Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407635
M. Fujie, Tomoyuki Tani, K. Hirano, T. Yoshida, N. Wada
Japan's growing elderly population is becoming a serious problem. In addition, the ratio of elderly people who are bedridden is higher than in western countries. A range of facilities have been developed to help old people with excretion, bathing and sleeping. However, improvements can be made in all areas by improving this mobility. As a first step in this direction, we have developed a walking rehabilitation system for elderly people, with sponsorship from the Ministry of Health and Welfare.<>
{"title":"Walking rehabilitation system for the elderly","authors":"M. Fujie, Tomoyuki Tani, K. Hirano, T. Yoshida, N. Wada","doi":"10.1109/IROS.1994.407635","DOIUrl":"https://doi.org/10.1109/IROS.1994.407635","url":null,"abstract":"Japan's growing elderly population is becoming a serious problem. In addition, the ratio of elderly people who are bedridden is higher than in western countries. A range of facilities have been developed to help old people with excretion, bathing and sleeping. However, improvements can be made in all areas by improving this mobility. As a first step in this direction, we have developed a walking rehabilitation system for elderly people, with sponsorship from the Ministry of Health and Welfare.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"49 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":"132583909","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.1994.407658
T. Tsumura
Recent trends on advanced AGV are reviewed and discussed with examples. Special concern is made for automated position finding, guidance and multivehicle strategies, as well as communication systems. Focused are on engineering, electromechanical and optical problems. In addition to conventional manufacturing and advanced industrial applications, service vehicles such as floor cleaning, blind aids and off-road uses are described. New electric power supply systems are also presented.<>
{"title":"AGV in Japan-recent trends of advanced research, development, and industrial applications","authors":"T. Tsumura","doi":"10.1109/IROS.1994.407658","DOIUrl":"https://doi.org/10.1109/IROS.1994.407658","url":null,"abstract":"Recent trends on advanced AGV are reviewed and discussed with examples. Special concern is made for automated position finding, guidance and multivehicle strategies, as well as communication systems. Focused are on engineering, electromechanical and optical problems. In addition to conventional manufacturing and advanced industrial applications, service vehicles such as floor cleaning, blind aids and off-road uses are described. New electric power supply systems are also presented.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"39 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":"132640960","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.1994.407552
Stephen Borthwick, H. Durrant-Whyte
As autonomous guided vehicles claim wider applications, the need for a flexible navigation system increases. Previously developed systems designed to incorporate localisation and environmental modelling have suffered from poor operation speed, often depending upon a "stop look update" policy. We describe a multi-track extended Kalman filter navigation system which offers real time localisation while simultaneously constructing a map consisting of geometric features, each in turn described by an extended Kalman filter. Dynamic operation is achieved by utilising the increased scan rate and data quality of infrared scanning to overcome the need for a multi-hypothesis framework or other such computationally expensive paradigm.<>
{"title":"Simultaneous localisation and map building for autonomous guided vehicles","authors":"Stephen Borthwick, H. Durrant-Whyte","doi":"10.1109/IROS.1994.407552","DOIUrl":"https://doi.org/10.1109/IROS.1994.407552","url":null,"abstract":"As autonomous guided vehicles claim wider applications, the need for a flexible navigation system increases. Previously developed systems designed to incorporate localisation and environmental modelling have suffered from poor operation speed, often depending upon a \"stop look update\" policy. We describe a multi-track extended Kalman filter navigation system which offers real time localisation while simultaneously constructing a map consisting of geometric features, each in turn described by an extended Kalman filter. Dynamic operation is achieved by utilising the increased scan rate and data quality of infrared scanning to overcome the need for a multi-hypothesis framework or other such computationally expensive paradigm.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"21 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":"134098050","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.1994.407467
M. Guihard, J. Fontaine, N. M'Sirdi
Makes a comparative study between two adaptive control strategies applied to a leg of a quadruped. This leg is composed of two rigid links with pneumatic actuators driving rotational joints. In order to enable nonlinear control approaches, a model of this system is built. The control design is based on one hand on MRAS and on the other hand on passive system theory which ensure the asymptotic stability of the whole. Adaptation laws are proposed, grounded either on the number of operations keeping in mind real time implementation facilities, or on the robustness toward disturbances. These control laws are compared using simulation results.<>
{"title":"Comparative study of adaptive controllers for a pneumatic driven leg","authors":"M. Guihard, J. Fontaine, N. M'Sirdi","doi":"10.1109/IROS.1994.407467","DOIUrl":"https://doi.org/10.1109/IROS.1994.407467","url":null,"abstract":"Makes a comparative study between two adaptive control strategies applied to a leg of a quadruped. This leg is composed of two rigid links with pneumatic actuators driving rotational joints. In order to enable nonlinear control approaches, a model of this system is built. The control design is based on one hand on MRAS and on the other hand on passive system theory which ensure the asymptotic stability of the whole. Adaptation laws are proposed, grounded either on the number of operations keeping in mind real time implementation facilities, or on the robustness toward disturbances. These control laws are compared using simulation results.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"31 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":"131733635","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.1994.407537
H. Mayeda, Koichi Miyaji
The task understanding is examined for a popular task of the crank turning by a robot manipulator. A mathematical task model embedded uncertain factors as unknown parameters is constructed, and by analyzing the model, a robust task strategy to revolute the crank is contrived. It is shown how to design a robot controller to execute the task strategy. A controller is designed as an example and the validity of the controller is investigated by simulation.<>
{"title":"Task understanding of the crank turning","authors":"H. Mayeda, Koichi Miyaji","doi":"10.1109/IROS.1994.407537","DOIUrl":"https://doi.org/10.1109/IROS.1994.407537","url":null,"abstract":"The task understanding is examined for a popular task of the crank turning by a robot manipulator. A mathematical task model embedded uncertain factors as unknown parameters is constructed, and by analyzing the model, a robust task strategy to revolute the crank is contrived. It is shown how to design a robot controller to execute the task strategy. A controller is designed as an example and the validity of the controller is investigated by simulation.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"195 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":"124332796","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.1994.407459
Sukhan Lee, K. Jeong
A method for designing a robust time-delayed teleoperator control system based on H/sub /spl infin// optimization is presented. The proposed teleoperator control system deals with the robustness of teleoperation especially during the contact phase. In the approach phase where the slave end-effector is assumed to be in free space such that no significant modeling uncertainties are present, an optimal time-delayed teleoperator control system designed based on Smith's principle may suffice. However, in the contact phase where the uncertainties of contact time and environmental dynamics are of major concern, a time-delayed teleoperator control system should be designed to be robust to modeling uncertainties. Here, we apply the H/sub /spl infin// methodology for the design of such a robust time-delayed teleoperator control system. Simulation results show the validity of the proposed method.<>
{"title":"Design of robust time delayed teleoperator control system","authors":"Sukhan Lee, K. Jeong","doi":"10.1109/IROS.1994.407459","DOIUrl":"https://doi.org/10.1109/IROS.1994.407459","url":null,"abstract":"A method for designing a robust time-delayed teleoperator control system based on H/sub /spl infin// optimization is presented. The proposed teleoperator control system deals with the robustness of teleoperation especially during the contact phase. In the approach phase where the slave end-effector is assumed to be in free space such that no significant modeling uncertainties are present, an optimal time-delayed teleoperator control system designed based on Smith's principle may suffice. However, in the contact phase where the uncertainties of contact time and environmental dynamics are of major concern, a time-delayed teleoperator control system should be designed to be robust to modeling uncertainties. Here, we apply the H/sub /spl infin// methodology for the design of such a robust time-delayed teleoperator control system. Simulation results show the validity of the proposed method.<<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":"131601335","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.1994.407604
Yun-Su Ha, S. Yuta
Discusses the trajectory control for a wheeled inverse pendulum type mobile robot. The robot considered has two independent driving wheels on the same axle, and a gyro type sensor for measuring the inclination angular velocity of the body and rotary encoders to measure the wheels' rotation. The purpose of the authors' work is to make the robot autonomously navigate in a two dimensional plane while keeping balance of its body. The control algorithm consists of three parts; the balancing and velocity control, the heading control, and the trajectory control part. The authors designed and implemented a vehicle command system for this robot with the proposed algorithm. Experiments in real world navigation have been made by using the authors' experimental system "Yamabico Kurara".<>
{"title":"Trajectory tracking control for navigation of self-contained mobile inverse pendulum","authors":"Yun-Su Ha, S. Yuta","doi":"10.1109/IROS.1994.407604","DOIUrl":"https://doi.org/10.1109/IROS.1994.407604","url":null,"abstract":"Discusses the trajectory control for a wheeled inverse pendulum type mobile robot. The robot considered has two independent driving wheels on the same axle, and a gyro type sensor for measuring the inclination angular velocity of the body and rotary encoders to measure the wheels' rotation. The purpose of the authors' work is to make the robot autonomously navigate in a two dimensional plane while keeping balance of its body. The control algorithm consists of three parts; the balancing and velocity control, the heading control, and the trajectory control part. The authors designed and implemented a vehicle command system for this robot with the proposed algorithm. Experiments in real world navigation have been made by using the authors' experimental system \"Yamabico Kurara\".<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"2 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":"122671790","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.1994.407569
N. Miyake, M. Kametani, H. Sakairi
A new "dual control" robot control architecture is proposed. This control architecture endows a robot with human-like intelligent control capability similar to that of the human cerebrum. This improves robot adaptability to unpredictable circumstances, and allows a higher level of adaptability than conventional sensory feedback control, which depends on robot local sensory information, and which is limited to functions similar to those of the human cerebellum. With dual control, robot sensor data are processed qualitatively to recognize and understand global environmental situations, and decisions for real-time robot actions are then made. A closely coupled dual processor system with a dual bus system is proposed as the control architecture. The software system implemented for the hardware, as well as an example of the control, are also described.<>
{"title":"Hardware and software architecture for intelligent robot control-an approach to dual control architecture","authors":"N. Miyake, M. Kametani, H. Sakairi","doi":"10.1109/IROS.1994.407569","DOIUrl":"https://doi.org/10.1109/IROS.1994.407569","url":null,"abstract":"A new \"dual control\" robot control architecture is proposed. This control architecture endows a robot with human-like intelligent control capability similar to that of the human cerebrum. This improves robot adaptability to unpredictable circumstances, and allows a higher level of adaptability than conventional sensory feedback control, which depends on robot local sensory information, and which is limited to functions similar to those of the human cerebellum. With dual control, robot sensor data are processed qualitatively to recognize and understand global environmental situations, and decisions for real-time robot actions are then made. A closely coupled dual processor system with a dual bus system is proposed as the control architecture. The software system implemented for the hardware, as well as an example of the control, are also described.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"78 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":"121166905","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.1994.407506
D. Caldwell, R. K. Reddy
Hydraulic, pneumatic and electrical systems form the principle power sources that have been used to operate robots in industrial environments. However, when considering the needs of advanced robotics, one of the most fundamental requirements and problems is the provision of a suitable energy source to power the robot in a nonindustrial, often remote site. This work is aimed at designing a portable power supply that will operate efficiently and effectively in an untethered environment using a chemical fuel. Initially a feasibility study was undertaken to identify the different energy sources that are most widely used in the field of industrial robots, noting their relative advantages and disadvantages. Subsequently, the report focuses on the design, implementation and testing of an internal combustion based system that will be used to provide the drive source to a compressor which in turn will produce a constant air supply via a clutch and a series of gear mechanisms. Development and application of the mobile power supply is detailed. The silencing of the system is also analysed to reduce the noise level and allow operation in an enclosed/restricted environment as well as in the open atmosphere. This chemo-pneumatic power source is subsequently shown in operation driving pneumatic muscle actuators used in the construction of a high power/weight dexterous (3 finger 1 thumb) hand.<>
{"title":"A chemo-pneumatic drive source for flexible operation of pneumatic muscle actuators","authors":"D. Caldwell, R. K. Reddy","doi":"10.1109/IROS.1994.407506","DOIUrl":"https://doi.org/10.1109/IROS.1994.407506","url":null,"abstract":"Hydraulic, pneumatic and electrical systems form the principle power sources that have been used to operate robots in industrial environments. However, when considering the needs of advanced robotics, one of the most fundamental requirements and problems is the provision of a suitable energy source to power the robot in a nonindustrial, often remote site. This work is aimed at designing a portable power supply that will operate efficiently and effectively in an untethered environment using a chemical fuel. Initially a feasibility study was undertaken to identify the different energy sources that are most widely used in the field of industrial robots, noting their relative advantages and disadvantages. Subsequently, the report focuses on the design, implementation and testing of an internal combustion based system that will be used to provide the drive source to a compressor which in turn will produce a constant air supply via a clutch and a series of gear mechanisms. Development and application of the mobile power supply is detailed. The silencing of the system is also analysed to reduce the noise level and allow operation in an enclosed/restricted environment as well as in the open atmosphere. This chemo-pneumatic power source is subsequently shown in operation driving pneumatic muscle actuators used in the construction of a high power/weight dexterous (3 finger 1 thumb) hand.<<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":"121282394","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.1994.407523
R. Sturges, S. Laowattana
This paper addresses automatic assembly with passive rather than active compliant devices. Previous work has shown that in an ideal manufacturing environment three assembly primitives (prismatic insertions, threaded fits and general path insertions) exhibit a high level of difficulty. None of these are reliably assemblable under sensor-based force control or with an ordinary remote center compliance (RCC) device. In this paper, the authors extend the science of part mating and apply dexterity theory to synthesize a passive assembly device for precision fits of three-dimensional prismatic parts. This spatial remote center compliance (SRCC) obviates sensor-based and force control approaches to precision assembly of non-axisymmetric parts.<>
{"title":"Passive assembly of non-axisymmetric rigid parts","authors":"R. Sturges, S. Laowattana","doi":"10.1109/IROS.1994.407523","DOIUrl":"https://doi.org/10.1109/IROS.1994.407523","url":null,"abstract":"This paper addresses automatic assembly with passive rather than active compliant devices. Previous work has shown that in an ideal manufacturing environment three assembly primitives (prismatic insertions, threaded fits and general path insertions) exhibit a high level of difficulty. None of these are reliably assemblable under sensor-based force control or with an ordinary remote center compliance (RCC) device. In this paper, the authors extend the science of part mating and apply dexterity theory to synthesize a passive assembly device for precision fits of three-dimensional prismatic parts. This spatial remote center compliance (SRCC) obviates sensor-based and force control approaches to precision assembly of non-axisymmetric parts.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"46 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":"128953537","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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