed a rescue robot MOIRA before, which has ability to dive into rubble. Based on the experience of MOIRA, we develop its improved version MOIRA 2. In this paper, we describe the characteristics and design policy of MOIRA2 comparing with MOIRA. Furthermore, the results of experiment are shown to demonstrate its performance
{"title":"The development of the mobile inspection robot for rescue activity, MOIRA2","authors":"R. Haraguchi, K. Osuka, S. Makita, S. Tadokoro","doi":"10.1109/ICAR.2005.1507455","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507455","url":null,"abstract":"This paper proposes a new type of inspection robot for rescue activity MOIRA2. We have developed a rescue robot MOIRA before, which has ability to dive into rubble. Based on the experience of MOIRA, we develop its improved version MOIRA 2. In this paper, we describe the characteristics and design policy of MOIRA2 comparing with MOIRA. Furthermore, the results of experiment are shown to demonstrate its performance","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"3 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":"133879785","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.2005.1507407
W. Sheng, G. Tewolde, Heping Chen
Spray forming is a new manufacturing process. The automated tool planning for this process is a nontrivial problem, especially for geometry-complicated parts consisting of multiple freeform surfaces. We have developed a tool path planning system which can automatically generate optimized tool plans. This paper focuses on the path integration problem, or how to connect the paths from different surface patches so that the overall path length is minimized. A genetic algorithm is developed to solve the integration problem. Experimental tests are carried out on automotive body parts and the results validate the proposed algorithm
{"title":"Tool path integration for spray forming processes using a genetic algorithm","authors":"W. Sheng, G. Tewolde, Heping Chen","doi":"10.1109/ICAR.2005.1507407","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507407","url":null,"abstract":"Spray forming is a new manufacturing process. The automated tool planning for this process is a nontrivial problem, especially for geometry-complicated parts consisting of multiple freeform surfaces. We have developed a tool path planning system which can automatically generate optimized tool plans. This paper focuses on the path integration problem, or how to connect the paths from different surface patches so that the overall path length is minimized. A genetic algorithm is developed to solve the integration problem. Experimental tests are carried out on automotive body parts and the results validate the proposed algorithm","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"45 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":"132572819","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.2005.1507467
H. Amano, K. Osuka, Y. Iwano
Disasters or accidents counter activities and rescue activities are good and suitable subject for robots, because, the activity is accomplishable without the fire fighters getting into dangerous environments by using robots. However, the trade-off between the robots' size and performance are serious problem in actual activities. We resulted to that a small mobile robots group is the one of the effective systems for the activities. Here, we focused on nuclear plant accidents or huge fire in plant, because radiation exposure or radiation heat, for victims who can't evacuate by themselves, is one of serious problems. Then we developed robotic wall system that is a system to build up a shielding wall between victims and the radiation source or the fire. Therefore we developed the group system consists of small mobile robots that build up wall. The development three technological elements in this research work, first we developed the effective moving method of multiple mobile robots in the accidental situation. Next, the robots connect each other, and building up wall finally. We confirmed the effectiveness of the robotic wall system that we developed experimentally
{"title":"Development of robotic wall system to protect victims","authors":"H. Amano, K. Osuka, Y. Iwano","doi":"10.1109/ICAR.2005.1507467","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507467","url":null,"abstract":"Disasters or accidents counter activities and rescue activities are good and suitable subject for robots, because, the activity is accomplishable without the fire fighters getting into dangerous environments by using robots. However, the trade-off between the robots' size and performance are serious problem in actual activities. We resulted to that a small mobile robots group is the one of the effective systems for the activities. Here, we focused on nuclear plant accidents or huge fire in plant, because radiation exposure or radiation heat, for victims who can't evacuate by themselves, is one of serious problems. Then we developed robotic wall system that is a system to build up a shielding wall between victims and the radiation source or the fire. Therefore we developed the group system consists of small mobile robots that build up wall. The development three technological elements in this research work, first we developed the effective moving method of multiple mobile robots in the accidental situation. Next, the robots connect each other, and building up wall finally. We confirmed the effectiveness of the robotic wall system that we developed experimentally","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":"132339489","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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