A learning algorithmic scheme for collision-free navigation is presented. This scheme determines the minimum collision-free navigation path of an autonomous platform by using a trial and error process and past navigat...
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A learning algorithmic scheme for collision-free navigation is presented. This scheme determines the minimum collision-free navigation path of an autonomous platform by using a trial and error process and past navigation knowledge and by extracting the current information from the surrounding environment. This scheme is related to the Odysseus autonomous navigation platform. However, it could be made into a general-purpose scheme with simple modifications. Simulated results for an illustrative example in a graphical representation are provided.< >
A novel method is presented for grouping range image regions such that each group of regions represents a meaningful part of an object. The set of regions, defined as a convex region set (CRS), is obtained by analyzin...
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A novel method is presented for grouping range image regions such that each group of regions represents a meaningful part of an object. The set of regions, defined as a convex region set (CRS), is obtained by analyzing the boundary types between a pair of regions. The boundary types are classified as convex, concave and jump boundaries. If two regions share a convex boundary it is assumed that they are inseparable regions, thus describing the same part (object). The CRSs are determined by a region boundary graph (RBG) which is defined as a graph whose nodes represent regions, and the edges represent boundaries: convex and concave. Since jump boundaries represent no physical contact in 3-D, they are represented as null edges. A CRS is defined as a set of regions (or nodes in an RBG) such that for each pair of regions in the set, there is a path, which is represented only by convex edges. The physical interpretation is that a CRS represents part of an object such that the regions in the set cannot be separated.< >
A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients ...
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A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and hence obtains its computational efficiency through the recursive nature of the algorithm.< >
A description is given of a device for determining curvatures using a cylindrical tactile sensor. The finger touches an unknown convex surface. Principal curvatures, normal force and location are determined from a 4*4...
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A description is given of a device for determining curvatures using a cylindrical tactile sensor. The finger touches an unknown convex surface. Principal curvatures, normal force and location are determined from a 4*4 window of strain measurements. Sensor strains are predicted by convolving the spatial impulse response of the rubber skin with the assumed surface pressure distribution derived from a Hertz contact model. Gradient search finds the parameters of the convex second-order shape and the force that best fit the sensor data. Experiments show radius estimation within 10%, orientation within 2.5 degrees, and sub-tactel localization of 3% of the element spacing. Accuracy limits due to sensor noise are derived.< >
A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used ...
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A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used as an integral part of the entire tracking system. The eye-in-hand system is used to characterize the object trajectory in real time, using a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that are extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the initial results is presented.< >
The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various extern...
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The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, crossfire, overload, and slip sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the real world. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results as well as results from the actual implementation of certain concepts of sensor data fusion have been demonstrated.< >
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