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检索条件"任意字段=IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003"

共 557 条记录，以下是521-530 订阅

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Stiffness analysis for effective peg-in/out-hole tasks using multi-fingered robot hands

Stiffness analysis for effective peg-in/out-hole tasks using...

引用

ieee international Workshop on intelligent Robots and systems (IROS)

作者： Byoung-Ho Kim Byung-Ju Yi Il Hong Suh Sang-Rok Oh School of Electrical Engineering Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center KIST Seoul South Korea

This paper deals with stiffness analysis for effective peg-in/out-hole tasks using multifingered robot hand without inter-finger coupling. We first observe the fact that some coupling stiffness elements cannot be planned arbitrary. Then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in/out-hole tasks. It is concluded that the location of compliance center on the peg and the coupling stiffness element between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. Simulation results are included to verify the feasibility of the analytic results.

关键词： Robot sensing systems Force sensors intelligent robots Orbital robotics Transmission line matrix methods signal processing Fingers Computer science intelligent systems intelligent control

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A framework for integrating sensory information in a humanoid robot

A framework for integrating sensory information in a humanoi...

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Proceedings. 2000 ieee/RSJ international conference on intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： I. Fermin H. Okuno H. Ishiguro H. Kitano ERATO Kitano Symbiotic Systems Project Japan Science and Technology Corporation Shibuya Tokyo Japan Department of Social Information Kyoto University Kyoto Japan

We propose a framework towards the integration of information sensors based on the idea that the stimulus perceived through different sensors are spatial-time correlated for a short time period. Applications in robotics need to be able to process information from multiple sensors, for instance, in the case of a visible talking person. How can we relate this kind of information in a simple way, without making use of high level representation? This is the question that we want to address. A new framework based on a correlation measure of low level data information is proposed. This low level correlation measure can be used as an integration data engine to support high level task description. In the paper a coherent approach from sensor level to task level for developing a robot which can handle a large number of sensors and actuators is developed. An example how this approach can be used for a visual-sound integration task is also presented.

关键词： Humanoid robots Robot sensing systems Speech Symbiosis Engines Actuators Anthropometry Humans Cognitive robotics signal processing algorithms

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Analysis of compliance characteristic for effective multi-fingered robotic peg-in-hole task

Analysis of compliance characteristic for effective multi-fi...

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Annual conference of Industrial Electronics Society

作者： Byoung-Ho Kim Sang-Rok Oh Byung-Ju Yi Il Hong Suh Wan Kyun Chung School of Electrical Engineering and computer Science Hanyang University Seoul South Korea Intelligent System control Research Center KIST Seoul South Korea School of Mechanical Engineering POSTECH Pohang South Korea

This paper deals with an analysis of the compliance characteristics for an effective peg-in-hole task using a robot hand without inter-finger coupling. We first classify the task of inserting peg-in-a-hole into three contact styles between the peg and the hole. Next, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in-hole task for each case. It is concluded that the location of the compliance center on the peg and the coupling stiffness elements between the translational and rotational directions play important roles for a successful peg-in-hole task. Simulation results are included to verify the feasibility of the analytic results.

关键词： Fingers intelligent robots Robot sensing systems Force sensors Control systems Orbital robotics signal analysis Motion control signal processing Computer science

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Achieving efficient data fusion through integration of sensory perception control and sensor fusion

Achieving efficient data fusion through integration of senso...

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ieee international conference on robotics and Automation (ICRA)

作者： T. Celinski B. McCarragher Department of Engineering Faculty of Engineering and Information Technology Australian National University Canberra Australia

We discuss the relationship between a sensory perception controller and traditional data fusion techniques. The perception controller selects process monitors in real-time, based on the expected uncertainty and cost. We experimentally compare its operation to traditional data fusion methods and show how to combine the two for improved performance.

关键词： Sensor fusion Robot sensing systems intelligent sensors Taxonomy Sensor phenomena and characterization Sensor systems Target tracking intelligent robots Mobile robots signal processing

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Finite dimensional algorithms for the hidden Markov model multi-armed bandit problem

Finite dimensional algorithms for the hidden Markov model mu...

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international conference on Acoustics, Speech, and signal processing (ICASSP)

作者： V. Krishnamurthy J. Mickova Department of Electrical Engineering University of Melbourne Parkville VIC Australia

The multi-arm bandit problem is widely used in scheduling of traffic in broadband networks, manufacturing systems and robotics. This paper presents a finite dimensional optimal solution to the multi-arm bandit problem for hidden Markov models. The key to solving any multi-arm bandit problem is to compute the Gittins (1979, 1989) index. In this paper a finite dimensional algorithm is presented which exactly computes the Gittins index. Suboptimal algorithms for computing the Gittins index are also presented and experimentally shown to perform almost as well as the optimal method. Finally an application of the algorithms to tracking multiple targets with a single intelligent sensor is presented.

关键词： Hidden Markov models Job shop scheduling Processor scheduling Telecommunication traffic Traffic control Broadband communication Manufacturing systems Robots Target tracking intelligent sensors

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Sensorimotor compliant motion from geometric perception

Sensorimotor compliant motion from geometric perception

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ieee international Workshop on intelligent Robots and systems (IROS)

作者： R. Koeppe G. Hirzinger German AeroSpace Center (DLR) Institute for Robotics and Systems Dynamics Wessling Germany

Most of the approaches proposed in the field of sensor based assembly use force and velocity, i.e., sensor signals representing dynamics, as a base on which a desired compliant motion strategy is specified. In contrast, especially while performing alignment and insertion tasks the problem of sensing the assembly state of two objects w.r.t. each other is of geometric nature. Using a generic sensorimotor skill model for compliant motion tasks we discuss the difference between dynamic and geometric perception. We propose approaches of kinesthetic and visual sensing and show the robustness of compliant motion skill maps obtained from sensor signals representing the task geometry rather than the task dynamics.

关键词： Force sensors Solid modeling Motion control Force control Aerodynamics Robot sensing systems signal processing Robustness Manipulator dynamics Robotic assembly

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Development of a user-friendly polishing robot system

Development of a user-friendly polishing robot system

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Proceedings 1999 ieee/RSJ international conference on intelligent Robots and systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Min Cheol Lee Seok Jo Go Jin Young Jung Man Hyung Lee Research Institute of Mechanical Technology Mechanical Engineering Pusan National University busan South Korea

Polishing work of a freely-curved surface die demands simple and repetitive operations but requires a considerable amount of time for high precision. Some workers tend to gradually avoid the polishing work because of the poor environment caused by dust and noise. In order to reduce the polishing time and solve the problem of the shortage of skilled workers, an automatic polishing system should be developed. In this study, a user-friendly automatic polishing system was developed. It is composed of two different systems: a three-axis machining center and a two-axis polishing robot. The developed polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. In order to operate the polishing system, the host computer should transmit the polishing data to the FANUC controller of the machining center and DSP controller of the polishing robot, respectively. A driving program (P-PROS: Pusan National University-polishing robot operating system) in the Windows environment was developed to easily operate the polishing robot system. A communication program was developed for transmitting the polishing data to each controller. To evaluate the performance of the P-PROS and the developed DSP (digital signal processing) controller, a polishing experiment on the shadow-mask die was done.

关键词： Robots Communication system control Digital signal processing Milling machines Control systems Working environment noise robotics and automation Operating systems Digital control Process control

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Proceedings of the 1997 ieee international conference on intelligent processing systems, ICIPS. Part 2 (of 2)

Proceedings of the 1997 IEEE International Conference on Int...

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Proceedings of the 1997 ieee international conference on intelligent processing systems, ICIPS'97. Part 1 (of 2)

The proceedings contains 208 papers from the 1997 ieee international conference on intelligent processing systems. Topics discussed include: image information processing and management;expert systems;machine intelligence and applications;knowledge-based signal processing;robotics and applications;scheduling and planning;computer vision;diagnostic systems;decision support systems;computer databases;computer networks and applications;design and development systems;multimedia applications;virtual reality;natural language understanding and speech recognition systems;and software development.

关键词： Artificial intelligence

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Guidance of video data acquisition by myoelectric signals for smart human-robot interfaces

Guidance of video data acquisition by myoelectric signals fo...

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ieee international conference on robotics and Automation (ICRA)

作者： O.A. Alsayegh D.P. Brzakovic Systems & Control Department Engineering Division Kuwait Institute for Scientific Research Safat Kuwait EECS Department Lehigh University Bethlehem PA USA

This paper deals with designing of intelligent man-machine interfaces capable of recognizing human gestures and arm/hand actions. Monitoring of operator's arm/hand motion is performed by coupling myoelectric sensors with video data acquisition. Myoelectric signals are used to simplify the problem of understanding motion. In order to retain constraint-free operator's environment, myoelectric sensing is limited to major joints (shoulder and elbow) and signals are used to estimate the location of the operator's hand in sagittal plane. Video data acquisition is used to interpret hand pose. The focus of the paper is on myoelectric data processing and showing that limited sensing of muscular activity simplifies the problem of estimating motion and provides sufficiently accurate estimates to guide video data acquisition. The problem of estimating arm motion is formulated by statistical pattern recognition based on a model that relates the EMG signal sensed at a joint to the angular displacement of the arm/hand.

关键词： Data acquisition Motion estimation intelligent sensors User interfaces Humans Monitoring Shoulder Elbow Data processing Pattern recognition

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Proposal of a probabilistic believes fusion framework. Application to range data fusion

Proposal of a probabilistic believes fusion framework. Appli...

引用

Proceedings of the 1997 ieee/RSJ international conference on intelligent Robot and systems. Innovative robotics for Real-World Applications. IROS '97

作者： E. Piat D. Meizel Heudiasyc UTC UMR CNRS Compiegne France

In order to perform occupancy grid building of in-door environmental for autonomous mobile robot, this paper presents a methodology allowing the merging of beliefs associated to hypotheses represented by binary proposition H like "this particular element belongs to this particular set". In this paper, elements processed are vectors representing points which belong to obstacles. Belief notion is introduced in the combined framework of logic and probability theory and the problem is posed as follows: if different sensors give their own belief in an hypotheses H, how is it possible to merge these believes? Two cases necessary to solve formally occupancy grid building are developed: either sensors characterize different points or sensors characterize the same point. Obtained results are applied to ultrasonic range data fusion.

关键词： Proposals Sensor phenomena and characterization Bayesian methods Cost accounting Mobile robots signal processing Grid computing Solid modeling Sensor systems Logic

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