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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： P. Franchi F. Gandolfo G. Casalino P. Morasso G. Sandini R. Zaccaria Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

One of the main problems in robotic research is planning. Different approaches have been considered, ranging from global to local planning. In the authors' approach, the key idea is that of planning movements of redundant robots, which involves both robotic and AI aspects. Pushing is used as a case study and sensorial feedback is considered in order to provide the planner with updated information on the dynamic evolution of the scene and to be able to deal with a priori unknown objects.< >

关键词： Robot sensing systems Trajectory Layout Artificial intelligence Strategic planning Orbital robotics Motion planning Feedback Shape Power system planning

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A practical implementation of a multilevel architecture for vision-based navigation

A practical implementation of a multilevel architecture for ...

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International Conference on Advanced robotics (ICAR)

作者： F. Ferrari M. Fossa E. Grosso M. Magrassi G. Sandini Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

The paper summarizes the current work of the DIST-University of Genoa in the field of mobile robotic control. In particular the authors describe the implementation of a multilevel architecture for navigation, based on a stereo vision system, which allows obstacle avoidance, detection of free corridors and low level planning by means of few known landmarks such as color spots or vertical edges. Each level is, in principle, independent from the others. Appropriate motor actions are carried out combining the parallel behavior of the different levels.< >

关键词： Navigation computer architecture Mobile robots Robot vision systems Layout Vehicle safety Mobile communication computer vision laboratories Telephony

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Integrating force-fields methods in a robot planning/programming language

Integrating force-fields methods in a robot planning/program...

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International Conference on Advanced robotics (ICAR)

作者： P. Franchi P. Morasso G. Vercelli R. Zaccaria Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

In advanced robotic applications which involve unstructured and cluttered environments, highly redundant robots are considered very useful because they allow one to negotiate obstacles and various kinds of constraints. The price, however, is the increased complexity of the planning and control tasks. In this paper the authors present a prototype of a robotic task planning system that integrates an analogical planner, based on relaxation networks (M-Nets), with a robot planning/programming language (NEM++). M-nets are a parallel and distributed architecture which operates via relaxation in a similar way to a Hopfield net for generating synergies of motor commands in polyarticulated robotic structures.< >

关键词： computer languages Object oriented modeling Robot programming Mobile robots Kinematics Equations Biological system modeling Application software Prototypes Parallel robots

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Visual monitoring of robot actions

Visual monitoring of robot actions

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： F. Gandolfo M. Tistarelli G. Sandini Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

Present a perspective in relation to the use of vision for the control of robots and for the monitoring of robot actions. In order to explain the approach some experiments have been performed in the field of object manipulation and robot navigation. In particular the monitoring of pushing and tapping actions by means of dynamic measurements performed on image sequences are reported. The experiments show that, not only it seems possible to detect unexpected events, but it is possible to control the arm or vehicle trajectory in such a way to achieve a complex task like the pushing of an unknown object along a predetermined trajectory.< >

关键词： Monitoring Robot vision systems Robot control Navigation Vehicle dynamics Particle measurements Performance evaluation Image sequences Object detection Event detection

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Grasping strategies for reconstructed unknown 3D objects

Grasping strategies for reconstructed unknown 3D objects

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： E. Grosso G. Vercelli Department of Communication Computer and Systems Science (DIST) Integrated Laboratory of Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

The authors describes an approach to the visuo-motor coordination of the grasping problem. A vision system is used to provide a spatial description of the scene. The volumetric information is reduced by merging the voxels into an octree representation. At the end of the reconstruction process, this kind of 'essential' information can be used to choose the right pre-shaping and to coordinate the arm and the hand motion towards the pre-shaping position, in order to realize a stable grasp. Some preliminary results are shown.< >

关键词： Layout Robot kinematics Grasping Machine vision Orbital robotics Solid modeling Data mining Merging laboratories Shape

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Dynamic stereo in visual navigation

Dynamic stereo in visual navigation

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： M. Tistarelli E. Grosso G. Sandini Department of Communication Computer and Systems Science (DIST) Integrated Laboratory for Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

A cooperative schema is proposed in which binocular disparity, computed on several stereo images over time, is combined with optical flow from the same sequence to obtain a relative-depth map of the scene. Both time-to-impact and depth scaled by the distance of the camera from the fixation point in space are considered as good, relative measurements which are based on the viewer (but centered on the environment). Two experiments, performed on image sequences from real scenes, are presented.< >

关键词： Navigation Robot kinematics Orbital robotics Layout Stereo vision Calibration Cameras Robustness Vehicle safety Motion analysis

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'Chaotic relaxation' in concurrently asynchronous neurodynamics

'Chaotic relaxation' in concurrently asynchronous neurodynam...

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International Joint Conference on Neural Networks (IJCNN)

作者： Barhen Gulati California Institute of Technology Jet Propulsion Laboratory Pasadena CA USA Division of Engineering and Applied Sciences California Institute of Technology USA The Robotics Research Lab Department of Computer Science Louisiana State University Baton Rouge LA USA

A mathematical framework for reconditioning additive-type models is proposed, and a neuro-operator, based on the chaotic relaxation paradigm, whose resulting dynamics is neither concurrently synchronous nor sequentially asynchronous is derived. Necessary and sufficient conditions guaranteeing concurrent asynchronous convergence are established in terms of contracting operators. Lyapunov exponents are also computed to characterize the network dynamics and to ensure that throughput-limiting chaotic behavior in models reconditioned with concurrently asynchronous algorithms has been eliminated.< >

关键词： Chaos Lyapunov methods Neural networks Parallel algorithms

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AN INTELLIGENT ROBOTIC SYSTEM FOR REHABILITATION OF JOINTS AND ESTIMATION OF BODY SEGMENT PARAMETERS

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IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING 1988年第2期35卷 138-146页

作者： KHALILI, D ZOMLEFER, M Robotics Laboratory Department of Electrical Engineering and Computer Science Santa Clara University Santa Clara CA USA Robotics Lab. Santa Clara Univ. CA USA

An an application of robotics in physical rehabilitation therapy, a robotic system consisting of two planar robot arms, each with two degrees of freedom, is considered. This robotic system, when coupled across a human joint, provides a vehicle for rehabilitation of the joint following surgery or trauma. A novel approach for estimation of body segment parameters is formulated that uses state and output information from the robot system to improve these estimates. In addition, redundant sensors are used to improve the accuracy of the estimates. The dynamic equations for a single robot arm are provided and the system is simulated. Therapeutic applications of the robotic system are discussed and the sensitivity of the measured forces with respect to the robot arm joint angles is studied in order to find an optimum orientation of the system for the best possible estimation. The application of this system to both rehabilitation and sports medicine is also discussed.< >

关键词： Intelligent robots Intelligent systems Rehabilitation robotics Robot sensing systems Joints State estimation Medical robotics Medical treatment Manipulators Humans

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PROGRESS--A graphical robot programming system

PROGRESS--A graphical robot programming system

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Naylor Lejun Shao R. Volz R. Jungclas P. Bixel K. Lloyd Robotics Research Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI General Electric Company Bell Lab. of AT&T company

A graphical off-line robot programming system should not only be able to simulate various types of robot movement graphically, it should also be able to use graphics to interact with binary sensors, actuators and etc., in order to simulate logic-related and other functions of robot languages, such as testing and branching, looping, communication and external event handling graphically. We present a graphical off-line robot programming system which has some of these additional features. In particular, it incorporates a geometrical representation of logical conditions into the geometrical representation of the robot and workspace and it allows conditional statements to be programmed in a geometric setting.

关键词： Robot programming Graphics Displays Actuators Shape Robot sensing systems Grippers Sensor systems Control systems Temperature

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Advances in robotics 1

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丛书名： Lecture Notes in computer science

1000年

作者： Jong-Hwan Kim Shuzhi Sam Ge Prahlad Vadakkepat Abdullah Al Manum Norbert Jesse Sadasivan Puthusserypady K Ulrich Rückert Joaquin Sitte Ulf Witkowski Ryohei Nakatsu Jacky Baltes John Anderson Igor Verner

ISBN: (数字)9783642039836

ISBN: (纸本)9783642039829

th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on computational Intelligence, robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social robotics (ICSR) • International Conference on Advanced Humanoid robotics Research (ICAHRR) • International Conference on Entertainment robotics (ICER) • International robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.

关键词： Artificial Intelligence User Interfaces and Human computer Interaction computers and Society computers and Education Personal Computing computer Appl. in Social and Behavioral sciences

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