Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407510
Junmin Pan
Man and quadruped animals use various attitudes in walking or running. The reason for them to do so are that using various attitudes can increase speed of motion, keep balance of their bodies, save energy, be adaptable to environments. It is found that quadruped robot can simulate quadruped animals to use same attitudes and obtain same advantages. In this paper a definition of attitude of quadruped robots is given first. Then various attitudes used by quadruped robots in various gait and environments as well as their advantages are listed. A method which use inclination sensors and electronic compass to measure attitudes of quadruped robots is proposed. Finally a scheme to control attitudes of quadruped robots is presented and solutions of inverse kinematics of the robot are given, some experiments have already been made successfully. The use of attitude sensors greatly improves the intelligence level of walking robots and makes them have better properties.<>
{"title":"Measurement and control of attitudes of quadruped robots","authors":"Junmin Pan","doi":"10.1109/IROS.1994.407510","DOIUrl":"https://doi.org/10.1109/IROS.1994.407510","url":null,"abstract":"Man and quadruped animals use various attitudes in walking or running. The reason for them to do so are that using various attitudes can increase speed of motion, keep balance of their bodies, save energy, be adaptable to environments. It is found that quadruped robot can simulate quadruped animals to use same attitudes and obtain same advantages. In this paper a definition of attitude of quadruped robots is given first. Then various attitudes used by quadruped robots in various gait and environments as well as their advantages are listed. A method which use inclination sensors and electronic compass to measure attitudes of quadruped robots is proposed. Finally a scheme to control attitudes of quadruped robots is presented and solutions of inverse kinematics of the robot are given, some experiments have already been made successfully. The use of attitude sensors greatly improves the intelligence level of walking robots and makes them have better properties.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"66 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":"114364032","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.1994.407474
Zhiwei Luo, Y. Uematsu, Koji Ito, A. Kato, Masami Ito
Studies multiple-robot manipulator cooperative manipulation of an unknown dynamic object. The authors show a simple approach for each robot to identify the object dynamics through cooperation. The authors decentralize the position/internal force hybrid controller such that each robot has its controller and determines its control torque from its own feedback information. Experiments show the effectiveness of the control strategy.<>
{"title":"On cooperative manipulation of dynamic object","authors":"Zhiwei Luo, Y. Uematsu, Koji Ito, A. Kato, Masami Ito","doi":"10.1109/IROS.1994.407474","DOIUrl":"https://doi.org/10.1109/IROS.1994.407474","url":null,"abstract":"Studies multiple-robot manipulator cooperative manipulation of an unknown dynamic object. The authors show a simple approach for each robot to identify the object dynamics through cooperation. The authors decentralize the position/internal force hybrid controller such that each robot has its controller and determines its control torque from its own feedback information. Experiments show the effectiveness of the control strategy.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"17 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":"121643841","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.1994.407360
M. Fischer
This paper describes a new approach to planning collision-free paths for cooperating robots with dependent tool center points (TCPs) in realistic environments. A formal description and a classification of these task are presented. Then, a path planner for online planning in 3D realistic scenes is described. On the one hand, online planning demands results in very short time intervals, on the other hand, the planners have to cope with complex 3D environments. Following these requirements, the planners presented here avoid the complexity of a complete search and use heuristics instead. These heuristics and strategies for different task classes are presented.<>
{"title":"Efficient path planning for cooperating manipulators","authors":"M. Fischer","doi":"10.1109/IROS.1994.407360","DOIUrl":"https://doi.org/10.1109/IROS.1994.407360","url":null,"abstract":"This paper describes a new approach to planning collision-free paths for cooperating robots with dependent tool center points (TCPs) in realistic environments. A formal description and a classification of these task are presented. Then, a path planner for online planning in 3D realistic scenes is described. On the one hand, online planning demands results in very short time intervals, on the other hand, the planners have to cope with complex 3D environments. Following these requirements, the planners presented here avoid the complexity of a complete search and use heuristics instead. These heuristics and strategies for different task classes are 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":"124154592","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.1994.407463
Thomas Edlinger, E. Puttkamer
This paper describes the exploration component of MOBOT-IV, an autonomous mobile robot for indoor-applications. MOBOT-IV has no preloaded world-model, but builds up an internal map while exploring the environment using its optical range finder. A method is presented for the autonomous and systematic construction of a 2D-map of the vehicles environment. Besides a line based geometric representation of the obstacles a topological abstraction of the robots environment is generated representing the room structure.<>
{"title":"Exploration of an indoor-environment by an autonomous mobile robot","authors":"Thomas Edlinger, E. Puttkamer","doi":"10.1109/IROS.1994.407463","DOIUrl":"https://doi.org/10.1109/IROS.1994.407463","url":null,"abstract":"This paper describes the exploration component of MOBOT-IV, an autonomous mobile robot for indoor-applications. MOBOT-IV has no preloaded world-model, but builds up an internal map while exploring the environment using its optical range finder. A method is presented for the autonomous and systematic construction of a 2D-map of the vehicles environment. Besides a line based geometric representation of the obstacles a topological abstraction of the robots environment is generated representing the room structure.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"55 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":"127585989","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.1994.407481
Y. Yagi, Ya Lin, M. Yachida
Described here is a method for navigating multiple mobile robots which estimate locations and motions of unknown moving objects. Each robot with conic projection image sensor COPIS can observe an omnidirectional view around the robot in real-time with use of a conic mirror. First, each robot communicates and exchanges information of sensory data. Then, unknown moving objects and a reciprocating robot are discriminated, and motions and locations of unknown moving objects are estimated by cooperative observation of azimuth changes between the two reciprocating robots.<>
{"title":"Detection of unknown moving objects by reciprocation of observed information between mobile robot","authors":"Y. Yagi, Ya Lin, M. Yachida","doi":"10.1109/IROS.1994.407481","DOIUrl":"https://doi.org/10.1109/IROS.1994.407481","url":null,"abstract":"Described here is a method for navigating multiple mobile robots which estimate locations and motions of unknown moving objects. Each robot with conic projection image sensor COPIS can observe an omnidirectional view around the robot in real-time with use of a conic mirror. First, each robot communicates and exchanges information of sensory data. Then, unknown moving objects and a reciprocating robot are discriminated, and motions and locations of unknown moving objects are estimated by cooperative observation of azimuth changes between the two reciprocating robots.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"11 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":"122207087","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.1994.407596
T. Yoshioka, H. Noborio
In this paper, we propose a new type of two sensor-based path-planning algorithms running in a 2D uncertain world. In almost all previous sensor-based path-planning algorithms, the automaton comes close to the goal asymptotically when it leaves an obstructed obstacle. Consequently there is no obstacle where the automaton can hit in future at worst and then the automaton arrives at the goal finally. As a result, the proposed algorithms ensure their deadlock-free characteristics in an unknown world. As contrasted with this, the new type of two sensor-based path-planning algorithms ensures its deadlock-free characteristic by using several topological characteristics of an unknown world. Some of them are used for eliminating any local loop and alternatively the others are used for converging all global loops to the goal monotonously in an online manner. In result, even if the automaton encounters many global loops in an uncertain world, it finally catches the goal after leaving their minimum loop.<>
{"title":"On a proof of the deadlock-free property in an on-line path-planning by using world topology","authors":"T. Yoshioka, H. Noborio","doi":"10.1109/IROS.1994.407596","DOIUrl":"https://doi.org/10.1109/IROS.1994.407596","url":null,"abstract":"In this paper, we propose a new type of two sensor-based path-planning algorithms running in a 2D uncertain world. In almost all previous sensor-based path-planning algorithms, the automaton comes close to the goal asymptotically when it leaves an obstructed obstacle. Consequently there is no obstacle where the automaton can hit in future at worst and then the automaton arrives at the goal finally. As a result, the proposed algorithms ensure their deadlock-free characteristics in an unknown world. As contrasted with this, the new type of two sensor-based path-planning algorithms ensures its deadlock-free characteristic by using several topological characteristics of an unknown world. Some of them are used for eliminating any local loop and alternatively the others are used for converging all global loops to the goal monotonously in an online manner. In result, even if the automaton encounters many global loops in an uncertain world, it finally catches the goal after leaving their minimum loop.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"5 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":"134109978","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.1994.407356
H. Shum, K. Ikeuchi, R. Reddy
Virtual reality object modeling from a sequence of range images has been formulated as a problem of principal component analysis with missing data (PCAMD), which can be generalized as a weighted least square (WLS) minimization problem. An efficient algorithm has been devised to solve the problem of PCAMD. After all visible P regions appeared over the whole sequence of F views are segmented and tracked, a 3F/spl times/P normal measurement matrix of surface normals and an F/spl times/P distance measurement matrix of normal distances to the origin are constructed respectively. These two measurement matrices, with possibly many missing elements due to occlusion and mismatching, enable us to formulate multiple view merging as a combination of two WLS problems. By combining information at both the signal level and the algebraic level, a modified Jarvis' march algorithm is proposed to recover the spatial connectivity among all the reconstructed surface patches. Experiments using synthetic data and real range images show that our approach is robust against noise and mismatch. A toy house model from a sequence of real range images is presented.<>
{"title":"Virtual reality modeling from a sequence of range images","authors":"H. Shum, K. Ikeuchi, R. Reddy","doi":"10.1109/IROS.1994.407356","DOIUrl":"https://doi.org/10.1109/IROS.1994.407356","url":null,"abstract":"Virtual reality object modeling from a sequence of range images has been formulated as a problem of principal component analysis with missing data (PCAMD), which can be generalized as a weighted least square (WLS) minimization problem. An efficient algorithm has been devised to solve the problem of PCAMD. After all visible P regions appeared over the whole sequence of F views are segmented and tracked, a 3F/spl times/P normal measurement matrix of surface normals and an F/spl times/P distance measurement matrix of normal distances to the origin are constructed respectively. These two measurement matrices, with possibly many missing elements due to occlusion and mismatching, enable us to formulate multiple view merging as a combination of two WLS problems. By combining information at both the signal level and the algebraic level, a modified Jarvis' march algorithm is proposed to recover the spatial connectivity among all the reconstructed surface patches. Experiments using synthetic data and real range images show that our approach is robust against noise and mismatch. A toy house model from a sequence of real range images is presented.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"10 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":"131723714","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.1994.407545
H. Asama, K. Ozaki, Y. Ishida, K. Yokota, A. Matsumoto, H. Kaetsu, I. Endo
As a flexible and robust intelligent robot system, we have been developing an autonomous and decentralized robot system called ACTRESS, which is composed of multiple robotic agents. In this paper, introducing an idea of cooperative action with group organization and a strategy for cooperative task processing using communication, a method for team organization by efficient negotiation is presented. The efficient negotiation is realized by a newly developed communication functionality called groupcast and a learning mechanism utilizing historical records on past negotiation. The negotiation procedures for team organization are implemented, and as a result of simulation experiments, the efficiency of the learning mechanism is verified.<>
{"title":"Collaborative team organization using communication in a decentralized robotic system","authors":"H. Asama, K. Ozaki, Y. Ishida, K. Yokota, A. Matsumoto, H. Kaetsu, I. Endo","doi":"10.1109/IROS.1994.407545","DOIUrl":"https://doi.org/10.1109/IROS.1994.407545","url":null,"abstract":"As a flexible and robust intelligent robot system, we have been developing an autonomous and decentralized robot system called ACTRESS, which is composed of multiple robotic agents. In this paper, introducing an idea of cooperative action with group organization and a strategy for cooperative task processing using communication, a method for team organization by efficient negotiation is presented. The efficient negotiation is realized by a newly developed communication functionality called groupcast and a learning mechanism utilizing historical records on past negotiation. The negotiation procedures for team organization are implemented, and as a result of simulation experiments, the efficiency of the learning mechanism is verified.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"20 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":"126597369","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.1994.407414
J. Millán, C. Torras
Proposes a reinforcement learning architecture that allows an autonomous robot to acquire efficient navigation strategies in a few trials. Besides fast learning, the architecture has 3 further appealing features. (1) Since it learns from built-in reflexes, the robot is operational from the very beginning. (2) The robot improves its performance incrementally as it interacts with an initially unknown environment, and it ends up learning to avoid collisions even if its sensors cannot detect the obstacles. This is a definite advantage over non-learning reactive robots. (3) The robot exhibits high tolerance to noisy sensory data and good generalization abilities. All these features make this learning robot's architecture very well suited to real-world applications. The authors report experimental results obtained with a real mobile robot in an indoor environment that demonstrate the feasibility of this approach.<>
{"title":"Efficient reinforcement learning of navigation strategies in an autonomous robot","authors":"J. Millán, C. Torras","doi":"10.1109/IROS.1994.407414","DOIUrl":"https://doi.org/10.1109/IROS.1994.407414","url":null,"abstract":"Proposes a reinforcement learning architecture that allows an autonomous robot to acquire efficient navigation strategies in a few trials. Besides fast learning, the architecture has 3 further appealing features. (1) Since it learns from built-in reflexes, the robot is operational from the very beginning. (2) The robot improves its performance incrementally as it interacts with an initially unknown environment, and it ends up learning to avoid collisions even if its sensors cannot detect the obstacles. This is a definite advantage over non-learning reactive robots. (3) The robot exhibits high tolerance to noisy sensory data and good generalization abilities. All these features make this learning robot's architecture very well suited to real-world applications. The authors report experimental results obtained with a real mobile robot in an indoor environment that demonstrate the feasibility of this approach.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"14 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":"132869194","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.1994.407358
M. Svinin, M. Uchiyama
This paper presents a dynamic model and a control strategy for N robot arms cooperating through a flexible object. The dynamic equations of the system under consideration are derived, with position and force parameters being considered in an extended 6N-dimensional space. The control strategy is based on the decomposition of the position and force parameters. The strategy includes feedforward and feedback levels, which take into account the object compliance. The force and moments applied to the object by manipulators as well as the end-point accelerations are considered to be the control inputs for the Cartesian-level control system. The feedback level includes the nonlinear decoupling control law to ensure the tracking of the object trajectories in the position and force spaces. To damp out the object oscillations, an additional control input, which is added to the prespecified internal forces, is introduced. The applicability of the control strategy is tested under a case study.<>
{"title":"Cartesian-level control strategy for a system of manipulators coupled through a flexible object","authors":"M. Svinin, M. Uchiyama","doi":"10.1109/IROS.1994.407358","DOIUrl":"https://doi.org/10.1109/IROS.1994.407358","url":null,"abstract":"This paper presents a dynamic model and a control strategy for N robot arms cooperating through a flexible object. The dynamic equations of the system under consideration are derived, with position and force parameters being considered in an extended 6N-dimensional space. The control strategy is based on the decomposition of the position and force parameters. The strategy includes feedforward and feedback levels, which take into account the object compliance. The force and moments applied to the object by manipulators as well as the end-point accelerations are considered to be the control inputs for the Cartesian-level control system. The feedback level includes the nonlinear decoupling control law to ensure the tracking of the object trajectories in the position and force spaces. To damp out the object oscillations, an additional control input, which is added to the prespecified internal forces, is introduced. The applicability of the control strategy is tested under a case study.<<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":"132724561","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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