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American Control Conference (ACC)

作者： Zexiang Li Ping Hsu Shankar Sastry Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley CA USA

This paper treats two fundamental problems of a multiple robotic system: grasp planning and the determination of coordinated control laws with point contact models. First, using the dual notions of grasp stability and manipulability and a procedure we have previously developed for task modeling we define the structure grasp quality measures These measures are then integrated to devise a grasp planing algorithm. Second, based on the assumption of point contact models, we develop a computed-torque-like control algorithm for the coordinated manipulation of a multifingered robot hand. This control algorithm, which takes into account both the dynamics of the object and the dynamics of the manipulators, is computationally effective and can be easily generalized to allow rolling motion of the object with respect to the fingertip.

关键词： Robot kinematics Fingers robotics and automation Stability Manipulator dynamics Friction Contacts Motion control Laboratories Planing

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On grasping and coordinated manipulation by a multifingered robot hand

On grasping and coordinated manipulation by a multifingered ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Hsu Z. Li S. Sastry Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley CA USA

Two problems in the study of multifingered robot hands are considered, namely grasp planning and the determination of coordinated control laws with point contact models. using the dual notions of grasp stability and manipulability, and a procedure previously developed for task modeling, the structure grasp quality measures are defined. These measures are then integrated to devise a grasp planning algorithm. Based on the assumption of point contact models, a computed-torque-like control algorithm is developed for the coordinated manipulation of a multifingered robot hand. This control algorithm, which takes into account both the dynamics of the object and the dynamics of the hand, is computationally effective and can be generalized to allow rolling motion of the object with respect to the fingertip.< >

关键词： Grasping Robot kinematics Fingers Stability robotics and automation Friction Laboratories Motion planning Planing Motion control

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A 1024-element high-performance silicon tactile imager

A 1024-element high-performance silicon tactile imager

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International Electron Devices Meeting (IEDM)

作者： K. Suzuki K. Najafi K.D. Wise Sensor Research Laboratory Microelectronics Research Laboratories NEC Corporation Limited Kanagawa Japan Center of Integrated Sensors and Circuits Solid-State Electronics Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

A 32-*32-element capacitive silicon tactile imager has been developed for use in precision robotics applications where high density and high resolution are important. The silicon chip measures 1.8 cm*1.7 cm and is organized in an X-Y matrix of 1024 capacitor elements on 0.5-mm centers. The process uses two boron diffusions (deep and shallow) followed by a silicon-to-glass electrostatic bonding step and subsequent unmasked wafer dissolution. This results in a thick center plate for the sense capacitor supported by thinner beams. A data acquisition system used with the device offers over 7-bit force resolution with a maximum operating force of about 1 gm/element.< >

关键词： Silicon Capacitors Robots Image resolution Electrostatic measurements Semiconductor device measurement Boron Diffusion bonding Wafer bonding Data acquisition

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PAR - A CSG-BASED UNIQUE REPRESENTATION SCHEME FOR ROTATIONAL PARTS

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1987年第6期17卷 1039-1049页

作者： LEE, YC JEA, KFJ Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109

PAR (principal axis representation) for rotational parts (i.e., solids of revolution) is proposed as an internal representation scheme for constructive solid geometry (CSG). They key idea of PAR is to represent an object uniquely by its principal axis and a set of boundary curves. Since PAR is in an evaluated form, geometrical properties of parts can be computed more directly and efficiently from this evaluated representation than from the original CSG tree. The scheme is described, and operations (e.g. union) on PARs are defined. The uniqueness of the scheme is proved. An algorithm that converts a CSG representation into PAR is presented along with examples. The equivalence of PAR to the CSG scheme for rotational parts is proved.

关键词： Feature extraction Solids Geometry Syntactics Task analysis Solid modeling Pattern recognition

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Computational themes in applications of visual perception

Computational themes in applications of visual perception

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AIAA/NASA/USAF 2nd Symposium on Automation, robotics and Advanced Computing for the National Space Program,1987

作者： Jain, Ramesh Schunck, Brian G. Weymouth, Terry Computer Vision Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109-2122 United States

The paper summarizes the current research in the computer vision research laboratory at the University of Michigan. The laboratory concentrates on developing generic vision algorithms for industrial applications. Generic vision algorithms can be applied to a wide variety of inspection problems. The paper includes a discussion of the current state of the machine vision industry and provides recommendations for improving the transfer of vision technology from research to practice. according to applications areas. There are no automotive vision algorithms or aerospace vision algorithms;vision algorithms are not specific to any one industry. vision algorithms are defined by the properties of the vision processing task;that is, in terms that depend on the vision processing itself, rather than on some intended use for the algorithm. © 1987 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： computer vision

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New concepts in tele-autonomous systems

New concepts in tele-autonomous systems

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AIAA/NASA/USAF 2nd Symposium on Automation, robotics and Advanced Computing for the National Space Program,1987

作者： Conway, Lynn Volz, Richard Walker, Michael Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States

We have taken up the challenge of integrating telemanipulation technology and autonomous system technology. We are seeking methods for integration at a fundamental rather than an ad-hoc level. We believe that success in this effort can open up new space and defense applications now beyond reach of either technology alone. In our presentation at this symposium, we introduce a series of concepts for "tele-autonomous" systems. The concepts involve new system architectures and associated new system interface controls including "time clutches", "position clutches" and "time brakes". Taken, together, the concepts enable effective, efficient intermingling of real-time cognition and manipulation tasks performed by either humans or machines. The concepts also yield simple mechanisms and protocols for handoffs of such tasks between multiple agents. In this presentation we focus primarily on the tutorial introduction of the basic tele-automation concepts. We then briefly describe our environment for exploring this new technology and the results of our initial experiments. Further details concerning tele-autonomous system architecture and our initial experimental results can be found in an attached reference [CON87]. © 1987 by the American institute of Aeronautics and Astronautics, Inc.

关键词： computer architecture

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Decentralized adaptive control of robot manipulators

Decentralized adaptive control of robot manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Gavel T. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA

A decentralized adaptive control scheme is presented for multilink robot arms. The structure of dynamic and force interactions in the robot arm allows local high gain feedback control to stabilize the overall system, and cause the arm to track reference trajectories to any accuracy desired. The adaptive law is locally stable with an attractive set that is adjustable a-priori using minimal knowledge of robot parameters. Robot manipulators control using decentralized approach is highly desirable in that it facilitates real-time implementation.

关键词： Adaptive control Control systems Robot control Manipulator dynamics Distributed control Programmable control Feedback Performance gain Torque control Laboratories

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Tele-autonomous systems: Methods and architectures for intermingling autonomous and telerobotic technology

Tele-autonomous systems: Methods and architectures for inter...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Conway R. Volz M. Walker Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of Michigan Michigan

As a result of recent advances in artificial intelligence, human cognitive modelling, autonomous systems and telerobotics, there is an opportunity to broaden our concepts of technology for projecting action at a distance. We draw on these advances to develop a conceptual and architectural framework that enables efficient projection in time and space of intermingled manipulation and cognition tasks. Where AI-based autonomous systems have previously been concerned with human supervisory intervention primarily at a cognitive level, we add methods for rendezvous, capture and rehandoff of embedded manipulation tasks. Where telerobotics has been concerned with the projection of sensory-motor manipulation, we add the projection of cognitive processing. Thus extended, the two technologies mirror one another and merge into one of "tele-autonomous systems". We introduce notions of how the sensory, cognitive and motor functions of tele-autonomous systems can be factored and transferred back and forth between human and machine. We illustrate how the times to complete tele-autonomous tasks can be reduced through time and space constraint relaxations effected through simple controls: We employ the concepts of forward simulation and predictor display, augmented by "time and position clutches", "time ratio controls" and "time brakes", to control the resulting manipulation paths and event transitions. We sketch some generic architectural and human interface implications of these methods. Finally, we describe our environment for exploring these methods and the results of some recent experiments.

关键词： Telerobotics Humans Space technology Artificial intelligence Cognition Mirrors Time factors Predictive models Discrete event simulation Displays

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On a simplified joint controller design for robot manipulators

On a simplified joint controller design for robot manipulato...

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IEEE Conference on Decision and Control

作者： T. C. Hsia Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

A simple controller design approach is introduced which provides linear decoupled joint motion control for a robot manipulator. The main idea is to treat each joint as a simple second order linear system with all the nonlinear and coupling effects viewed as disturbance. By employing a simple disturbance estimation/rejection procedure, highly robust independent joint control can be achieved.

关键词： Robot control Manipulators Torque control Robust control Couplings Force control Gravity Motion control Uncertainty computer simulation

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Positioning Three-Dimensional Objects Using Stereo Images

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IEEE Journal on robotics and Automation 1987年第4期3卷 361-373页

作者： Kim, Yeon C. Aggarwal, J.K. Computer and Vision Research Center The University of Texas at Austin Austin TX United States Dae Jeon 300 P.O. Box 35 South Korea Department of Electrical and Computer Engineering The University of Texas at Austin Austin TX 78712-1084 United States

A simple stereo algorithm is presented for determining the three-dimensional position of object points in a scene. In this algorithm two independent measures of similarity, the zero-crossing pattern and the intensity gradient, are combined to improve the matching process. Zero-crossing neighborhoods are classified into 16 possible patterns according to their local connectivity. In the matching process a relaxation method is used to find the best matches. Three constraints are incorporated into a single relaxation process, namely, disparity continuity, figurai continuity, and smoothness of the probability of matching. Copyright © 1987 by The Institute of electrical and Electronics Engineers, Inc.

关键词： Stereo vision robotics and automation computer vision Data mining Robot vision systems Feature extraction Humans Layout Military computing Relaxation methods

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