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IEEE International Conference on robotics and Automation (ICRA)

作者： C.X. Chen M.M. Trivedi C.R. Bidlack Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Artificial Intelligence Laboratory College of Engineering University of Michigan Ann Arbor MI USA

The authors describe a simulation environment which can be of utility in the design, development, and operation of sensor-driven robotic systems. This environment incorporates the ability to simulate sensory inputs and their effects on the planning and control functions. A detailed design of the simulator is presented. The simulator is integrated within an entire robotic system, and is utilized for automatic robot programming. Alternatively, the simulated system operation flow can be controlled through either a teach mode or a program mode. Five sensing modalities can be simulated: proximity, point laser range, ultrasonic range, laser range depth imagery, and edge-based intensity imagery. The simulation and animation of a particular robot is described. The unique features of the simulator are that it simulates and utilizes sensory information feedback, it integrates planning and simulation, and it makes the switching between real and simulation mode in the robotic system transparent to the user.< >

关键词： Robot programming Visualization Robot sensing systems robotics and automation Computational modeling Robot vision systems Automatic control Animation computer simulation Software safety

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A queueing network with a single cyclically roving server

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Queueing Systems 1992年第1-2期11卷 121-144页

作者： Sidi, Moshe Levy, Hanoch Fuhrmann, Steve W. Electrical Engineering Department Technion-Israel Institute of Technology Haifa 32000 Israel Computer Science Department Tel-Aviv University Tel-Aviv 69978 Israel IBM Research Division Zurich Research Laboratory Rüschlikon CH-8803 Säumerstrasse 4 Switzerland

A queueing network that is served by a single server in a cyclic order is analyzed in this paper. Customers arrive at the queues from outside the network according to independent Poisson processes. Upon completion of his service, a customer may leave the network, be routed to another queue in the network or rejoin the same queue for another portion of service. The single server moves through the different queues of the network in a cyclic manner. Whenever the server arrives at a queue (polls the queue), he serves the waiting customers in that queue according to some service discipline. Both the gated and the exhaustive disciplines are considered. When moving from one queue to the next queue, the server incurs a switch-over period. This queueing network model has many applications in communication, computer, robotics and manufacturing systems. Examples include token rings, single-processor multi-task systems and others. For this model, we derive the generating function and the expected number of customers present in the network queues at arbitrary epochs, and compute the expected values of the delays observed by the customers. In addition, we derive the expected delay of customers that follow a specific route in the network, and we introduce pseudo-conservation laws for this network of queues. © 1992 J.C. Baltzer AG, Scientific Publishing Company.

关键词： Polling systems queueing networks routing single server

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Control of a two-link robot to achieve sliding and hopping gaits

Control of a two-link robot to achieve sliding and hopping g...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.D. Berkemeier R.S. Fearing Electronics Research Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley CA USA

A new example of a hopping robot is considered, consisting simply of two links (the end of one link acts as the foot) joined by an actuated, revolute joint. For the stance phase a nonlinear controller is derived that maintains the balance of the robot and periodically accelerates the center of mass vertically. For large enough oscillations the robot can slide or take off. If flight is achieved, the drift caused by non-zero angular momentum can typically be cancelled by rotating the actuated joint an integral number of times, and the robot can land in the same configuration in which it took off. This is due to the holonomy of a single rotation of the actuated joint. Results of simulations are presented in which the robot achieves both sliding and hopping gaits.< >

关键词： Foot Weight control Acceleration Leg Helium Limit-cycles Legged locomotion Robot control Linear approximation

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research AND EDUCATION IN robotics AND MANUFACTURING SYSTEMS

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robotics AND computer-INTEGRATED MANUFACTURING 1992年第1期9卷 1-1页

作者： JAMSHIDI, M Guest Editor AT&T Professor & Director CAD Laboratory for Systems|Robotics Department of Electrical & Computer Engineering University of New Mexico Albuquerque NM 87131 U.S.A.

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Fingerlike biomechanical robots

Fingerlike biomechanical robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： D.C. Deno R.M. Murray K.S.J. Pister S.S. Sastry Department Electrical Engineering and Computer Science and Electronics Research Laboratory University of California Berkeley Berkeley CA USA Department Mechanical Engineering Caltech Pasadena CA USA

The authors present a technique to analyze the forces and dynamics of a class of mechanical systems, called fingerlike systems, which may be viewed as an extension of simple robots to include networks for force/displacement generation and transmission. Fingerlike mechanical system can be described using a graph-theoretic approach to force and displacement generation and transmission. Branches consist of actuators, cables, springs, and other building blocks. Upon specification of the connectivity graph and branch behaviors, a symbolic mathematics program can generate the affine maps from actuator control variables to mechanical system torques and forces. This process systematizes and simplifies the determination of biological and robotic mechanical dynamics.< >

关键词： Robots Mechanical systems Actuators Cables Springs Mathematics Mechanical variables control Force control Torque control Control systems

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Steering car-like systems with trailers using sinusoids

Steering car-like systems with trailers using sinusoids

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Tilbury J.-P. Laumond R. Murray S. Sastry G. Walsh Electronics Research Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Department of Mechanical Engineering California Institute of Technology Pasadena CA USA

Methods for steering car-like robots with trailers are investigated. A connection is demonstrated between Murray and Sastry's (1990, 1991) work of steering with integrally related sinusoids and Sussmann and Liu's (1991) recent work on asymptotic behavior of systems with high-frequency sinusoids as inputs. The merits of coordinate transformations, relative to the convergence properties, are discussed. Simulation results for a car-like robot with two trailers are presented.< >

关键词： Control systems Robot kinematics Optimal control Algebra Frequency Laboratories Control theory Fingers Mobile robots Sun

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Stabilization of trajectories for systems with nonholonomic constraints

Stabilization of trajectories for systems with nonholonomic ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Walsh D. Tilbury S. Sastry R. Murray J.-P. Laumond Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA Department of Mechanical Engineering California Institute of Technology Pasadena CA USA

A technique for stabilizing nonholonomic systems to trajectories is presented. It is well known that such systems cannot be stabilized to a point using smooth static-state feedback. The authors suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired nominal feasible trajectory, an explicit control law which will locally exponentially stabilize the system to the desired trajectory is given. The theory is applied to several examples, including a car-like robot.< >

关键词： Control systems Feedback Open loop systems Sensor systems Time varying systems Mobile robots Error correction Laboratories Ear Constraint theory

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Optical tracking system for automatic guided vehicles using cellular neural networks

Optical tracking system for automatic guided vehicles using ...

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： G. Eross T. Boros A. Kiss A. Radvanyi T. Roska J. Bito J. Vass Centre of Robotics and Automation Tungsram TH Company Limited Budapest Hungary Dual and Neural Computing Systems Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Department of information Technology Faculty of Engineering University of Veszprém Veszprem Hungary

A method for the path-control of automated guided vehicles (AGVs) in computer integrated manufacturing (CIM) systems that combines the flexibility and easy installation of optical methods with the simplicity and robustness of the inductive method is proposed. Using a new computing paradigm, the cellular neural network (CNN), and a related device, the VLSI CNN chip, a very high speed solution that is less expensive than the conventional methods can be achieved. This AGV control complies with the requirements of CIM systems. Further advantages of the proposed system are as follows: fault tolerance and the ability to give instructions along the path, and the use of a simple local control.< >

关键词： Vehicles computer integrated manufacturing Cellular neural networks High speed optical techniques Control systems Integrated optics Optical computing Robustness computer networks Very large scale integration

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SENSOR-DRIVEN INTELLIGENT robotics

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ADVANCES IN computerS 1991年第C期32卷 105-148页

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

Intelligent robotic systems should be capable of performing a range of complex tasks in unstructured and dynamic environments. This chapter discusses a number of important items associated with intelligent robots, role of vision sensing in intelligent robotics, and architecture for the design of an intelligent robot. The chapter also describes the computational task hierarchy that governs a model-based robot vision system, and presents a detailed tutorial on two important components of this hierarchy: image segmentation and matching. The main capabilities that intelligent robotic systems should possess include ability for perception of their environment, planning of their actions, and execution of the planned action. The two important components of a model-based vision system are image segmentation and the matching module. A procedure that allows transformation of 2D image coordinates into 3D world coordinates is also discussed in the chapter. The architecture and control aspects of an integrated sensor-based robotic system consist of six modules: supervisor, task planner, perception, motor, user interface, and knowledge-base. Intelligent, sensor-driven systems pose many challenging basic-research problems from a broad range of scientific and technological disciplines; however, there are many important application areas where such systems would be of significant value and utility, including hazardous environments such as nuclear plants, underwater, and space as well as many industrial-automation tasks. Recent advancements in the VLSI, computer-architectures, sensor-and robot-hardware, and artificial-intelligence fields may aid to the development of robust, practical, and cost-effective intelligent robotic systems for a wide variety of applications.

关键词： robotics

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NEW INVERSE KINEMATIC ALGORITHMS FOR REDUNDANT ROBOTS

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JOURNAL OF ROBOTIC SYSTEMS 1991年第1期8卷 117-132页

作者： HSIA, TC GUO, ZY Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA 95616

New inverse kinematic algorithms for generating redundant robot joint trajectories are proposed. The algorithms utilize the kinematic redundancy to improve robot motion performance (in joint space or Cartesian space) as specified by certain objective functions. The algorithms are based on the extension of the existing "joint-space command generator" technique in which a null space vector is introduced which optimizes a specific objective function along the joint trajectories. In this article, the algorithms for generating the joint position and velocity (PV) trajectories are extensively developed. The case for joint position, velocity, and acceleration (PVA) generation is also addressed. Application of the algorithms to a four-link revolute planar robot manipulator is demonstrated through simulation. Several motion performance criteria are considered and their results analyzed.

关键词： Robots

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