Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献
Pub Date : 2002-12-10DOI: 10.1109/IRDS.2002.1043908
Taketoshi Mori, K. Tsujioka, M. Shimosaka, Tomomasa Sato
This paper proposes a human-like action recognition system which can output the result of human action recognition just like the case human does. The system targets actions associated with regular human activity such as walking or lying down, and uses three human recognition characteristics: using specific features of an action to recognize that action; recognition of simultaneous actions; and summarization of recognition results over a short time interval. Experimental results demonstrate the effectiveness of human-like recognition for identifying actions and the superior performance of the proposed system with respect to conventional action recognitions systems. Human-like recognition is expected to ensure smooth communication between humans and robots and enhances the support functionality.
{"title":"Human-like action recognition system using features extracted by human","authors":"Taketoshi Mori, K. Tsujioka, M. Shimosaka, Tomomasa Sato","doi":"10.1109/IRDS.2002.1043908","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1043908","url":null,"abstract":"This paper proposes a human-like action recognition system which can output the result of human action recognition just like the case human does. The system targets actions associated with regular human activity such as walking or lying down, and uses three human recognition characteristics: using specific features of an action to recognize that action; recognition of simultaneous actions; and summarization of recognition results over a short time interval. Experimental results demonstrate the effectiveness of human-like recognition for identifying actions and the superior performance of the proposed system with respect to conventional action recognitions systems. Human-like recognition is expected to ensure smooth communication between humans and robots and enhances the support functionality.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"21 1","pages":"1214-1220 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75700142","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1041469
Benjamín Tovar, Rafael Murrieta-Cid, Claudia Esteves
The goal of this work is to develop techniques that allow one or more robotic observers to operate with full autonomy while accomplishing the task of model building. The planning algorithm operates using certain simple but flexible models of the observer sensor and actuator abilities. We provide techniques that allow us to implement these sensor models on top of the capabilities of the actual (and off-the-shelf) sensors we have. It is worth keeping the following points in mind regarding our goals: 1) even with completely idealized sensing and mobility capabilities, the algorithmic task of model building is quite challenging; 2) computational techniques can be used to approximate and implement these idealized sensors on top of actual sensors; and 3) the quality and success of the generated plans depend significantly on the observer capabilities. The study of this dependency terms of high-level parameters describing the sensors is part of this work.
{"title":"Robot motion planning for map building","authors":"Benjamín Tovar, Rafael Murrieta-Cid, Claudia Esteves","doi":"10.1109/IRDS.2002.1041469","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1041469","url":null,"abstract":"The goal of this work is to develop techniques that allow one or more robotic observers to operate with full autonomy while accomplishing the task of model building. The planning algorithm operates using certain simple but flexible models of the observer sensor and actuator abilities. We provide techniques that allow us to implement these sensor models on top of the capabilities of the actual (and off-the-shelf) sensors we have. It is worth keeping the following points in mind regarding our goals: 1) even with completely idealized sensing and mobility capabilities, the algorithmic task of model building is quite challenging; 2) computational techniques can be used to approximate and implement these idealized sensors on top of actual sensors; and 3) the quality and success of the generated plans depend significantly on the observer capabilities. The study of this dependency terms of high-level parameters describing the sensors is part of this work.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"36 1","pages":"673-680 vol.1"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74321910","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1044052
C. Ott, A. Albu-Schäffer, G. Hirzinger
This paper addresses the adaptive tracking control of flexible joint manipulators based on the singular perturbation approach. Comparisons between adaptive and nonadaptive tracking controllers are given. Experimental results with the DLR's light weight robot are given for the 2-DOF case.
{"title":"Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator","authors":"C. Ott, A. Albu-Schäffer, G. Hirzinger","doi":"10.1109/IRDS.2002.1044052","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1044052","url":null,"abstract":"This paper addresses the adaptive tracking control of flexible joint manipulators based on the singular perturbation approach. Comparisons between adaptive and nonadaptive tracking controllers are given. Experimental results with the DLR's light weight robot are given for the 2-DOF case.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2015 8","pages":"2018-2024 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72610891","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1043894
K. Iwamoto, K. Komoriya, K. Tanie
This paper describes the eye movement tracking type image display system that can display a wide view angle image with high resolution using human eye characteristics, although conventional displays are used. The principle is that a small high-resolution image is presented at the viewpoint superimposed over a wide view angle image of low resolution by using two displays. Human can see an object as a high-resolution image only near the viewpoint. Therefore, the operator can feel that the displayed image has wide view angle with high resolution. In this paper, the image capturing and the display system are discussed. Some evaluation experiments for the high-resolution image presentation, which is followed by eye movement, are introduced using the prototype system.
{"title":"Eye movement tracking type image display system for wide view image presentation with high-resolution - evaluation of high-resolution image presentation","authors":"K. Iwamoto, K. Komoriya, K. Tanie","doi":"10.1109/IRDS.2002.1043894","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1043894","url":null,"abstract":"This paper describes the eye movement tracking type image display system that can display a wide view angle image with high resolution using human eye characteristics, although conventional displays are used. The principle is that a small high-resolution image is presented at the viewpoint superimposed over a wide view angle image of low resolution by using two displays. Human can see an object as a high-resolution image only near the viewpoint. Therefore, the operator can feel that the displayed image has wide view angle with high resolution. In this paper, the image capturing and the display system are discussed. Some evaluation experiments for the high-resolution image presentation, which is followed by eye movement, are introduced using the prototype system.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"12 1","pages":"1190-1195 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78603021","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1044014
A. Sudsang
A part that is placed on a massively parallel actuator array can be manipulated by the force generated by a large number of supporting actuators. At a high level of abstraction, this form of nonprehensible distributed manipulation can be modeled using programmable force fields. This paper addresses the problem of manipulating multiple parts using programmable force fields. In particular, given two convex parts in different shapes which are in unknown configurations, we introduce a sequence of force fields that isolates, recognizes, and brings each part to its target configuration without using a sensor. The novelty of the proposed approach lies in the part isolation stage. Our technique uses part interaction under a radial force field as a condition ensuring that both parts will be separated from each other and moved into opposite halves of the plane. Once separated, each part can be processed independently and simultaneously using techniques for handling a single part.
{"title":"Sensorless sorting of two parts in the plane using programmable force fields","authors":"A. Sudsang","doi":"10.1109/IRDS.2002.1044014","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1044014","url":null,"abstract":"A part that is placed on a massively parallel actuator array can be manipulated by the force generated by a large number of supporting actuators. At a high level of abstraction, this form of nonprehensible distributed manipulation can be modeled using programmable force fields. This paper addresses the problem of manipulating multiple parts using programmable force fields. In particular, given two convex parts in different shapes which are in unknown configurations, we introduce a sequence of force fields that isolates, recognizes, and brings each part to its target configuration without using a sensor. The novelty of the proposed approach lies in the part isolation stage. Our technique uses part interaction under a radial force field as a condition ensuring that both parts will be separated from each other and moved into opposite halves of the plane. Once separated, each part can be processed independently and simultaneously using techniques for handling a single part.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"38 1","pages":"1784-1789 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78740548","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1041684
F. Michaud, D. Létourneau, Matthieu Guilbert, J. Valin
Recent research projects have demonstrated that it is possible to make robots move in formation. The approaches differ by the various assumptions about what can be perceived and communicated by the robots, the strategies used to make the robots move in formation, the ability to deal with obstacles and to switch formations. After suggesting criteria to characterize problems associated with robot formations, this paper presents a distributed approach based on directional visual perception and inter-robot communication. Using a pan camera head, sonar readings and wireless communication, we demonstrate that robots are not only able to move in formation, avoid obstacles and switch formations, but also initialize and determine by themselves their positions in the formation. Validation of our work is done in simulation and with Pioneer 2 robots.
{"title":"Dynamic robot formations using directional visual perception","authors":"F. Michaud, D. Létourneau, Matthieu Guilbert, J. Valin","doi":"10.1109/IRDS.2002.1041684","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1041684","url":null,"abstract":"Recent research projects have demonstrated that it is possible to make robots move in formation. The approaches differ by the various assumptions about what can be perceived and communicated by the robots, the strategies used to make the robots move in formation, the ability to deal with obstacles and to switch formations. After suggesting criteria to characterize problems associated with robot formations, this paper presents a distributed approach based on directional visual perception and inter-robot communication. Using a pan camera head, sonar readings and wireless communication, we demonstrate that robots are not only able to move in formation, avoid obstacles and switch formations, but also initialize and determine by themselves their positions in the formation. Validation of our work is done in simulation and with Pioneer 2 robots.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"2740-2745 vol.3"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77267899","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1044037
P. Herman, K. Kozlowski
This paper deals with the properties of a dynamical systems expressed in terms of so called the eigen-factor quasi-coordinate velocities. Using these variables we can diagonalize the mass matrix of a manipulator which implies that at each fixed time instant each joint equation is decoupled from all of the other joint equations. It is shown that the structure of dynamic equations of motion in terms of the eigen-factor quasi-coordinate velocities enables different insights into the manipulator behavior as compared to classical equations. We point out differences between the two formulations.
{"title":"Some properties of dynamic equations of motion in terms of the eigen-factor quasi-coordinate velocity vector","authors":"P. Herman, K. Kozlowski","doi":"10.1109/IRDS.2002.1044037","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1044037","url":null,"abstract":"This paper deals with the properties of a dynamical systems expressed in terms of so called the eigen-factor quasi-coordinate velocities. Using these variables we can diagonalize the mass matrix of a manipulator which implies that at each fixed time instant each joint equation is decoupled from all of the other joint equations. It is shown that the structure of dynamic equations of motion in terms of the eigen-factor quasi-coordinate velocities enables different insights into the manipulator behavior as compared to classical equations. We point out differences between the two formulations.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"115 1","pages":"1924-1929 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77914969","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1043964
Guoliang Xiang, Yunhui Liu, Dan Ding, Yantao Shen
The paper proposes a new haptic system for the pulse palpation via the Internet for remote diagnosis of patients without time and space restrictions. First, we design a pulse-detect sensor to obtains the pulse signals from the patient's wrist. Next, a server-client process is developed to transfer the pulse signals to the remote computer. Then, a haptic device is used to provide an interface for the doctor to feel the pulses of the patient at a remote distance. The haptic device regenerates the pulse signals by a motor-controlled cam system. To couple the doctor with the remote environment and give him a sense of telepresence, a trajectory follower is implemented: the cam follower moves up and down in accordance with the desired pulse trajectory. In addition, by considering the system as a one-dimensional manipulator, a PID force controller is realized to trace the desired force obtained from pressure sensors on the patient's side. As a result, the force felt by the doctor from the haptic device is closed to that he/she would feel from the patient's wrist directly.
{"title":"An Internet based pulse palpation system for Chinese medicine","authors":"Guoliang Xiang, Yunhui Liu, Dan Ding, Yantao Shen","doi":"10.1109/IRDS.2002.1043964","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1043964","url":null,"abstract":"The paper proposes a new haptic system for the pulse palpation via the Internet for remote diagnosis of patients without time and space restrictions. First, we design a pulse-detect sensor to obtains the pulse signals from the patient's wrist. Next, a server-client process is developed to transfer the pulse signals to the remote computer. Then, a haptic device is used to provide an interface for the doctor to feel the pulses of the patient at a remote distance. The haptic device regenerates the pulse signals by a motor-controlled cam system. To couple the doctor with the remote environment and give him a sense of telepresence, a trajectory follower is implemented: the cam follower moves up and down in accordance with the desired pulse trajectory. In addition, by considering the system as a one-dimensional manipulator, a PID force controller is realized to trace the desired force obtained from pressure sensors on the patient's side. As a result, the force felt by the doctor from the haptic device is closed to that he/she would feel from the patient's wrist directly.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"7 1","pages":"1481-1486 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78173161","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1044011
Y. Mezouar, P. Allen
In this paper, we present a framework for cell manipulation tasks with visual servoing micromanipulation strategies. A vision based micropositioner is designed in order to address the requirement of high precision needed to perform manipulation of objects under 100 /spl mu/m in size. The system calibration (microscope-camera-micropositioner) and the model of the observed scene are not known. Experimental results for micropositioning tasks with respect to protein cells are presented and demonstrate the validity of the proposed approach.
{"title":"Visual servoed micropositioning for protein manipulation tasks","authors":"Y. Mezouar, P. Allen","doi":"10.1109/IRDS.2002.1044011","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1044011","url":null,"abstract":"In this paper, we present a framework for cell manipulation tasks with visual servoing micromanipulation strategies. A vision based micropositioner is designed in order to address the requirement of high precision needed to perform manipulation of objects under 100 /spl mu/m in size. The system calibration (microscope-camera-micropositioner) and the model of the observed scene are not known. Experimental results for micropositioning tasks with respect to protein cells are presented and demonstrate the validity of the proposed approach.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"11 1","pages":"1766-1771 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79949514","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 : 2002-12-10DOI: 10.1109/IRDS.2002.1041725
Singha Leeraphan, T. Maneewarn, D. Laowattana
Passivity concept has been using as a framework to solve the stability problem in bilateral control of telemanipulation. However, the conservative selection of dissipating element applied to maintain system stability in network communication leads the system to imperfect operation or losing transparency. In this paper, we proposed a new control scheme to adapt characteristic impedance with time. The proposed method is not only presented in simple form, but also effectively make the operation transparent teleoperation. We verified the validity of our method by teleoperation simulations with constant and variable time delay.
{"title":"Stable adaptive bilateral control of transparent teleoperation through time-varying delay","authors":"Singha Leeraphan, T. Maneewarn, D. Laowattana","doi":"10.1109/IRDS.2002.1041725","DOIUrl":"https://doi.org/10.1109/IRDS.2002.1041725","url":null,"abstract":"Passivity concept has been using as a framework to solve the stability problem in bilateral control of telemanipulation. However, the conservative selection of dissipating element applied to maintain system stability in network communication leads the system to imperfect operation or losing transparency. In this paper, we proposed a new control scheme to adapt characteristic impedance with time. The proposed method is not only presented in simple form, but also effectively make the operation transparent teleoperation. We verified the validity of our method by teleoperation simulations with constant and variable time delay.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"43 1","pages":"2979-2984 vol.3"},"PeriodicalIF":0.0,"publicationDate":"2002-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79406842","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}
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
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