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IEEE International Conference on robotics and Automation (ICRA)

作者： J.T. Wen L.S. Wilfinger Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA

Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples.

关键词： Kinematics Torque Ellipsoids Manufacturing automation robotics and automation computer aided manufacturing Manipulators Fingers Legged locomotion Robots

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Autonomous mobile robot global self-localization using Kohonen and region-feature neural networks

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Journal of Field robotics 1998年第4期14卷

作者： Jason A. Janét Ricardo Gutierrez Troy A. Chase Mark W. White John C. Sutton III Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC 27695-7911

This article presents and compares two neural network-based approaches to global self-localization (GSL) for autonomous mobile robots using: (1) a Kohonen neural network, and (2) a region-feature neural network (RFNN). Both approaches categorize discrete regions of space (topographical nodes) in a manner similar to optical character recognition (OCR). That is, the mapped sonar data assumes the form of a character unique to that region. Hence, it is believed that an autonomous vehicle can determine which room it is in from sensory data gathered from exploration. With a robust exploration routine, the GSL solution can be time-, translation-, and rotation-invariant. The GSL solution can also become independent of the mobile robot used to collect the sensor data. This suggests that a single robot can transfer its knowledge of various learned regions to other mobile robots. The classification rate of both approaches are comparable and, thus, worthy of presentation. The observed pros and cons of both approaches are also discussed. © 1997 John Wiley & Sons, Inc.

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Autonomous mobile robot global motion planning and geometric beacon collection using traversability vectors

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1997年第1期13卷 132-140页

作者： Janet, JA Luo, RC Kay, MG Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Approaches in global motion planning (GMP) and geometric beacon collection (for self-localization) using traversability vectors have been developed and implemented in both computer simulation and actual experiments on mobile robots. Both approaches are based on the same simple, modular, and multifunctional traversability vector (t-vector). Through implementation it has been found that t-vectors reduce the computational requirements to detect path obstructions, Euclidean optimal via points, and geometric beacons, as well as to identify which features are visible to sensors. Environments can be static or dynamic and polygons are permitted to overlap (i.e., intersect or be nested). While the t-vector model does require that polygons be convex, it is a much simpler matter to decompose concave polygons into convex polygon sets than it is to require that polygons not overlap, which is required for many other GMP models. T-vectors also reduce the data size and complexity of standard V-graphs and variations thereof, This paper presents the t-vector model so that the reader can apply it to mobile robot GMP and self-localization.

关键词： computational geometry collision detection geometric beacon detection/collection mobile robot motion planning range sensor prediction self-localization

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Autonomous mobile robot global self-localization using Kohonen and region-feature neural networks

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JOURNAL OF ROBOTIC SYSTEMS 1997年第4期14卷 263-282页

作者： Janet, JA Gutierrez, R Chase, TA White, MW Sutton, JC Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC 27695-7911 Email: Jason A. Janét (jajanet@eos.ncsu.edu)[*]Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC 27695-7911

This article presents and compares two neural network-based approaches to global self-localization (GSL) for autonomous mobile robots using: (1) a Kohonen neural network;and (2) a region-feature neural network (RFNN). Both approaches categorize discrete regions of space (topographical nodes) in a manner similar to optical character recognition (OCR). That is, the mapped sonar data assumes the form of a character unique to that region. Hence, it is believed that an autonomous vehicle can determine which room it is in from sensory data gathered from exploration. With a robust exploration routine, the GSL solution can be time-, translation-, and rotation-invariant. The GSL solution can also become independent of the mobile robot used to collect the sensor data. This suggests that a single robot can transfer its knowledge of various learned regions to other mobile robots. The classification rate of both approaches are comparable and, thus, worthy of presentation. The observed pros and cons of both approaches are also discussed. (C) 1997 John Wiley & Sons, Inc.

关键词： Mobile robots

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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A capacitive tri-axial tactile force sensor design

A capacitive tri-axial tactile force sensor design

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IEEE/ASME (aiM) International Conference on Advanced Intelligent Mechatronics

作者： T.A. Chase R.C. Luo Center of Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Summary form only given. A tri-axial tactile force sensor design is presented. The multiple electrode design allows the sensor to detect displacements of an electrode relative to a second set of electrodes. The primary role of this force sensor is for integration into the finger of an articulated hand such as the Stanford/JPL hand or the Utah/MIT hand. The sensor is fabricated on a Kapton substrate to allow for the required flexibility. Electrodes are patterned using microelectronic fabrication techniques providing both dimensional accuracy and the ability to fabricate very small sensor elements. Once the single sensor elements have been sufficiently tested, arrays of sensor elements can be integrated into a tactile finger design.

关键词： Force sensors Electrodes Sensor arrays Intelligent robots Intelligent sensors Fingers Tactile sensors Robot sensing systems Machine intelligence Microelectronics

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Assemblability based on maximum likelihood configuration of tolerances

Assemblability based on maximum likelihood configuration of ...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both position and orientation. The mating relations are regarded as linear relational constraints, also with nominal and variational components. With this formulation, estimation of the configuration of parts may be posed as a maximum likelihood problem and solved by a Kalman filter algorithm. The resulting maximum likelihood configuration of the assembly may be used to evaluate the required deviation from nominal and the assemblability as defined by the maximum likelihood clearance from constraints. In addition, application of the technique to intermediate subassemblies may be used to evaluate assemblability of specific steps and discriminate among alternative assembly sequence plans.

关键词： Maximum likelihood estimation Solid modeling Robotic assembly Uncertainty ANSI standards Manufacturing automation robotics and automation computer aided manufacturing Information geometry Systems engineering and theory

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on Advanced robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation computer aided manufacturing Laboratories Data mining

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Agent-based design of fault tolerant manipulators for satellite docking

Agent-based design of fault tolerant manipulators for satell...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.J.J. Paredis P.K. Khosla Engineering Design Research Center Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

A rapidly deployable fault tolerant manipulator system consists of modular hardware and support software that allow the user to quickly configure and deploy a fault tolerant manipulator that is custom-tailored for a given task. The main focus of this paper is on the task based design component of such a system, that is, the determination of the optimal manipulator configuration, its base position and the corresponding joint space trajectory for a given task. We introduce a novel agent-based solution approach to task based design and illustrate it with a fault tolerant manipulator design for a satellite docking operation aboard the space shuttle.

关键词： Fault tolerance Satellites Manipulators Fault tolerant systems Trajectory Hardware Space shuttles Design engineering Orbital robotics Space stations

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control computer aided manufacturing Manufacturing processes Parameter estimation

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