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SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS

International Journal of Pattern Recognition and Artificial Intelligence 1993年第1期7卷 123-144页

作者： CHUXIN CHEN MOHAN M. TRIVEDI Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering The University of Tennessee Knoxville TN 37996–2100 USA

A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

关键词： Sensor-based robotics intelligent human-machine interface real-time robot simulation sensor simulation visualization virtual reality interactive control

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A novel graphical simulation and animation environment for integrated sensory-motor systems

A novel graphical simulation and animation environment for i...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S.B. Marapane M.M. Trivedi N. Lassiter Computer Vision Robotics Research Laboratory Electrical Computer Engineering Department University of Tennessee Knoxville TN USA

Describes the status of ongoing work in developing a sensory-motor robotic system, R2H, with 10 degrees of freedoms for research in active vision. To complement the R2H system, a Graphical Simulation and Animation (GSA) environment has also been developed. The objective of building the GSA system is to create a comprehensive design tool to design and study the behavior of active systems and their interactions with the environment. The GSA system will aid the researchers to develop high performance and reliable software and hardware in a most effective manner. The GSA environment integrates sensing and motor actions and features complete kinematic simulation of the R2H system, sensors and its workspace. With the aid of the GSA environment, depth-from-focus, depth-from-vergence, and depth-from-stereo modules have been implemented and tested.

关键词： Animation Robot sensing systems Robot vision systems Buildings Software performance Hardware Kinematics Sensor phenomena and characterization Sensor systems Testing

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Developing telerobotic systems using virtual reality concepts

Developing telerobotic systems using virtual reality concept...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.M. Trivedi C.X. Chen Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operator is an essential element of the integrated system and is provided with various powerful displays (for both visual and nonvisual information) for telepresence and interactive controls for teleoperation. Thus, the operator stationed in the safe and virtual work environment, is able to cooperate with the robotic system in accomplishing an assigned task. The team has been investigating various problems associated with the use of virtual-reality based concepts in robot control and system development for the past several years. Some of the main ideas which underlie the investigations are, multiple sensory based operation, transparency between real and virtual mode operation, integrating sensing and task planning in simulation, and reliance on extensive and systematic experimental evaluation. The systems developed are useful for both off-online and online operation.

关键词： Telerobotics Virtual reality Robot sensing systems Humans Intelligent robots Man machine systems Intelligent systems computer vision Application software Switches

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Reactive locomotion control of articulated-tracked mobile robots for obstacle negotiation

Reactive locomotion control of articulated-tracked mobile ro...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C.X. Chen M.M. Trivedi Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tracked mobile robot with a manipulator and sensory modules. Developing the motion planning strategies for robots with articulated-tracked locomotin is much different from path planning techniques developed for wheeled robots traveling on a planar surface, as the problems are not limited to solving the obstacle avoidance only, but involve finding the obstacle negotiating strategy as well. The authors have been developing tracked mobile-manipulator systems for applications in hazardous environments. A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of a integrated robotic manipulator system.

关键词： Mobile robots Robot sensing systems Computational modeling Robot vision systems Motion control Animation Manipulators Visualization computer vision Tracking

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TRANSFORMATION RELATIONSHIPS FOR 2 COMMONLY UTILIZED EULER ANGLE REPRESENTATIONS

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1992年第3期22卷 555-559页

作者： CHEN, CX TRIVEDI, MM Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

There is no standard representation scheme that is followed by different groups of robot designers to describe the orientation of a rotating rigid body. For a sensor-based robot, the particular rotation representation scheme used by the robot affects not only the specification of the positioning of the arm and end-effector, but also the specification of the placement of the sensors and the method of computing the sensory-to-world transformation. Thus the need for finding the transformation between different rotation representations is obvious for one involved in the development of high-level software systems that need to be transported to different robots utilizing different rotation representation schemes. Among those representation schemes, Euler angle representations are widely used in commercial robots as well as in research laboratory robots. Typically, there are three different Euler angle representation systems, and each system describes a particular orientation of a rigid body in a reference coordinate frame by specifying three angles. Mathematical derivations of the transformation relationships underlying the parameters from two most commonly utilized representation schemes are presented. These relationships are derived in two different ways. One is based upon the solution of the inverse transform for Euler angles and the other is based upon the Napier's rules associated with spherical trigonometry.

关键词： Robot kinematics Robot sensing systems Manipulators Laboratories Quaternions US department of Energy Software systems Hardware Software standards Control systems

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Active exploration using contact and noncontact sensors: An integrated system

Active exploration using contact and noncontact sensors: An ...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Gadagkar, H.P. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0780307372

In this paper we nzake an attempt to bring out the rationale that, for complex robotic applications, contact sensors can provide certain vital information quite easily as compared to non-contact sensors. We begin with describing and discussing our approach towards the development of a multi-sen,sory closed-loop active robotic exploration system for workspace characterization. The exploration system involves acquisition, processing, and integration of sensory inputs acquired from uision, poin,t laser range, tactile, and force/torque sensors. The exploration process results in building three-dimensional Half-space models of various polyhedral (convex and concave) objects encountered in the workspace. Subsequent to the process of building object models using active exploration mechanisms, the object models allow extraction of essential geometric information required for performing tasks such as object identification, grasping, and man ipiila t io n. Th e experim en tal resuh showtli at vurious geometrical descriptors that are required for model building, can be extracted quite reliably using the sensor specific exploratory mechanisms. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Geometry

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Multi-primitive hierarchical (MPH) stereo system

Multi-primitive hierarchical (MPH) stereo system

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1992 IEEE computer Society Conference on computer vision and Pattern Recognition, CVPR 1992

作者： Marapane, S.B. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0818628553

A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, typically edge-element-based, primitive for stereo analysis and to their use of a single-level control strategy. The multi-primitive hierarchical (MPH) framework for stereo analysis presented is directed toward overcoming these deficiencies. In the MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives and utilizing a hierarchical control strategy. The higher levels of the hierarchical system are based on primitives containing more semantic information, and the results of stereo analysis at higher levels are used for guidance at the lower levels. It is shown that such a stereo system is superior to a single-level, single-primitive system. © 1992 IEEE.

关键词： Hierarchical systems

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Determination of object location via decomposition of movement

Determination of object location via decomposition of moveme...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Cao, Xingping Hu, Gongzhu Shrikhande, N. Center for Computer Vision and Robotics Research Department of Computer Science Central Michigan University Mount PleasantMI48859 United States

ISBN: (纸本)0780307372

A method for the determination of the location of an object is presented in this paper. The method uses correspondences of three or more 3-D points with their 2-D images. The object to be located is initially calibrated in a known fixed position. The actual location of the object is obtained by decomposing the total displacement from its calibrated position into a series of small movements each of which can be obtained by solving linear equations. Result is then improved iteratively. Experiments for synthetic and real objects show that the method is accurate, efficient, and robust. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Location

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Architecture and Automatic Task Planning for Integrated Sensor-based Robots

Architecture and Automatic Task Planning for Integrated Sens...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Chen, C. Trivedi, M.M. Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)0780307372

Intelligent robots interact with the real world by employing their advanced sensory mechanisms to perceive their environment, and their effectors and tools to change the state of their environment. Such intelligent robots should possess three important capabilities: (1) planning, i.e., given a goal, the ability to generate a set of task plans which will lead to achieving the goal, (2) coordination and execution of the perceptual actions, i.e., the abilities to coordinate sensors, acquire sensory data, and process, interpret and transform the sensory information, and (3) coordination and execution of the motor actions, i.e., the ability to navigate in their environments and the ability to coordinate effectors and tools and manipulate objects to accomplish assigned tasks. In this paper we introduce a System Architecture for Sensor-based Intelligent Robots, (SASIR), constructed using a frame data structure, which provides a suitable and flexible scheme for representation and manipulation of the world model, the sensor derived information, as well as for describing the actions reqnired for the execution of a specific task. © 1992 IEEE.

关键词： Intelligent robots

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Architecture And Automatic Task Planning For Integrated Sensor-based Robots

Architecture And Automatic Task Planning For Integrated Sens...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： ChuXin Chen M.M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

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