The proceedings contain 102 papers from the proceedings of the 7th internationalconference on Control, automation, robotics and Vision, ICARCV 2002. The topics discussed include: Fuzzy neural approach for segmentatio...
详细信息
ISBN:
(纸本)9810483643
The proceedings contain 102 papers from the proceedings of the 7th internationalconference on Control, automation, robotics and Vision, ICARCV 2002. The topics discussed include: Fuzzy neural approach for segmentation of subcortical structures from MR head scans;color based tracking by adaptive modeling;stereo head/face tracking and pose estimation;2D shape recognition using recursive determination of landmark and fuzzy ART network learning;distributed CAN based control system for robotic and airborne applications;collision-free path planning of stereo vision based mobile robots using power potential approach;Robustness of colour detection for robot soccer, and VR-based teleautonomous system for AGV path guidance.
Conventional robot systems consist of hard mechanical elements and actuators for exerting a force to objects efficiently. These systems are taking remarkable activities in industrial field but not in daily life of hum...
详细信息
ISBN:
(纸本)0780372727
Conventional robot systems consist of hard mechanical elements and actuators for exerting a force to objects efficiently. These systems are taking remarkable activities in industrial field but not in daily life of human. Main disadvantage of these robot systems is the fatal risk to human body when they lose control in the case of breakdown. On the contrary, we focus on flexible robot systems that work passively without actuators. These systems are intrinsically safe to human body since they never exert any excessive forces. In this paper, we present a novel passive element that varies its stiffness to internal vacuum pressure. This passive element is a soft vinyl tube embedded with Styrofoam beads, and is therefore soft and light contrary to conventional passive elements. Using the flexibility and the controllable stiffness, we developed a wearable haptic display that provides a sensation of elasticity and viscosity. The design of this new passive element and the applications to haptic displays axe discussed.
Workpiece localization has many applications in manufacturing automation. Symmetric localization plays an important role in it, since many commonly used features in engineering design are symmetric. In this paper, we ...
详细信息
Workpiece localization has many applications in manufacturing automation. Symmetric localization plays an important role in it, since many commonly used features in engineering design are symmetric. In this paper, we will discuss some new found problems in symmetric localization. We find that multiple solutions exist even for localizing a cube, which was known that unique solution should be found before. Then, we will re-explore the symmetry subspaces for symmetric features. After that, we find that some symmetric features have different configuration spaces as known before. This is actually the causing of the problem. Symmetric localization algorithm and simulation results will be given to fix the existing problems.
We propose the use of robotic and haptic technology to develop haptic information displays for Computer-Assisted Surgery applications. Such devices provide force and/or tactile feedback to a surgeon to communicate inf...
详细信息
We propose the use of robotic and haptic technology to develop haptic information displays for Computer-Assisted Surgery applications. Such devices provide force and/or tactile feedback to a surgeon to communicate information that is difficult or impossible to communicate via a graphical display alone. Haptic information displays differ from autonomous robots and teleoperators used in surgical applications, and have different requirements than the haptic devices designed for training and simulation of surgical procecures. A haptic information display based on Barrett Technology's Whole-Arm Manipulator (WAM) is introduced and early experiments for two different classes of medical applications are discussed. This new application area raises open research questions in the areas of haptic robotic systems and human machine interaction.
This paper presents a research work on compliant control of an anthropomorphic robot arm used as a 'personal robot', for assistance to humans in different aspects of their everyday life. In personal applicatio...
详细信息
ISBN:
(纸本)0780372727
This paper presents a research work on compliant control of an anthropomorphic robot arm used as a 'personal robot', for assistance to humans in different aspects of their everyday life. In personal applications of robotics, human-robot interaction represents a critical factor for a robot design and introduces strict requirements on its behavior and control, which has to ensure safety and effectiveness. In this work, the problem of controlling the Dexter anthropomorphic robot arm with variable compliance has been investigated, not only to ensure safety in the interaction with humans, but especially to increase the robot functionality in tasks of physical interaction, performed in co-operation with humans. Two different control schemes have been formulated and implemented on the-peculiar structure of the robotic arm, so as to compare their performance., through experimental trials. Both schemes aim at realising a self-controlled compliant behavior without using information from force/torque sensors. The experimental comparison outlines how the performance of the two control systems are inverted with respect to the theoretical considerations, based on the classical control theory, on their accuracy and effectiveness. The paper firstly describes the two implemented control systems;then, the performance of the two controllers in the experimental trials are shown and compared, and the functional compliance of the better one is graphically demonstrated.
A distributed camera system using off-the-shelf components is presented that demonstrates the capability to perform high-speed vision feedback suitable for applications such as direct visual servoing. The limitation o...
详细信息
A distributed camera system using off-the-shelf components is presented that demonstrates the capability to perform high-speed vision feedback suitable for applications such as direct visual servoing. The limitation of 60Hz video sample rates is overcome by using multiple RS-170 cameras synchronized over a network to capture at different instants in time. Each camera node has its own computer that processes video at field rates to determine the pose of a planar robot joint using eigenspace methods. Position information is fed back over a network to a master computer to perform direct visual servoing. The resulting vision feedback from the multiple cameras uses a Kalman filter to estimate position and to model the vision computation and transport delays. Computer simulation results are provided as the number of cameras are varied. Finally, real-time experimental results are presented that verify the approach using a network of four cameras performing direct visual servoing of a simple planar robot.
Many agricultural operations, like precise fertilization, plant disease detection, spraying and selective harvesting, could be routinely performed by robots. In this paper some preliminary results are presented about ...
详细信息
ISBN:
(纸本)0780376579
Many agricultural operations, like precise fertilization, plant disease detection, spraying and selective harvesting, could be routinely performed by robots. In this paper some preliminary results are presented about the design and the realization of a multipurpose low cost robot devoted to agricultural applications and particularly minded for working in greenhouses. The proposed manipulator is a structurally simple but reliable device that can operate in high level of automation greenhouses. Some details about the mechanical design of the manipulator are reported and topics related to a vision based control of the robot are discussed.
This paper proposes a novel method to integrate Internet distributed robotic systems using Common Object Request Broker Architecture for implementing telecare robotic system to aid the aged or disabled. The proposed m...
详细信息
ISBN:
(纸本)9810483643
This paper proposes a novel method to integrate Internet distributed robotic systems using Common Object Request Broker Architecture for implementing telecare robotic system to aid the aged or disabled. The proposed method makes system have low cost and wide availability, high scaling and inter-operating ability to allow the clients and server objects, written in different languages, run in different operating system, and connected in different network to inter-operate. It also makes it easier for system to be extended and integrated with the other technologies and applications distributed over the Internet. Using CORBA as a communication architecture, we developed hardware base, Web user management server, task-level robot arm control server, live image feedback server, mobile robot control server and iGPS server, which can provide some basic care services to aid the aged and disabled.
In the development of humanoid personal robots, accompanying the life of humans in their everyday activities, vision is no doubt an extremely important sensory capability to provide the robots with. In this paper, we ...
详细信息
In the development of humanoid personal robots, accompanying the life of humans in their everyday activities, vision is no doubt an extremely important sensory capability to provide the robots with. In this paper, we propose the application of robot vision to the identification of hand posture, as a first step in gesture detection, for two main classes of reasons: 1) the recognition of human hand posture can help human-robot interaction, especially in relation to 'teaching by demonstration';2) the recognition of the robot hand can allow visual servoing, especially helpful in environments and tasks with a high level of uncertainty. The paper presents the development of a vision system for hand posture recognition, by describing the basic algorithmic implementation, based on symbolic representations, and reporting the experimental results obtained in the recognition of a three-fingered robotic hand.
In order to execute complicated tasks involving contact with the environment, the robot manipulator must have force control capabilities. Many strategies for performing constrained motion control have been developed. ...
详细信息
ISBN:
(纸本)9810474806
In order to execute complicated tasks involving contact with the environment, the robot manipulator must have force control capabilities. Many strategies for performing constrained motion control have been developed. The major drawback of these strategies is that they can only provide for the control of the interaction forces along fixed task space directions. However, many applications necessitate interaction force control along arbitrary and changing directions. In this paper, a new hybrid force/position controller, implemented in a moving reference frame, which can control the interaction force along arbitrary directions is proposed. Using the proposed controller the robot manipulator can interact with workpieces whose shape is not pre-specified. Thus tasks like milling, deburring, polishing and surface tracking, that involve constrained motion control of the robot manipulator can be performed on a wide variety of workpieces without explicit knowledge of the shape of the workpiece. The design of this new hybrid force/position controller, implemented in the moving hand coordinate frame, is presented and the controller is shown to be stable. Simulation studies for the task of tracking unknown surfaces are also presented.
暂无评论