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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing robotics and automation Manufacturing automation Robot vision systems Robustness Application software computer aided manufacturing Calibration

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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback Manufacturing automation computer aided manufacturing Orbital robotics Electrostatics Navigation

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Novel active-vision-based visual-threat-cue for autonomous navigation tasks

Novel active-vision-based visual-threat-cue for autonomous n...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： S.R. Kundur D. Raviv Robotics Center and Department of Electrical Engineering Florida Atlantic University Boca Raton FL USA Intelligent Systems Division National Institute for Standards and Technology Gaithersburg MD USA

This paper presents a new visual motion cue, we call the Visual Threat Cue (VTC) that provides some measure for a relative change in range as well as clearance between a 3D surface and a fixing observer in motion. The VTC corresponds to visual fields surrounding a moving observer. The fields are time-based imaginary 3-D surfaces that move with the observer. They are analogous to equi-potential fields of an electric dipole. A practical method to extract the VTC is presented. The approach is independent of the 3D surface texture and needs no optical flow information, 3D reconstruction, segmentation, feature tracking or pre-processing. This algorithm to extract the VTC was applied to several indoor as well as outdoor real images of textures, where we observed a similar behavior for most of the textures employed.

关键词： Navigation Data mining Surface texture Cameras Surface reconstruction NIST Motion measurement Image reconstruction Image segmentation Electric variables measurement

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An explicit path planner to facilitate reactive control and terrain preferences

An explicit path planner to facilitate reactive control and ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.R. Murphy K. Hughes E. Noll Center for Robotics and Intelligent Systems Colorado Schml of Mines Golden CO USA Electrical and Computer Engineering University of the Pacific Stockton Stockton CA USA Mathematical Sciences Department La Salle University Philadelphia PA USA

This paper presents a new approach to reactive control utilizing the output of an explicit path planner which considers terrain preferences. To demonstrate the concept, a wavefront propagation, type of planner algorithm, Trulla, is integrated into a reactive framework and used as part of the overall architecture. Terrain preferences are represented as weights or costs which are considered in generating a near optimal path. The algorithm is demonstrated on the CSM Denning-Branch MRV4 mobile robot for three scenarios: navigation out of a box canyon, planning with terrain preferences, and opportunistic path improvement.

关键词： Path planning Mobile robots Costs intelligent robots Satellite navigation systems Control systems intelligent systems systems engineering and theory Hybrid power systems Robot control

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Position estimation of selected targets

Position estimation of selected targets

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. LeGrand R.C. Luo Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Recovering depth and 3D position using known camera motion is useful for solving many problems in robotics such as object manipulation, navigation, and localization. Most existing techniques attempt to solve the general problem by recovering depth across the entire image. They oftentimes make linear dynamics assumptions or use poorly recoverable metrics such as optical flow. An estimation technique is presented that retains the nonlinear camera dynamics and provides an accurate 3D position estimate of selected targets within the environment. In practice, the technique is accurate enough to fully specify the placement of a gripper for object manipulation after forward (as opposed to lateral) movement of a single camera. The technique also provides probabilistic information regarding the estimate, which can be used to make intelligent, informed decisions. We employed this technique at the 1995 AAAI robot competition where our robot, Lola, placed 1st in Office Clean-up where it was able to pick up trash and recyclables and deposit them in the appropriate receptacles with great success. Results of our implementation on Lola are also presented.

关键词： intelligent robots Orbital robotics Data mining Image motion analysis Cameras Machine intelligence Navigation Tires Nonlinear optics Grippers

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A 3-DIMENSIONAL LOCALIZER FOR AUTONOMOUS ROBOT VEHICLES

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ROBOTICA 1995年第1期13卷 87-94页

作者： KLEEMAN, L Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3168 Australia

A novel design of a three dimensional localiser intended for autonomous robot vehicles is presented. A prototype is implemented in air using ultrasonic beacons at known positions, and can be adapted to underwater environments where it has important applications, such as deep sea maintenance, data collection and reconnaissance tasks. The paper presents the hardware design, algorithms for position and orientation determination (six degrees of freedom), and performance results of a laboratory prototype. Two appraoches are discussed for position and orientation determination - (i) fast single measurement set techniques and (ii) computationally slower Kalman filter based techniques. The Kalman filter approach allows the incorporation of robot motion information, more accurate beacon modelling and the capability of processing data from more than four beacons, the minimum number required for localisation.

关键词： POSITION ESTIMATION 3-D LOCALIZATION KALMAN FILTERING ULTRASONIC NAVIGATION ORIENTATION UNDERWATER VEHICLES

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Topological method for loop detection of surface intersection problems

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computer-AIDED DESIGN 1995年第11期27卷 811-820页

作者： Ma, YW Luo, RC [a] Ericsson Inc 1 Triangle Drive RTP NC 27709 USA [b] Center for Robotics Intelligent Machines Department of Electrical Computer Engineering North Carolina State University Raleigh NC 27695-7911 USA

One method of detecting closed loops in surface intersections requires the computation of collinear normal vectors. Such collinear normal vectors form a subset of critical points of the plane vector field defined by the gradient of an oriented distance function from one surface to the other. The Poincare index theorem detects the existence of a critical point in a region of the vector field, but fails when two critical points having different signs of the index are in the same region. This paper presents a method for a conclusive test by extending the Poincare index theorem to three-dimensional vector fields. The idea of solid angle is introduced to compute the rotation of vector fields in three dimensions. The Poincare index gives the total number of critical points enclosed by a three-dimensional boundary.

关键词： loop detection 3D vector fields critical points

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A flexible capacitive normal/shear tactile force sensor 25

A flexible capacitive normal/shear tactile force sensor

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25th European Solid State Device Research Conference, ESSDERC 1995

作者： Chase, Troy A. Luo, Ren C. Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

ISBN: (纸本)286332182X

A flexible capacitive normal/shear force sensor design is presented. Fabrication on a flexible polyimide substrate allows the sensor to be molded to non-planar gripper surfaces. The ability to measure normal and shear forces will greatly advance the tactile sensing capabilities of articulated grippers. The structure of the sensor also provides the ability to integrate additional sensors into a tactile sensing system. Integration of senors to measure temperature, humidity, and hardness would provide more complete tactile information. Articulated robotic grippers require complete tactile data to facilitate the ability to sense by touch. The ability to reliably perform grasp control and object recognition is directly linked to the tacitle sensing capabilities of the gripper. © 1995 Editions Frontieres.

关键词： Grippers

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A sonar sensor for accurate 3D target localisation and classification

A sonar sensor for accurate 3D target localisation and class...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Akbarally L. Kleeman Intelligent Robotics Research Centre Department of Electrical & Computer Systems Engineering Monash University Australia

This paper presents a novel sonar sensor consisting of three transmitters and three receivers that can localise and classify 3D targets into 16 different naturally occurring indoor classes. The sensor produces submillimeter range and sub-degree bearing accuracies using an optimal matched filter time of flight estimator up to a range of 6 meters. The sensor configuration, hardware and processing are described. Experimental results from the sensor are presented.

关键词： Sonar measurements Transmitters intelligent sensors Matched filters Pulse measurements intelligent robots Robot sensing systems Sensor phenomena and characterization Sensor fusion Robustness

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