Pub Date : 1994-09-12DOI: 10.1109/IROS.1994.407565
Makoto Takahashi, O. Kubo, M. Kitamura, H. Yoshikawa
A neural network (NN) has been applied to the human cognitive state estimation based on the set of physiological measures, heart rate, blood pressure, respiration rate, skin potential response (SPR), blink rate and saccadic eye motion rate have been chosen as the representative metrical indices reflecting human mental state. The qualitative tendencies of these measures have been taken as the inputs of the NN. The human cognitive states are categorized into six pre-specified states: (1) information acquisition (IA); (2) memory related (MR); (3) thought (TH); (4) motor action (MA); (5) emotion (EM); and (6) others (OT). The adopted network a is three layer feedforward network trained with a backpropagation algorithm with forgetting. Sets of training data for learning have been collected through laboratory experiments, in which the subjects were induced to undergo a specific sequence of cognitive states. The resultant NN showed superior capability of discriminating human cognitive states based on the pattern of the physiological measures.<>
{"title":"Neural network for human cognitive state estimation","authors":"Makoto Takahashi, O. Kubo, M. Kitamura, H. Yoshikawa","doi":"10.1109/IROS.1994.407565","DOIUrl":"https://doi.org/10.1109/IROS.1994.407565","url":null,"abstract":"A neural network (NN) has been applied to the human cognitive state estimation based on the set of physiological measures, heart rate, blood pressure, respiration rate, skin potential response (SPR), blink rate and saccadic eye motion rate have been chosen as the representative metrical indices reflecting human mental state. The qualitative tendencies of these measures have been taken as the inputs of the NN. The human cognitive states are categorized into six pre-specified states: (1) information acquisition (IA); (2) memory related (MR); (3) thought (TH); (4) motor action (MA); (5) emotion (EM); and (6) others (OT). The adopted network a is three layer feedforward network trained with a backpropagation algorithm with forgetting. Sets of training data for learning have been collected through laboratory experiments, in which the subjects were induced to undergo a specific sequence of cognitive states. The resultant NN showed superior capability of discriminating human cognitive states based on the pattern of the physiological measures.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"280 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":"115421061","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.1994.407564
Motoji Yamamoto, Y. Isshiki, A. Mohri
A method for a time optimal collision free trajectory planning problem is proposed. In this paper, the dynamics of manipulator and obstacles are considered. This type of optimal trajectory planning problem is very difficult and complicated one because of the nonlinearity of manipulator dynamics and existence of obstacles. Generally, it results in a multimodal optimization problem. The proposed method is basically an iteratively improving one based on a gradient method. Firstly, two global methods (a genetic algorithm or an exact cell decomposition method) are used to search multiple initial feasible spatial paths for the gradient method. Next, the gradient method searches the time optimal solution locally with the multiple initial feasible solutions. Simulation results show that this is an effective approach to the time optimal collision free trajectory planning problem.<>
{"title":"Collision free minimum time trajectory planning for manipulators using global search and gradient method","authors":"Motoji Yamamoto, Y. Isshiki, A. Mohri","doi":"10.1109/IROS.1994.407564","DOIUrl":"https://doi.org/10.1109/IROS.1994.407564","url":null,"abstract":"A method for a time optimal collision free trajectory planning problem is proposed. In this paper, the dynamics of manipulator and obstacles are considered. This type of optimal trajectory planning problem is very difficult and complicated one because of the nonlinearity of manipulator dynamics and existence of obstacles. Generally, it results in a multimodal optimization problem. The proposed method is basically an iteratively improving one based on a gradient method. Firstly, two global methods (a genetic algorithm or an exact cell decomposition method) are used to search multiple initial feasible spatial paths for the gradient method. Next, the gradient method searches the time optimal solution locally with the multiple initial feasible solutions. Simulation results show that this is an effective approach to the time optimal collision free trajectory planning problem.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"4 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":"114593466","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.1994.407407
M. Boshra, Hong Zhang
Most existing 3-D object recognition/localization systems rely on a single type of sensory data, although several sensors may be available in a robot task to provide information about the objects to be recognized. In this paper, the authors present a technique to localize polyhedral objects by integrating visual and tactile data. It is assumed that visual data is provided by a monocular visual sensor, while tactile data by a planar-array tactile sensor in contact with the object to be localized. The authors focus on using tactile data in the hypothesis generation phase to reduce the requirements of visual features for localization to a V-junction only. The main concept of this technique is to compute a set of partial pose hypotheses off-line by utilizing tactile data, and then complement these partial hypotheses on-line using visual data. The technique presented is tested using simulated and real data.<>
{"title":"Use of visual and tactile data for generation of 3-D object hypotheses","authors":"M. Boshra, Hong Zhang","doi":"10.1109/IROS.1994.407407","DOIUrl":"https://doi.org/10.1109/IROS.1994.407407","url":null,"abstract":"Most existing 3-D object recognition/localization systems rely on a single type of sensory data, although several sensors may be available in a robot task to provide information about the objects to be recognized. In this paper, the authors present a technique to localize polyhedral objects by integrating visual and tactile data. It is assumed that visual data is provided by a monocular visual sensor, while tactile data by a planar-array tactile sensor in contact with the object to be localized. The authors focus on using tactile data in the hypothesis generation phase to reduce the requirements of visual features for localization to a V-junction only. The main concept of this technique is to compute a set of partial pose hypotheses off-line by utilizing tactile data, and then complement these partial hypotheses on-line using visual data. The technique presented is tested using simulated and real data.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"68 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":"123800812","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.1994.407369
M. Seitz, Jochen Kraft
Dexterous manipulations of a-priori unknown objects by a multi-fingered gripper require a vision assisted planning of suitable grasps. The selection of the optimum grasp is based on context information specifying the goal of manipulation given by the user, constraints due to the gripper geometry and object properties to be perceived by a vision system. The integration of vision into a hand-arm system allows planning and performance for grasping even unregularly shaped objects. The paper presents a context level for classification of specific grasp situations and a planning level for determination of gripping positions and forces. Especially strategies searching for suitable contact points for the gripper are discussed and compared to each other.<>
{"title":"Some approaches to context based grasp planning for a multi-fingered gripper","authors":"M. Seitz, Jochen Kraft","doi":"10.1109/IROS.1994.407369","DOIUrl":"https://doi.org/10.1109/IROS.1994.407369","url":null,"abstract":"Dexterous manipulations of a-priori unknown objects by a multi-fingered gripper require a vision assisted planning of suitable grasps. The selection of the optimum grasp is based on context information specifying the goal of manipulation given by the user, constraints due to the gripper geometry and object properties to be perceived by a vision system. The integration of vision into a hand-arm system allows planning and performance for grasping even unregularly shaped objects. The paper presents a context level for classification of specific grasp situations and a planning level for determination of gripping positions and forces. Especially strategies searching for suitable contact points for the gripper are discussed and compared to each other.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"145 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":"123928779","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.1994.407429
D. Nenchev, Z. Sotirov
This paper presents a flexible redundancy resolution strategy based on the task-priority method. A dynamic task-priority allocation approach has been motivated by the fact that the performance may degenerate for improper fixed-priority assignment to various task components. Recursive local kinematic inversion is applied, which, along with a full task-decomposition approach, guarantees the flexibility of the approach. It is further shown that the damping technique is easily implemented yielding a scheme that performs well also in the neighborhood of singularities. Thereby, the computationally inefficient singular-value-decomposition has been avoided.<>
{"title":"Dynamic task-priority allocation for kinematically redundant robotic mechanisms","authors":"D. Nenchev, Z. Sotirov","doi":"10.1109/IROS.1994.407429","DOIUrl":"https://doi.org/10.1109/IROS.1994.407429","url":null,"abstract":"This paper presents a flexible redundancy resolution strategy based on the task-priority method. A dynamic task-priority allocation approach has been motivated by the fact that the performance may degenerate for improper fixed-priority assignment to various task components. Recursive local kinematic inversion is applied, which, along with a full task-decomposition approach, guarantees the flexibility of the approach. It is further shown that the damping technique is easily implemented yielding a scheme that performs well also in the neighborhood of singularities. Thereby, the computationally inefficient singular-value-decomposition has been avoided.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"34 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":"122492040","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.1994.407648
E. Papadopoulos, S. Moosavian
Studies the motion control of a multi-arm free flying space robot chasing a passive object in close proximity. Free-flyer kinematics are developed using a minimum set of body-fixed barycentric vectors. Using a general and a quasi-coordinate Lagrangian formulation, two dynamics models are derived. Control algorithms are developed that allow coordinated tracking control of the manipulators and the spacecraft. The performance of model-based algorithms is compared, by simulation, to that of a transposed Jacobian algorithm. Results show that the latter can give reasonably good performance with reduced computational burden.<>
{"title":"Dynamics and control of multi-arm space robots during chase and capture operations","authors":"E. Papadopoulos, S. Moosavian","doi":"10.1109/IROS.1994.407648","DOIUrl":"https://doi.org/10.1109/IROS.1994.407648","url":null,"abstract":"Studies the motion control of a multi-arm free flying space robot chasing a passive object in close proximity. Free-flyer kinematics are developed using a minimum set of body-fixed barycentric vectors. Using a general and a quasi-coordinate Lagrangian formulation, two dynamics models are derived. Control algorithms are developed that allow coordinated tracking control of the manipulators and the spacecraft. The performance of model-based algorithms is compared, by simulation, to that of a transposed Jacobian algorithm. Results show that the latter can give reasonably good performance with reduced computational burden.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"3 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":"128887831","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.1994.407590
Jong-Eun Byun, T. Nagata
For automatic handling of a flexible object such as an electric wire, cable or rope it is necessary to determine the 3-D pose of the object. However, it is difficult to achieve this because of the intrinsic flexibility of the flexible object. We use the k-curvature representation to describe the skeleton image of a flexible object. Moreover, we present two fast stereo matching methods to determine the pose for automatic handling. The one is based on a least square error method and the other is based on the interpolation between curvature extrema. At first, we need to calculate the curvatures of object skeleton images which are taken through two cameras. We apply our algorithms to these two calculated curvature representations. We execute computer simulations to evaluate the validity of the presented algorithms. The results give us some guidelines for the applications with hand-eye robots. Finally, we carry out a camera calibration process for a linear lens model and an experiment to determine the pose of a coaxial cable with the calibrated camera parameters.<>
{"title":"Determination of 3-D pose of a flexible object by stereo matching of curvature representations","authors":"Jong-Eun Byun, T. Nagata","doi":"10.1109/IROS.1994.407590","DOIUrl":"https://doi.org/10.1109/IROS.1994.407590","url":null,"abstract":"For automatic handling of a flexible object such as an electric wire, cable or rope it is necessary to determine the 3-D pose of the object. However, it is difficult to achieve this because of the intrinsic flexibility of the flexible object. We use the k-curvature representation to describe the skeleton image of a flexible object. Moreover, we present two fast stereo matching methods to determine the pose for automatic handling. The one is based on a least square error method and the other is based on the interpolation between curvature extrema. At first, we need to calculate the curvatures of object skeleton images which are taken through two cameras. We apply our algorithms to these two calculated curvature representations. We execute computer simulations to evaluate the validity of the presented algorithms. The results give us some guidelines for the applications with hand-eye robots. Finally, we carry out a camera calibration process for a linear lens model and an experiment to determine the pose of a coaxial cable with the calibrated camera parameters.<<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":"128686034","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.1994.407373
L. Giugovaz, J. Hollerbach
Closed-loop kinematic calibration has been experimentally implemented on the Sarcos Dextrous Arm. The elbow joint is made mobile by adding an unsensed hinge joint at the endpoint attachment to ground. The calibrated parameters include the joint angle offsets and the hinge-related parameters.<>
{"title":"Closed-loop kinematic calibration of the Sarcos Dextrous Arm","authors":"L. Giugovaz, J. Hollerbach","doi":"10.1109/IROS.1994.407373","DOIUrl":"https://doi.org/10.1109/IROS.1994.407373","url":null,"abstract":"Closed-loop kinematic calibration has been experimentally implemented on the Sarcos Dextrous Arm. The elbow joint is made mobile by adding an unsensed hinge joint at the endpoint attachment to ground. The calibrated parameters include the joint angle offsets and the hinge-related parameters.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"34 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":"131002259","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.1994.407640
G. Alici, R. Daniel
This paper presents the analysis and characterisation of force controlled robotic drilling. We demonstrate that a robot manipulator can perform drilling if enough contact thrust-force is provided between a workpiece and drill, and is controlled properly. It is shown that the key parameters for robotic drilling are the drill rotational speed and thrust force. We believe that this implementation of a force control strategy on a robot manipulator for robotic drilling is unique; nobody has previously reported on the end point force control of a robot manipulator using a force/torque sensor for a drilling operation.<>
{"title":"Robotic drilling under force control: execution of a task","authors":"G. Alici, R. Daniel","doi":"10.1109/IROS.1994.407640","DOIUrl":"https://doi.org/10.1109/IROS.1994.407640","url":null,"abstract":"This paper presents the analysis and characterisation of force controlled robotic drilling. We demonstrate that a robot manipulator can perform drilling if enough contact thrust-force is provided between a workpiece and drill, and is controlled properly. It is shown that the key parameters for robotic drilling are the drill rotational speed and thrust force. We believe that this implementation of a force control strategy on a robot manipulator for robotic drilling is unique; nobody has previously reported on the end point force control of a robot manipulator using a force/torque sensor for a drilling operation.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"50 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":"131210462","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.1994.407513
M. Lewis, David M. Zehnpfennig
This article describes the design of an 8 degree of freedom snake-like robot, the R7 manipulator. The purpose of the device is to position a CCD camera and to rapidly acquire a sequence of images in an environment containing obstacles that may constrain the motion of the robot. Because of these requirements, it was desirable to minimize the manipulator's size and maximize its speed while preserving accuracy. These goals led to a unique design that is presented here. The device consists of four transmission modules. Each module has 2 degrees of freedom and contains a dual differential drive mechanism. Each module is a little more than 1.0" in diameter. The coordinated motion of these differential drives produces a prehensile motion of each transmission module. The range of motion of each module is /spl plusmn/90/spl deg/ in yaw and pitch. The smooth prehensile bending easily accommodate fragile cables and wiring harnesses. A benefit of using rigid links, as in this design, is an increase in stiffness of the mechanism. High stiffness aids in rapid positioning. One key feature of the mechanism is the use of low tension cable drive. Cables pass over a series of stationary sheaves and transmit power to transmission units located in each module. The use of a gear reducing transmission allows the use of low tension cables. This paper describes the design of the R7 manipulator and supporting electronics. Also discussed is the numerical solution to the inverse kinematics for this novel manipulator. The robot was built at Hughes Aircraft.<>
{"title":"R7: a snake-like robot for 3-d visual inspection","authors":"M. Lewis, David M. Zehnpfennig","doi":"10.1109/IROS.1994.407513","DOIUrl":"https://doi.org/10.1109/IROS.1994.407513","url":null,"abstract":"This article describes the design of an 8 degree of freedom snake-like robot, the R7 manipulator. The purpose of the device is to position a CCD camera and to rapidly acquire a sequence of images in an environment containing obstacles that may constrain the motion of the robot. Because of these requirements, it was desirable to minimize the manipulator's size and maximize its speed while preserving accuracy. These goals led to a unique design that is presented here. The device consists of four transmission modules. Each module has 2 degrees of freedom and contains a dual differential drive mechanism. Each module is a little more than 1.0\" in diameter. The coordinated motion of these differential drives produces a prehensile motion of each transmission module. The range of motion of each module is /spl plusmn/90/spl deg/ in yaw and pitch. The smooth prehensile bending easily accommodate fragile cables and wiring harnesses. A benefit of using rigid links, as in this design, is an increase in stiffness of the mechanism. High stiffness aids in rapid positioning. One key feature of the mechanism is the use of low tension cable drive. Cables pass over a series of stationary sheaves and transmit power to transmission units located in each module. The use of a gear reducing transmission allows the use of low tension cables. This paper describes the design of the R7 manipulator and supporting electronics. Also discussed is the numerical solution to the inverse kinematics for this novel manipulator. The robot was built at Hughes Aircraft.<<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":"128242733","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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