Pub Date : 2005-07-18DOI: 10.1109/ICAR.2005.1507466
T. Endo, Y. Nakamura
This paper is about development of an omni directional vehicle on a spherical tire. The vehicle moves by rolling a spherical tire and balancing on it. We selected a basketball as a spherical tire, because basketball is made of rubber. In general, rubber tire has three features, which are durability, adaptabilities to the ground surface and force transmissivity. We think that using a basketball as a spherical tire is low-cost and advantageous. Next, we describe how to calculate torque and angular velocity, which motors generate to roll a basketball. They are needed for driving motors and dynamic simulations. Finally, we propose an interface to operate the vehicle. One, who rides on the vehicle, can move to all directions by shifting one's center of mass. A six-axis force-torque sensor senses weight shift
{"title":"An omnidirectional vehicle on a basketball","authors":"T. Endo, Y. Nakamura","doi":"10.1109/ICAR.2005.1507466","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507466","url":null,"abstract":"This paper is about development of an omni directional vehicle on a spherical tire. The vehicle moves by rolling a spherical tire and balancing on it. We selected a basketball as a spherical tire, because basketball is made of rubber. In general, rubber tire has three features, which are durability, adaptabilities to the ground surface and force transmissivity. We think that using a basketball as a spherical tire is low-cost and advantageous. Next, we describe how to calculate torque and angular velocity, which motors generate to roll a basketball. They are needed for driving motors and dynamic simulations. Finally, we propose an interface to operate the vehicle. One, who rides on the vehicle, can move to all directions by shifting one's center of mass. A six-axis force-torque sensor senses weight shift","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":"114489356","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.2005.1507453
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.2005.1507420
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.2005.1507484
D. Wollherr
This paper discusses low level control of the humanoid UT-Theta which has been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories thus ensuring smooth trajectory following. Relevance to practical application is shown in hardware experiments
{"title":"Active-passive knee control for the humanoid UT-Theta","authors":"D. Wollherr","doi":"10.1109/ICAR.2005.1507484","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507484","url":null,"abstract":"This paper discusses low level control of the humanoid UT-Theta which has been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories thus ensuring smooth trajectory following. Relevance to practical application is shown in hardware experiments","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"95 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":"117290472","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}
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.2005.1507490
E. Martínez-García, Ohya Akihisa, S. Yuta
In this paper a multirobot system (MRS) trajectory control for conducting a group of humans is proposed. Its architecture, implementation and the strategy to conduct people by a team of robots is discussed, as well as the robots motion planning methodology is being encompassed. Some experimental results on people localization by a vision system are also introduced, which exhibit its usage as sensory information for generation of people trajectory control. A social model to simulate humans motion is also included in this investigation as means to prove the mechanism of guidance and crowd dynamics by the team of robots, where such motion control is based on intelligent changes of position and speed
{"title":"Trajectory control for groups of humans by deploying a team of mobile robots","authors":"E. Martínez-García, Ohya Akihisa, S. Yuta","doi":"10.1109/ICAR.2005.1507490","DOIUrl":"https://doi.org/10.1109/ICAR.2005.1507490","url":null,"abstract":"In this paper a multirobot system (MRS) trajectory control for conducting a group of humans is proposed. Its architecture, implementation and the strategy to conduct people by a team of robots is discussed, as well as the robots motion planning methodology is being encompassed. Some experimental results on people localization by a vision system are also introduced, which exhibit its usage as sensory information for generation of people trajectory control. A social model to simulate humans motion is also included in this investigation as means to prove the mechanism of guidance and crowd dynamics by the team of robots, where such motion control is based on intelligent changes of position and speed","PeriodicalId":428475,"journal":{"name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","volume":"123 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":"131422534","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.2005.1507486
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}
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