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1990 IeeE International Workshop on intelligent Robots and systems, IROS 1990

作者： Paetsch, W. Kaneko, M. Technical University of Darmstadt Department of Control Engeneering Control Systems Theory and Robotics Section Germany Kyushu Institute of Technology Computer Science and System Engeneering Kawazu 680-4 Iizuka820 Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture are designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper will be used to develop and evaluate different approaches of stable grasping and object manipulation. First results of the control of the gripper on joint level as well as the cartesian behaviour of the fingers and some results and experiences with first grasping and manipulation experiments using the presented system are reported. © 1990 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Grippers

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Reference adaptive impedance control: a new paradigm for event-based robotic and telerobotic control

Reference adaptive impedance control: a new paradigm for eve...

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IeeE International Workshop on intelligent Robots and systems (IROS)

作者： Sukhan Lee Ming-Feng Jean Jong-Oh Park Chong-Won Lee Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Korea Institute of Science and Technology (KIST) Seoul South Korea

ISBN: (纸本)0780344650

A new paradigm of event-based robotic and telerobotic control, referred to as the reference adaptive impedance control, is presented for partially constrained robotic and telerobotic tasks under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. The reference adaptive impedance control also serves as a powerful tool for implementing shared control in teleoperation. A case study of robotic and telerobotic soil trenching is given with peg-hole insertion experiment.

关键词： Programmable control Adaptive control Impedance Telerobotics Robot control Trajectory intelligent robots Robot kinematics Strain control Force control

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Generating robust partial order schedules

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10th International Conference on Principles and Practice of Constraint Programming, CP 2004

作者： Policella, Nicola Oddi, Angelo Smith, Stephen F. Cesta, Amedeo Institute for Cognitive Science and Technology Italian National Research Council Rome Italy The Robotics Institute Carnegie Mellon University PittsburghPA United States Department of Computer and Systems Science University of Rome Italy

ISBN: (纸本)3540232419

This paper considers the problem of transforming a resource feasible, fixed-times schedule into a partial order schedule (POS) to enhance its robustness and stability properties. Whereas a fixed-times schedule is brittle in the face of unpredictable execution dynamics and can quickly become invalidated, aPOS retains temporal flexibility whenever problem constraints allow it and can often absorb unexpected deviation from predictive assumptions. We focus specifically on procedures for generating Chaining Form POSs, wherein activities competing for the same resources are linked into precedence chains. One interesting property of a Chaining Form POS is that it is "makespan preserving" with respect to its originating fixed-times schedule. Thus, issues of maximizing schedule quality and maximizing schedule robustness can be addressed sequentially in a two-step scheduling procedure. Using this approach, a simple chaining algorithm was recently shown to provide an effective basis for transforming good quality solutions into POSs with good robustness properties. Here, we investigate the possibility of producing POSs with better robustness and stability properties through more extended search in the space of Chaining Form POSs. We define two heuristics which make use of a structural property of chaining form POSs to bias chaining decisions. Experimental results on a resource-constrained project scheduling benchmark confirm the effectiveness of our approach. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Scheduling

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Handwritten numeral recognition based on hierarchically self-organizing learning networks with spatio-temporal pattern representation

Handwritten numeral recognition based on hierarchically self...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： S. Lee J.C. Pan Department of Electrical Engineering-Systems and Computer Science Institute for Robotics and Intelligence Systems University of Southern California USA

An approach for tracing, representation, and recognition of a handwritten numeral in an offline environment is presented. A 2D spatial representation of a numeral is first transformed into a 3D spatiotemporal representation by identifying the tracing sequence based on a set of heuristic rules acting as transformation operators. Given the dynamic information of the tracing sequence, a multiresolution critical-point segmentation method is proposed to extract local feature points, at varying degrees of scale and coarseness. A neural network architecture, the hierarchically self-organizing learning (HSOL) network (S. Lee, J.C. Pan, 1989), especially for handwritten numeral recognition, is presented. Experimental results based on a bidirectional HSOL network indicated that the method is robust in terms of variations, deformations, and corruption, achieving about 99% recognition rate for the test patterns.< >

关键词： Handwriting recognition Pattern recognition Feature extraction Character recognition intelligent robots Neural networks Humans Heuristic algorithms Skeleton Lifting equipment

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Handling Scan-time Parameters in Haptic Surface Classification 7

Handling Scan-time Parameters in Haptic Surface Classificati...

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7th IeeE World Haptics Conference, WHC 2017

作者： Burka, Alex Kuchenbecker, Katherine J. Department of Electrical and Systems Engineering University of Pennsylvania PhiladelphiaPA19104 United States Departments of Mechanical Engineering and Applied Mechanics Computer and Information Science Electrical and Systems Engineering University of Pennsylvania PhiladelphiaPA19104 United States Haptic Intelligence Department Max Planck Institute for Intelligent Systems Stuttgart70569 Germany

ISBN: (纸本)9781509014255

The physical sensations of touch, as measured by the force and vibration felt during contact, strongly depend on the normal force exerted by the end-effector as well as its speed relative to the surface, factors we call 'scan-time parameters.' When researchers record surface interactions for machine learning tasks such as haptic surface recognition, they must either (1) precisely control these parameters, (2) record them alongside the rest of the data, or (3) develop postprocessing that makes surface percepts invariant to scan-time parameters. Here we use multi-class support vector machines to compare the second approach ('scan-dependent features' developed in our prior work) with the third approach ('scanfree features' developed by Strese et al.). We first verify our implementation of the scan-free features by testing on Strese et al.'s published dataset of 69 surfaces, achieving 87.4% crossvalidation accuracy. We then compare the two approaches on new surface interaction data gathered from 28 surfaces with our instrument (the Proton Pack), obtaining 57.9% accuracy using scan-dependent features and 93.3% accuracy using scan-free features, demonstrating superiority of the scan-free features for this task. We further calculate the correlation of all features to scan-time parameters, confirming that the scan-free features are relatively invariant to scan-time parameters. © 2017 IeeE.

关键词： Support vector machines

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EmotionAir: Perception of Emotions from Air Jet Based Tactile Stimulation

EmotionAir: Perception of Emotions from Air Jet Based Tactil...

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International Conference on Affective Computing and intelligent Interaction and Workshops, ACII

作者： Mohamed Yassine Tsalamlal Nizar Ouarti Jean-Claude Martin Mehdi Ammi Department of Computer Science CNRS-LIMSI Orsay France Institute of Intelligent Systems and Robotics University of Pierre and Marie Curie Paris France

Several studies in affective computing consider the role of haptic channel via the tactile and kinesthetic components. However, these works used constraining haptic devices with limited stimulation strategies. This paper proposes to investigate a new haptic device for the tactile stimulation with a mobile air jet. This approach is more suitable for the stimulation of skin mechanoreceptors which play an important role in social and affective behaviors. An experimental study was conducted in order to understand the relationships between the physical features of the air jet and the perception of emotions by participants. The results highlight a main effect of the intensity and movement velocity of the air jet stimulation on the evaluations of valence, arousal, and dominance.

关键词： Haptic interfaces Skin Affective computing Educational institutions Psychology Analysis of variance Mobile communication

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Fixture foolproofing for polygonal parts

Fixture foolproofing for polygonal parts

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IeeE International Symposium on Assembly and Manufacturing (ISAM)

作者： K. Penev A.A.G. Requicha Programmable Automation Laboratory Computer Science Department and Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A modular fixture is an arrangement of fixturing elements (fixels) that locate and immobilize a workpart. A complete algorithm for designing fixtures for polygonal parts in 2-D was proposed by Brost and Goldberg (1994). The algorithm finds all fixtures consisting of three fixed-size locators and one clamp on a regular grid of holes. However, often it is possible to load the workpart into the fixture in an incorrect pose. An incorrect loading may have disastrous consequences when the part program is executed. Therefore, fixtures that permit only one pose for the loaded workpiece are very desirable. We call them foolproof fixtures. In this paper we present an algorithm that accepts a fixture design, produced by the Brost-Goldberg algorithm, and augments it by inserting in certain grid holes foolproofing pins that make the incorrect loading impossible. The algorithm is complete in the sense that it either (i) produces a solution; (ii) terminates without a solution because none exists; or (iii) detects and flags those nongeneric situations it cannot handle. (These occur rarely.) The produced set of foolproofing pins may not be minimal. However, it is not much worse than the minimal one. Experimental results and complexity analysis are provided.

关键词： Fixtures Clamps Pins Algorithm design and analysis robotics and automation intelligent robots Laboratories computer science intelligent systems

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Automatic fixture synthesis in 3D

Automatic fixture synthesis in 3D

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IeeE International Conference on robotics and Automation (ICRA)

A fixture is an arrangement of fixturing modules that locate and hold a workpart during a manufacturing operation. In this work we consider fixtures with frictionless point contacts and present a method for placement of contact points on a non-prismatic 3D workpart. It is a nondeterministic, potential field algorithm for contact point placement. The method provides a basic framework for the integration of heterogeneous high-level fixturing agents through an interface based on zones of attraction and repulsion on the workpart boundary. The algorithm may produce redundant fixtures, and can augment partial solutions to complete form closure fixtures.

关键词： Fixtures Manufacturing automation robotics and automation intelligent robots Laboratories computer science intelligent manufacturing systems computer aided manufacturing Machining Assembly

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Cooperative Robot Localization and Target Tracking based on Least Squares Minimization

Cooperative Robot Localization and Target Tracking based on ...

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IeeE International Conference on robotics and Automation

作者： Aamir Ahmad Gian Diego Tipaldi Pedro Lima Wolfram Burgard Institute for Systems and Robotics Instituto Superior Tecnico Autonomous Intelligent System Laboratory Department of Computer Science Albert-Ludwigs-Universitat Freiburg

ISBN: (纸本)9781467356404

In this paper we address the problem of cooperative localization and target tracking with a team of moving robots. We model the problem as a least squares minimization problem and show that this problem can be efficiently solved using sparse optimization methods. To achieve this, we represent the problem as a graph, where the nodes are robot and target poses at individual time-steps and the edges are their relative measurements. Static landmarks at known position are used to define a common reference frame for the robots and the targets. In this way, we mitigate the risk of using measurements and state estimates more than once, since all the relative measurements are i.i.d. and no marginalization is performed. Experiments performed using a set of real robots show higher accuracy compared to a Kalman filter.

关键词： Target tracking Robot relative measurement REFERENCE FRAMES Kalman filters Least squares method Optimization methods Targets

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Tongue interface based on surface EMG signals of suprahyoid muscles

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ROBOMECH Journal 2016年第1期3卷 1-11页

作者： Sasaki, Makoto Onishi, Kohei Stefanov, Dimitar Kamata, Katsuhiro Nakayama, Atsushi Yoshikawa, Masahiro Obinata, Goro Graduate School of Engineering Iwate University MoriokaIwate Japan School of Science and Technology Middlesex University London United Kingdom Pattern Art Laboratory Co. Ltd. HanamakiIwate Japan Department of Intelligent Systems Engineering Ichinoseki National College of Technology IchinosekiIwate Japan Graduate School of Information Science Nara Institute of Science and Technology Nara Japan Department of Robotics Science and Engineering Chubu University Kasugai Japan

The research described herein was undertaken to develop and test a novel tongue interface based on classification of tongue motions from the surface electromyography (EMG) signals of the suprahyoid muscles detected at the underside of the jaw. The EMG signals are measured via 22 active surface electrodes mounted onto a special flexible boomerang-shaped base. Because of the sensor’s shape and flexibility, it can adapt to the underjaw skin contour. Tongue motion classification was achieved using a support vector machine (SVM) algorithm for pattern recognition where the root mean square (RMS) features and cepstrum coefficients (CC) features of the EMG signals were analyzed. The effectiveness of the approach was verified with a test for the classification of six tongue motions conducted with a group of five healthy adult volunteer subjects who had normal motor tongue functions. Results showed that the system classified all six tongue motions with high accuracy of 95.1 ± 1.9 %. The proposed method for control of assistive devices was evaluated using a test in which a computer simulation model of an electric wheelchair was controlled using six tongue motions. This interface system, which weighs only 13.6 g and which has a simple appearance, requires no installation of any sensor into the mouth cavity. Therefore, it does not hinder user activities such as swallowing, chewing, or talking. The number of tongue motions is sufficient for the control of most assistive devices. © 2016, Sasaki et al.

关键词： Support vector machines

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