Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407441
T. Tsuji, Kazuhiro Goto, Shouzou Moritani, M. Kaneko, P. Morasso
The present paper examines spatial characteristics of human hand impedance in multi-joint arm movements. While a subject maintains a hand location, small external disturbance to his hand is applied by a manipulandum. Time changes of the hand displacements and forces caused by the disturbance are measured and the hand impedance is estimated using a second-order linear model. The estimated hand impedance in different subjects and hand locations are summarized as follows: (1) spatial variations of the estimated hand impedance ellipses approximately agree with the experimental results of other researchers (Mussa-Ivaldi et at, 1985: Dolan et al., 1993), (2) the human hand inertia characteristics can be explained from basic biomechanics of the passive inertial effects (3) the grip force of the subject increases the size of the stiffness and viscosity ellipses, and (4) spatial features of the orientation. And the shape characteristics of the stiffness and viscosity ellipses are mostly explained from the kinematics point of view of the human arm.<>
本文研究了多关节手臂运动中人手阻抗的空间特征。当被试保持手的位置时，操纵器会对他的手施加微小的外部干扰。测量了扰动引起的手部位移和力随时间的变化，并利用二阶线性模型估计了手部阻抗。(1)估算手阻抗椭圆的空间变化与其他研究者(Mussa-Ivaldi et at, 1985)的实验结果基本一致;Dolan et al.， 1993)，(2)人体手部的惯性特性可以从被动惯性效应的基本生物力学解释(3)受试者握力增大了刚性和黏性椭圆的大小，(4)方向的空间特征。而刚度椭圆和粘度椭圆的形状特征主要是从人体手臂的运动学角度来解释的。
{"title":"Spatial characteristics of human hand impedance in multi-joint arm movements","authors":"T. Tsuji, Kazuhiro Goto, Shouzou Moritani, M. Kaneko, P. Morasso","doi":"10.1109/IROS.1994.407441","DOIUrl":"https://doi.org/10.1109/IROS.1994.407441","url":null,"abstract":"The present paper examines spatial characteristics of human hand impedance in multi-joint arm movements. While a subject maintains a hand location, small external disturbance to his hand is applied by a manipulandum. Time changes of the hand displacements and forces caused by the disturbance are measured and the hand impedance is estimated using a second-order linear model. The estimated hand impedance in different subjects and hand locations are summarized as follows: (1) spatial variations of the estimated hand impedance ellipses approximately agree with the experimental results of other researchers (Mussa-Ivaldi et at, 1985: Dolan et al., 1993), (2) the human hand inertia characteristics can be explained from basic biomechanics of the passive inertial effects (3) the grip force of the subject increases the size of the stiffness and viscosity ellipses, and (4) spatial features of the orientation. And the shape characteristics of the stiffness and viscosity ellipses are mostly explained from the kinematics point of view of the human arm.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116662473","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 : 1994-09-12DOI: 10.1109/IROS.1994.407446
Yalou Huang, G. Lu
The problem of selecting grasp pattern (SGP) is first stated as a process of optimization based on some performance functions. A performance index, named coordinability measure (CM), is introduced, which describes the flexibility of the motion of the manipulated object in Cartesian space corresponding to the coordinating joint velocities of individual manipulators. Motion-oriented coordinability measure (MOCM) is further developed, which is task dependent and describes the coordinability of the system at some motion direction. Both CM and MOCM are dependent on grasp patterns. The problem of SGP for multiple manipulators is investigated in two cases: firm grasp and non-firm grasp. In the first case, the problem of SGP is solved using MOCM as a performance index to evaluate a finite number of feasible grasp patterns and select one among them. In the second case, the flexibility of grasp on the object is viewed as virtual degrees-of-freedom additional to manipulators.<>
{"title":"Selecting grasp pattern far multiple robotic manipulators holding a rigid object based on motion-oriented coordinability measure","authors":"Yalou Huang, G. Lu","doi":"10.1109/IROS.1994.407446","DOIUrl":"https://doi.org/10.1109/IROS.1994.407446","url":null,"abstract":"The problem of selecting grasp pattern (SGP) is first stated as a process of optimization based on some performance functions. A performance index, named coordinability measure (CM), is introduced, which describes the flexibility of the motion of the manipulated object in Cartesian space corresponding to the coordinating joint velocities of individual manipulators. Motion-oriented coordinability measure (MOCM) is further developed, which is task dependent and describes the coordinability of the system at some motion direction. Both CM and MOCM are dependent on grasp patterns. The problem of SGP for multiple manipulators is investigated in two cases: firm grasp and non-firm grasp. In the first case, the problem of SGP is solved using MOCM as a performance index to evaluate a finite number of feasible grasp patterns and select one among them. In the second case, the flexibility of grasp on the object is viewed as virtual degrees-of-freedom additional to manipulators.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116736453","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 : 1994-09-12DOI: 10.1109/IROS.1994.407416
F. Wallner, M. Kaiser, H. Friedrich, R. Dillmann
The problem of adapting mobile robot navigation to changes in the environment is usually approached by modifying an internal world model. Descriptions on different levels of abstraction provide the information necessary for navigation and therefore influence the robot's behaviour. The effect of such indirect adaptation is limited. The approach presented in this paper describes a new technique for direct integration of navigation experience in path planning. Thus, not only the world knowledge, but also the planning behaviour is improved over time. Experiments are carried out on a robot which is controlled by a layered architecture. It is integrated in a multirobot control environment which is described. The focus of the article is towards improving the higher navigation levels. The main idea being presented is the realization of adaptive behaviour not only on the level of reflexes, but also with respect to the planning capabilities of the robot. The application of learning techniques allows to continuously improve the estimation of plan costs and therefore the inherent strategy of the topological planner. It is illustrated that a combined learning of world description and navigation allows fast and sophisticated reaction to new environmental conditions.<>
{"title":"Integration of topological and geometrical planning in a learning mobile robot","authors":"F. Wallner, M. Kaiser, H. Friedrich, R. Dillmann","doi":"10.1109/IROS.1994.407416","DOIUrl":"https://doi.org/10.1109/IROS.1994.407416","url":null,"abstract":"The problem of adapting mobile robot navigation to changes in the environment is usually approached by modifying an internal world model. Descriptions on different levels of abstraction provide the information necessary for navigation and therefore influence the robot's behaviour. The effect of such indirect adaptation is limited. The approach presented in this paper describes a new technique for direct integration of navigation experience in path planning. Thus, not only the world knowledge, but also the planning behaviour is improved over time. Experiments are carried out on a robot which is controlled by a layered architecture. It is integrated in a multirobot control environment which is described. The focus of the article is towards improving the higher navigation levels. The main idea being presented is the realization of adaptive behaviour not only on the level of reflexes, but also with respect to the planning capabilities of the robot. The application of learning techniques allows to continuously improve the estimation of plan costs and therefore the inherent strategy of the topological planner. It is illustrated that a combined learning of world description and navigation allows fast and sophisticated reaction to new environmental conditions.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117088403","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 : 1994-09-12DOI: 10.1109/IROS.1994.407387
G. Canepa, Matteo Campanella, D. Rossi
Detection of incipient slippage is of great importance in robotics for the control of grasping and manipulation tasks. Together with fine-form reconstruction and primitive recognition, it has to be the main feature of an artificial tactile system. The system presented here is based on a neural network devoted to detecting incipient slippage of a body pressing on a skin-like sensor. Normal and shear stress components inside the sensor are the input data. An important feature of the system is that the a priori knowledge of the friction coefficient between the sensor and the object being manipulated is not needed. The finite element method is used to solve the direct problem of elastic contact in its full non-linearity by resorting to the lowest number of approximations with respect to the real problem. Simulations show that the network learns and is robust with respect to noise.<>
{"title":"Slip detection by a tactile neural network","authors":"G. Canepa, Matteo Campanella, D. Rossi","doi":"10.1109/IROS.1994.407387","DOIUrl":"https://doi.org/10.1109/IROS.1994.407387","url":null,"abstract":"Detection of incipient slippage is of great importance in robotics for the control of grasping and manipulation tasks. Together with fine-form reconstruction and primitive recognition, it has to be the main feature of an artificial tactile system. The system presented here is based on a neural network devoted to detecting incipient slippage of a body pressing on a skin-like sensor. Normal and shear stress components inside the sensor are the input data. An important feature of the system is that the a priori knowledge of the friction coefficient between the sensor and the object being manipulated is not needed. The finite element method is used to solve the direct problem of elastic contact in its full non-linearity by resorting to the lowest number of approximations with respect to the real problem. Simulations show that the network learns and is robust with respect to noise.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"195 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120984987","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 : 1994-09-12DOI: 10.1109/IROS.1994.407386
S. Caselli, C. Magnanini, F. Zanichelli
This paper presents two volumetric object representation models oriented to the dynamic integration of the information perceived by a robot hand in a haptic exploration. The enveloping polyhedral model is an upper approximation of the object derived from contact planes, whereas the approximating polyhedral model also takes advantage of the information provided by non-contacting hand elements. Features for object classification are derived from a spatial sampling of the polyhedral approximation. The effectiveness of these models in haptic recognition is investigated by considering alternative classification techniques and the haptic development of internal representations about the samples when formal models are unavailable. Experimental results demonstrate the effectiveness and robustness of the overall methodology.<>
{"title":"Investigation of polyhedral shape representations and connectionist techniques in haptic object recognition","authors":"S. Caselli, C. Magnanini, F. Zanichelli","doi":"10.1109/IROS.1994.407386","DOIUrl":"https://doi.org/10.1109/IROS.1994.407386","url":null,"abstract":"This paper presents two volumetric object representation models oriented to the dynamic integration of the information perceived by a robot hand in a haptic exploration. The enveloping polyhedral model is an upper approximation of the object derived from contact planes, whereas the approximating polyhedral model also takes advantage of the information provided by non-contacting hand elements. Features for object classification are derived from a spatial sampling of the polyhedral approximation. The effectiveness of these models in haptic recognition is investigated by considering alternative classification techniques and the haptic development of internal representations about the samples when formal models are unavailable. Experimental results demonstrate the effectiveness and robustness of the overall methodology.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"186 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123525462","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 : 1994-09-12DOI: 10.1109/IROS.1994.407512
Yoshiyulu Nakano, Komei Chono, Kenichi Yoneda, H. Kameishi
A dynamic biped walking robot based on the momentum mechanism with flexible beams is proposed. This robot has two legs which are a pair of flexible beams instead of a pair of rigid crura and femurs. The flexible beams are expected to bring a light weight robot, and also act as joints at knees which have been operated by electric or hydraulic motors. A computer model of the present robot has been developed, and the dynamic behavior is analyzed and displayed by animation, here. Furthermore, a prototype model which walks by dynamic human gait was designed, setup and inspected. As the result we found the following features. (1) The weight of the proposed robot can be reduced to half as compared with conventional rigid body robots. (2) Rapid and stable walking can be attained by the swift movement of the flexible legs. (3) Energy consumption for dynamic walking is reduced to 70% as compared with rigid body robots.<>
{"title":"A dynamic biped walking robot based on the momentum mechanism with flexible beams","authors":"Yoshiyulu Nakano, Komei Chono, Kenichi Yoneda, H. Kameishi","doi":"10.1109/IROS.1994.407512","DOIUrl":"https://doi.org/10.1109/IROS.1994.407512","url":null,"abstract":"A dynamic biped walking robot based on the momentum mechanism with flexible beams is proposed. This robot has two legs which are a pair of flexible beams instead of a pair of rigid crura and femurs. The flexible beams are expected to bring a light weight robot, and also act as joints at knees which have been operated by electric or hydraulic motors. A computer model of the present robot has been developed, and the dynamic behavior is analyzed and displayed by animation, here. Furthermore, a prototype model which walks by dynamic human gait was designed, setup and inspected. As the result we found the following features. (1) The weight of the proposed robot can be reduced to half as compared with conventional rigid body robots. (2) Rapid and stable walking can be attained by the swift movement of the flexible legs. (3) Energy consumption for dynamic walking is reduced to 70% as compared with rigid body robots.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123559847","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 : 1994-09-12DOI: 10.1109/IROS.1994.407490
J. Moctezuma, J. Bernasch, Gabriele Lohmann, A. Schweikard, F. Gosse
This paper describes a system that assists in the planning and the performing of a surgical action, namely the corrective osteotomy of the thigh bone (femur). The corrective osteotomy of the thigh bone is used for changing the posture of the hip joint. During surgery, a small cross-sectional slice is cut out of the thigh bone by the use of a sawing device. Our system supports the planning phase of this surgery by allowing interactive visualizations of the cutting planes using a 3D surface-oriented model of the thigh bone derived from computer tomography (CT). It also supports the actual surgery, in which a robot hand is steered towards the predetermined cutting planes, a process that is guided and monitored by a vision system.<>
{"title":"Robotic surgery and planning for corrective femur osteotomy","authors":"J. Moctezuma, J. Bernasch, Gabriele Lohmann, A. Schweikard, F. Gosse","doi":"10.1109/IROS.1994.407490","DOIUrl":"https://doi.org/10.1109/IROS.1994.407490","url":null,"abstract":"This paper describes a system that assists in the planning and the performing of a surgical action, namely the corrective osteotomy of the thigh bone (femur). The corrective osteotomy of the thigh bone is used for changing the posture of the hip joint. During surgery, a small cross-sectional slice is cut out of the thigh bone by the use of a sawing device. Our system supports the planning phase of this surgery by allowing interactive visualizations of the cutting planes using a 3D surface-oriented model of the thigh bone derived from computer tomography (CT). It also supports the actual surgery, in which a robot hand is steered towards the predetermined cutting planes, a process that is guided and monitored by a vision system.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125474208","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 : 1994-09-12DOI: 10.1109/IROS.1994.407586
Y. Kuno, Masao Sakamoto, K. Sakata, Y. Shirai
This paper presents a vision-based human-computer interface system that enables the user to move a target object in 3D CG world by moving his/her hand. Unlike conventional systems, the system does not need any camera calibration. In addition, it uses a user-centered frame so that the user can control the object by hand motions matched with human intuition. For example, the user can move the object forward by moving his/her hand forward even if he/she has changed his/her body position. The system is based on the multiple view affine invariance theory. It calculates hand positions as invariant coordinates in the basis derived from four points on the user's body. Actual system implementation and experimental results show the usefulness of the system.<>
{"title":"Vision-based human interface with user-centered frame","authors":"Y. Kuno, Masao Sakamoto, K. Sakata, Y. Shirai","doi":"10.1109/IROS.1994.407586","DOIUrl":"https://doi.org/10.1109/IROS.1994.407586","url":null,"abstract":"This paper presents a vision-based human-computer interface system that enables the user to move a target object in 3D CG world by moving his/her hand. Unlike conventional systems, the system does not need any camera calibration. In addition, it uses a user-centered frame so that the user can control the object by hand motions matched with human intuition. For example, the user can move the object forward by moving his/her hand forward even if he/she has changed his/her body position. The system is based on the multiple view affine invariance theory. It calculates hand positions as invariant coordinates in the basis derived from four points on the user's body. Actual system implementation and experimental results show the usefulness of the system.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126810402","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 : 1994-09-12DOI: 10.1109/IROS.1994.407405
Joachim Denzler, Rüdiger Bess, J. Hornegger, H. Niemann, D. Paulus
In this contribution we describe steps towards the implementation of an active robot vision system. In a sequence of images taken by a camera mounted on the hand of a robot, we detect, track, and estimate the position and orientation (pose) of a three-dimensional moving object. The extraction of the region of interest is done automatically by a motion tracking step. For learning 3-D objects using two-dimensional views and estimating the object's pose, a uniform statistical method is presented which is based on the expectation-maximization-algorithm (EM-algorithm). An explicit matching between features of several views is not necessary. The acquisition of the training sequence required for the statistical learning process needs the correlation between the image of an object and its pose; this is performed automatically by the robot. The robot's camera parameters are determined by a hand/eye-calibration and a subsequent computation of the camera position using the robot position. During the motion estimation stage the moving object is computed using active, elastic contours (snakes). We introduce a new approach for online initializing the snake on the first images of the given sequence, and show that the method of snakes is suited for real time motion tracking.<>
{"title":"Learning, tracking and recognition of 3D objects","authors":"Joachim Denzler, Rüdiger Bess, J. Hornegger, H. Niemann, D. Paulus","doi":"10.1109/IROS.1994.407405","DOIUrl":"https://doi.org/10.1109/IROS.1994.407405","url":null,"abstract":"In this contribution we describe steps towards the implementation of an active robot vision system. In a sequence of images taken by a camera mounted on the hand of a robot, we detect, track, and estimate the position and orientation (pose) of a three-dimensional moving object. The extraction of the region of interest is done automatically by a motion tracking step. For learning 3-D objects using two-dimensional views and estimating the object's pose, a uniform statistical method is presented which is based on the expectation-maximization-algorithm (EM-algorithm). An explicit matching between features of several views is not necessary. The acquisition of the training sequence required for the statistical learning process needs the correlation between the image of an object and its pose; this is performed automatically by the robot. The robot's camera parameters are determined by a hand/eye-calibration and a subsequent computation of the camera position using the robot position. During the motion estimation stage the moving object is computed using active, elastic contours (snakes). We introduce a new approach for online initializing the snake on the first images of the given sequence, and show that the method of snakes is suited for real time motion tracking.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115197651","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 : 1994-09-12DOI: 10.1109/IROS.1994.407609
V. Burhanpurkar
Commercially successful autonomous mobile robot systems demand the development of new methodologies for dealing with "real world" requirements of very low cost and very high performance sensing technology for use in the constantly changing, dynamic, unstructured environments in which society expects such robots to operate unsupervised on a daily basis. This paper presents a new modular sensor system which, based on long term real world field trials appear to meet the basic requirements. Examples of test results in a wide variety of applications in unstructured environments are provided as well as future directions.<>
{"title":"Real world application of a low-cost high-performance sensor system for autonomous mobile robots","authors":"V. Burhanpurkar","doi":"10.1109/IROS.1994.407609","DOIUrl":"https://doi.org/10.1109/IROS.1994.407609","url":null,"abstract":"Commercially successful autonomous mobile robot systems demand the development of new methodologies for dealing with \"real world\" requirements of very low cost and very high performance sensing technology for use in the constantly changing, dynamic, unstructured environments in which society expects such robots to operate unsupervised on a daily basis. This paper presents a new modular sensor system which, based on long term real world field trials appear to meet the basic requirements. Examples of test results in a wide variety of applications in unstructured environments are provided as well as future directions.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115203891","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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