Pub Date : 1995-05-21DOI: 10.1109/ROBOT.1995.525724
K. Suita, Yoji Yamada, N. Tsuchida, K. Imai, H. Ikeda, N. Sugimoto
In this paper, we discuss a method to achieve safe autonomous robot system coexistence (or Kyozon in Japanese). First, we clarify human pain tolerance and point out that a robot working next to an operator should be covered with a soft material. Thus, we propose a concept and a design method of covering a robot with a viscoelastic material to achieve both impact force attenuation and contact sensitivity, keeping within the human pain tolerance limit. We stress the necessity of a simple robot system from the viewpoint of reliability. We provide a method of sensing contact force without any force sensors by monitoring the direct drive motor current and velocity of the robot. Finally, we covered a two-link arm manipulator with the optimum soft covering material, and applied the developed manipulator system to practical coexistence tasks.
{"title":"A failure-to-safety \"Kyozon\" system with simple contact detection and stop capabilities for safe human-autonomous robot coexistence","authors":"K. Suita, Yoji Yamada, N. Tsuchida, K. Imai, H. Ikeda, N. Sugimoto","doi":"10.1109/ROBOT.1995.525724","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525724","url":null,"abstract":"In this paper, we discuss a method to achieve safe autonomous robot system coexistence (or Kyozon in Japanese). First, we clarify human pain tolerance and point out that a robot working next to an operator should be covered with a soft material. Thus, we propose a concept and a design method of covering a robot with a viscoelastic material to achieve both impact force attenuation and contact sensitivity, keeping within the human pain tolerance limit. We stress the necessity of a simple robot system from the viewpoint of reliability. We provide a method of sensing contact force without any force sensors by monitoring the direct drive motor current and velocity of the robot. Finally, we covered a two-link arm manipulator with the optimum soft covering material, and applied the developed manipulator system to practical coexistence tasks.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117145763","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525353
T. Wasfy
A new technique for modeling contact/impact of flexible manipulators with a fixed rigid surface is presented. The manipulator is discretized using the finite element method. The technique is based on the use of the conservation of energy and momentum principles as a local velocity constraint on the nodes in contact with the rigid surface to obtain the post-impact velocities of those nodes. Two friction parameters one for the tangential momentum and one for energy can be used. A slight variation of the technique is to use the momentum conservation principle along with Newton's collision rule as the velocity constraint also with two friction parameters one for the tangential momentum and the coefficient of restitution. Momentum conservation/Newton collision rule constraint and momentum/energy conservation constraint are equivalent if friction effects are neglected. Numerical examples are solved to show the accuracy and versatility of the new technique.
{"title":"Modeling contact/impact of flexible manipulators with a fixed rigid surface","authors":"T. Wasfy","doi":"10.1109/ROBOT.1995.525353","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525353","url":null,"abstract":"A new technique for modeling contact/impact of flexible manipulators with a fixed rigid surface is presented. The manipulator is discretized using the finite element method. The technique is based on the use of the conservation of energy and momentum principles as a local velocity constraint on the nodes in contact with the rigid surface to obtain the post-impact velocities of those nodes. Two friction parameters one for the tangential momentum and one for energy can be used. A slight variation of the technique is to use the momentum conservation principle along with Newton's collision rule as the velocity constraint also with two friction parameters one for the tangential momentum and the coefficient of restitution. Momentum conservation/Newton collision rule constraint and momentum/energy conservation constraint are equivalent if friction effects are neglected. Numerical examples are solved to show the accuracy and versatility of the new technique.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117149628","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525608
Shinya Yamamoto, Y. Mae, Y. Shirai, J. Miura
This paper describes real time object tracking by extracting optical flows from a sequence of images. Optical flows are calculated based on the generalized gradient model. Our method detects a moving object, and tracks it from the optical flow data. Assuming that pixels corresponding to the same object have similar flow vectors, we extract a connected region with similar flow vectors. We apply this method to multiple object tracking. When two objects overlap, foreground object is recognized, and each object is tracked without confusion. Optical flow extraction and object tracking are executed in realtime by a special image processor.
{"title":"Realtime multiple object tracking based on optical flows","authors":"Shinya Yamamoto, Y. Mae, Y. Shirai, J. Miura","doi":"10.1109/ROBOT.1995.525608","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525608","url":null,"abstract":"This paper describes real time object tracking by extracting optical flows from a sequence of images. Optical flows are calculated based on the generalized gradient model. Our method detects a moving object, and tracks it from the optical flow data. Assuming that pixels corresponding to the same object have similar flow vectors, we extract a connected region with similar flow vectors. We apply this method to multiple object tracking. When two objects overlap, foreground object is recognized, and each object is tracked without confusion. Optical flow extraction and object tracking are executed in realtime by a special image processor.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123998722","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525410
P. Pu, Lisa Purvis
In our previous paper, we have shown that case-based reasoning (CBR) techniques can be used as a viable formulation for solving assembly sequence generation problems. The issues covered in that paper were case base organization, case selection and matching, and case indexing. The part on case adaptation was not addressed in a formal way to allow satisfactory generalization of the method to a large class of assembly planning problems. We present in this paper a methodology which formalizes the adaptation process of CBR using constraint satisfaction techniques. Combining CBR with constraint satisfaction provides a generalized formalism for assembly planning problem solving.
{"title":"Assembly planning using case adaptation methods","authors":"P. Pu, Lisa Purvis","doi":"10.1109/ROBOT.1995.525410","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525410","url":null,"abstract":"In our previous paper, we have shown that case-based reasoning (CBR) techniques can be used as a viable formulation for solving assembly sequence generation problems. The issues covered in that paper were case base organization, case selection and matching, and case indexing. The part on case adaptation was not addressed in a formal way to allow satisfactory generalization of the method to a large class of assembly planning problems. We present in this paper a methodology which formalizes the adaptation process of CBR using constraint satisfaction techniques. Combining CBR with constraint satisfaction provides a generalized formalism for assembly planning problem solving.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125996571","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}
{"title":"Khepera: The Optimal Tool for Development in Mobile Robotics","authors":"F. Mondada, E. Franzi, A. Guilgnard, J. Nicoud","doi":"10.1109/ROBOT.1995.525757","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525757","url":null,"abstract":"Keywords: [MOBOTS] ; Khepera robot Reference EPFL-CONF-200915doi:10.1109/ROBOT.1995.525757 Record created on 2014-08-20, modified on 2017-05-10","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126131600","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525377
P. Batavia, M. Lewis, G. Bekey
Many current avenues of vision research involve fully analyzing an image with expensive, high powered computers. This approach has major implications in terms of cost, size, and power consumption. Other methods have involved sub-sampling an image to reduce cost and complexity. This has the disadvantage of information loss. We present a low cost, low powered, reduced complexity vision system capable of intelligently sampling an image to reduce this information loss. The design philosophy and methodology is discussed, along with sample applications. Primarily we demonstrate how the reduced complexity vision system will be used to aid in navigation of an autonomous flying vehicle. This is quantified by showing how having multiple sampling schemes result in increased robustness and accuracy of our helicopter line tracking algorithm.
{"title":"A reduced complexity vision system for autonomous helicopter navigation","authors":"P. Batavia, M. Lewis, G. Bekey","doi":"10.1109/ROBOT.1995.525377","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525377","url":null,"abstract":"Many current avenues of vision research involve fully analyzing an image with expensive, high powered computers. This approach has major implications in terms of cost, size, and power consumption. Other methods have involved sub-sampling an image to reduce cost and complexity. This has the disadvantage of information loss. We present a low cost, low powered, reduced complexity vision system capable of intelligently sampling an image to reduce this information loss. The design philosophy and methodology is discussed, along with sample applications. Primarily we demonstrate how the reduced complexity vision system will be used to aid in navigation of an autonomous flying vehicle. This is quantified by showing how having multiple sampling schemes result in increased robustness and accuracy of our helicopter line tracking algorithm.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124668691","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525350
Jung-Hua Yang, Feng‐Li Lian, L. Fu
In this paper, we tackle the problem of nonlinear adaptive hybrid control of constrained robots with flexible links. According to the physical properties of a flexible manipulator, a two time-scale approach, namely singular perturbation approach, is further utilized for thorough analysis and general controller design. It is shown that asymptotic motion tracking can be effectively achieved, whereas the force regulation errors can be made arbitrarily small. For demonstration of the controller performance, experiments of a two-link flexible manipulator were performed for the proposed controller and satisfactory results observed.
{"title":"Adaptive hybrid position/force control for robotic manipulators with compliant links","authors":"Jung-Hua Yang, Feng‐Li Lian, L. Fu","doi":"10.1109/ROBOT.1995.525350","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525350","url":null,"abstract":"In this paper, we tackle the problem of nonlinear adaptive hybrid control of constrained robots with flexible links. According to the physical properties of a flexible manipulator, a two time-scale approach, namely singular perturbation approach, is further utilized for thorough analysis and general controller design. It is shown that asymptotic motion tracking can be effectively achieved, whereas the force regulation errors can be made arbitrarily small. For demonstration of the controller performance, experiments of a two-link flexible manipulator were performed for the proposed controller and satisfactory results observed.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124793085","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525746
David Williams, O. Khatib
This video presents recent results in multi-arm manipulation with simultaneous control of internal forces. The approach is based on the integration of two basic concepts: The {augmented object} and the {virtual linkage}. The virtual linkage [l] characterizes internal forces, while the augmented object [2] describes the system’s closed-chain dynamics. Using these concepts, we have developed a model of the dynamic behavior of both the multi-arm system and the internal forces acting on the manipulated object. This model has been used to develop a control structure that decouples this behavior, allowing object manipulation with accurate control of internal forces [3]. The experiments shown in this video illustra,te the effectiveness of the new control structure in various compliant motion tasks performed by two and three cooperating PUMA 560 manipulators. This type of control requires accurate application of joint torques, which is very difficult to achieve with current industrial manipulators. The second part of the video shows the significant improvement that can be obtained with a new force control methodology. In this implementation, the manipulator’s wrist force sensor is used to resolve joint torques corresponding to the force control subspace. These torques are then used as input for local joint feedback controllers based on the joint actuator/transmission models.
{"title":"Multi-Grasp Manipulation","authors":"David Williams, O. Khatib","doi":"10.1109/ROBOT.1995.525746","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525746","url":null,"abstract":"This video presents recent results in multi-arm manipulation with simultaneous control of internal forces. The approach is based on the integration of two basic concepts: The {augmented object} and the {virtual linkage}. The virtual linkage [l] characterizes internal forces, while the augmented object [2] describes the system’s closed-chain dynamics. Using these concepts, we have developed a model of the dynamic behavior of both the multi-arm system and the internal forces acting on the manipulated object. This model has been used to develop a control structure that decouples this behavior, allowing object manipulation with accurate control of internal forces [3]. The experiments shown in this video illustra,te the effectiveness of the new control structure in various compliant motion tasks performed by two and three cooperating PUMA 560 manipulators. This type of control requires accurate application of joint torques, which is very difficult to achieve with current industrial manipulators. The second part of the video shows the significant improvement that can be obtained with a new force control methodology. In this implementation, the manipulator’s wrist force sensor is used to resolve joint torques corresponding to the force control subspace. These torques are then used as input for local joint feedback controllers based on the joint actuator/transmission models.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129474166","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525506
Jing Wang, S. Premvuti
A fully distributed algorithm is presented, which when executed by each robot, collectively allows multiple autonomous mobile robots to travel through a discrete traffic network composed of passage segments, intersections, and terminals, all of which are of only finite capacity. Each robot may establish dynamically its own route not known to others. Treating passage segments, intersections and terminals as shared, discrete resources, the algorithm guarantees ordered traffic flow in a discrete network such that (i) finite capacity constrains of passage segments and terminals are always enforced; (ii) no collision occurs at any intersection; (iii) deadlocks are detected and resolved. The system operates under the model of Distributed Robotic Systems (DRS), assuming no centralized mechanism, synchronized clock, shared memory or ground support. Interrobot communication is only required among spatially adjacent robotic units. The algorithm is implementable with today's technology.
{"title":"Distributed traffic regulation and control for multiple autonomous mobile robots operating in discrete space","authors":"Jing Wang, S. Premvuti","doi":"10.1109/ROBOT.1995.525506","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525506","url":null,"abstract":"A fully distributed algorithm is presented, which when executed by each robot, collectively allows multiple autonomous mobile robots to travel through a discrete traffic network composed of passage segments, intersections, and terminals, all of which are of only finite capacity. Each robot may establish dynamically its own route not known to others. Treating passage segments, intersections and terminals as shared, discrete resources, the algorithm guarantees ordered traffic flow in a discrete network such that (i) finite capacity constrains of passage segments and terminals are always enforced; (ii) no collision occurs at any intersection; (iii) deadlocks are detected and resolved. The system operates under the model of Distributed Robotic Systems (DRS), assuming no centralized mechanism, synchronized clock, shared memory or ground support. Interrobot communication is only required among spatially adjacent robotic units. The algorithm is implementable with today's technology.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129838371","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 : 1995-05-21DOI: 10.1109/ROBOT.1995.525479
K. T. Seow, R. Devanathan
This paper presents a temporal logic formulation of discrete event control which forms a new theoretical basis for control analysis and synthesis of a class of discrete event systems (DES). Specifically, the new basic notions of controllability, control invariance and /spl Sigma//sub u/-invariance are characterized for a safety temporal logic formula, and the necessary and sufficient condition for the existence of its supervisor is established. The existing result based on the predicate approach is shown to be generalized under our formulation. A control synthesis procedure is given for a class of DES based on a specialized safety formula, known as the forbidden state specification. Two simple examples illustrate the proposed axiomatic approach.
{"title":"A temporal logic approach to discrete event control","authors":"K. T. Seow, R. Devanathan","doi":"10.1109/ROBOT.1995.525479","DOIUrl":"https://doi.org/10.1109/ROBOT.1995.525479","url":null,"abstract":"This paper presents a temporal logic formulation of discrete event control which forms a new theoretical basis for control analysis and synthesis of a class of discrete event systems (DES). Specifically, the new basic notions of controllability, control invariance and /spl Sigma//sub u/-invariance are characterized for a safety temporal logic formula, and the necessary and sufficient condition for the existence of its supervisor is established. The existing result based on the predicate approach is shown to be generalized under our formulation. A control synthesis procedure is given for a class of DES based on a specialized safety formula, known as the forbidden state specification. Two simple examples illustrate the proposed axiomatic approach.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129649794","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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