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检索条件"机构=Institute for Robotics and Intelligent Systems Computer Science Department"

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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

引用

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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Shape description from imperfect and incomplete data

Shape description from imperfect and incomplete data

引用

International Conference on Pattern Recognition

作者： K. Rao R. Nevatia Image Understanding Branch Computer Science Center Texas Instruments Inc. Dallas TX USA Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Usually, shape description systems assume that a scene has been segmented into objects and that object boundaries are given. This, however, is not realistic when working with intensity images; the resulting boundaries are fragmented and contain surface markings, and shadow and noise boundaries. A system is described which works with such input and computes shape descriptions of complex objects. Scene segmentation takes place through shape description. Generalized cones or, more precisely, their 2D analogs of ribbons are used as the basic shape representation scheme. Results for synthetic and real examples are shown. The output of the system is useful for object recognition, learning, further inference of 3D shape, grasping, and navigation.< >

关键词： Shape Layout Image segmentation intelligent robots Noise shaping Object recognition Navigation intelligent systems computer science Instruments

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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

引用

EEE International Workshop on intelligent Robots and systems, Towards a New Frontier of Applications

作者： W. Paetsch M. Kaneko Department of Control Engeneering Control Systems Theory and Robotics Section Technical University of Darmstadt Germany Computer Science and System Engeneering Kyushu Institute of Technology Iizuka Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is 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 can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behaviour of the fingers and some experiences with the grasping and manipulation experiments using the presented system are reported.< >

关键词： Grippers Control systems Robot sensing systems Space technology Force control Fingers Orbital robotics Computational modeling computer simulation Grasping

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Handwritten character recognition with the Athena model

Handwritten character recognition with the Athena model

引用

IEEE Southeastcon

作者： A. Abrahamsson C. Koutsougeras C.A. Papachristou Linkoping Institute of Technology Linkoping Sweden Computer Science Department Tulane University New Orleans LA USA Computer Engineering and Science Department Center of Automation and Intelligent Systems Research Case Western Reserve University Cleveland OH USA

The results of using the Athena neural network model in automatic recognition of handwritten English letters are presented. This model has several layers. The training patterns need to be presented once to each layer of neurons, in parallel. The model forms a binary tree of neurons, and the training is done from the root towards the leaves, processing each level in parallel. The learning time is shortened significantly compared to the network of D.E. Rumelhart et al. (1986). The net structure is dynamically decided during the learning process. The goal is to enhance the adaptive learning capability to recognize more and more patterns. In the approach presented, an incremental learning scheme based on the Athena neural net is introduced. The objective is to learn misclassified patterns adaptively by dynamically correcting the neural net topological structure and the individual neuron's weights and threshold. Incremental learning is performed without losing information about previously learned patterns. The experiments conducted on the recognition of handwritten English letters utilizing Athena and the incremental learning scheme show a significant recognition success rate.< >

关键词： Character recognition Neurons Neural networks Handwriting recognition Gain measurement computer science Automation intelligent systems Pattern recognition Performance loss

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Motion based segmentation

Motion based segmentation

引用

International Conference on Pattern Recognition

作者： S. Peleg H. Rom Department of Computer Sciences Hebrew University of Jerusalem Jerusalem Israel David Samoff Research Center Inc. Princeton NJ USA Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

An iterative method is described for segmenting image sequences into independently moving regions while computing the motion parameters of each region. In each iteration, image points are classified into regions based on their consistency with the different motion estimates, and motion estimates are then updated using the obtained regions. The motion estimates and the segmentation improve with every iteration, and the iteration stops when a stable segmentation is obtained. Accurate motion parameters are recovered for each segment. The process is performed directly on gray-level images and does not require detection of special feature points and the computation of point correspondence. It is also faster and more robust than optical-flow-based segmentation methods.< >

关键词： Image segmentation Image motion analysis Cameras Optical computing Layout Optical noise Motion estimation Image sequences intelligent robots computer science

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Reasoning about grasping from task descriptions 7

Reasoning about grasping from task descriptions

引用

intelligent Robots and computer Vision VII 1988

作者： Liu, Huan Iberall, Thea Bekey, George A. Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los AngelesCA90089 United States

The advent of multiple degree of freedom, dextrous robot hands has made robot hand control more complicated. Besides the existing problem of finding a suitable grasping position and approach orientation, it is now necessary to decide the appropriate hand shape to use for a given task. In order to deal with this additional complexity, we focus on how to represent prehensile tasks for mapping task descriptions into suitable hand shapes, positions and orientations. A generic robot hand control system GeSAM is being implemented to refine task descriptions into suitable dextrous robot hand shapes using Knowledge Craft on a TI lisp machine. © 1989 SPIE. All rights reserved.

关键词： Robotic arms

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The multi-dimensional quality of task requirements for dextrous robot hand control

The multi-dimensional quality of task requirements for dextr...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Liu T. Iberall G.A. Bekey Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los Angeles CA USA

The authors identify four important task requirements for dextrous robot hand control. These requirements are stability, manipulability, torquability, and radial rotatability. High-level task descriptions, supplied by the user, are refined into detailed task descriptions that can be used to drive a robot hand. A knowledge-based approach for refining a reasonable set of tasks is used to infer values for a set of task attributes, which trigger several heuristics. Those heuristics are applied using a set of metaheuristics to determine good grasp postures and poses for the task. How to use this multidimensional grasping quality in grasp mode selection and performance evaluation is shown in an industrial assembly domain.< >

关键词： Robot control intelligent robots Robotic assembly Control systems Fingers Stability Refining Service robots robotics and automation Manufacturing automation

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Accurate surface description from binocular stereo

Accurate surface description from binocular stereo

引用

Workshop on Interpretation of 3D Scenes

作者： S.D. Cochran G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present a stereo vision system in which they attempt to achieve robustness with respect to scene characteristics, from textured outdoor scenes to environments composed of highly regular man-made objects. The system offers the advantages of both area-based (dense map) and feature-based (accurate disparity) processing by combining them whenever possible. The authors are able to geneate a disparity map that is sufficiently accurate to allow them to detect depth and surface orientation discontinuities, provided that the resolution is fine enough. They use an area-based cross-correlation, along with an ordering constraint and a weak surface smoothness assumption to produce an initial disparity map. Unlike other approaches, however, a match is accepted only if both views agree on a correlation peak and this peak is strong enough. This disparity map is a blurred version of the true one, however, because of the smoothing inherent in the correlation. The problem is most acute at C/sub 0/ (depth) and C/sub 1/ (crease) discontinuities but can be mitigated by introducing the edge information: the disparity map is adaptively smoothed subject to the constraint that the disparity at edges is fixed.< >

关键词： Interpolation Layout Dynamic programming Surface texture Noise generators Electric breakdown Image analysis computer vision Computational modeling Stereo vision

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Issues in geometric reasoning from range imagery

Issues in geometric reasoning from range imagery

引用

IEEE International Conference on systems, Man and Cybernetics

作者： G. Medioni P. Saint-Marc Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors discuss some of the issues that have to be tackled in order to perform geometric reasoning from range imagery. They begin by pointing out that a successful system must deal with real-world data, and therefore take into account the effects of noise and quantization. They suggest that adaptive smoothing may prove to be a helpful tool for such a task. The next stage of processing involves a symbolic representation of the original data. The authors spell out criteria for shape description, discuss current representation schemes and point out their limitations, and then propose some ideas for overcoming such limitations, illustrated on real examples. Finally, they look at the issues in recognition, and more specifically the matching part, with reference to different methodologies, tree search and constraint satisfaction network.< >

关键词： Smoothing methods Shape intelligent robots Noise shaping Quantization Object recognition intelligent systems Image recognition Image sensors Navigation

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Adaptive smoothing: a general tool for early vision

Adaptive smoothing: a general tool for early vision

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： P. Saint-Marc J.S. Chen G. Medioni Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

The authors present a method to smooth a signal-whether it is an intensity image, a range image, or a contour-which preserves discontinuities and thus facilitates their detection. This is achieved by repeatedly convolving the signal with a very small averaging filter modulated by a measure of the signal discontinuity at each point. This process is related to the anisotropic diffusion reported by P. Perona and J. Malik (1987) but it has a much simpler formulation and is not subject to instability or divergence. Real examples show how this approach can be applied to the smoothing of various types of signals. The detected features do not move, and thus no tracking is needed. The last property makes it possible to derive a novel scale-space representation of a signal using a small number of scales. Finally, this process is easily implemented on parallel architectures: the running time on a 16 K connection machine is three orders of magnitude faster than on a serial machine.< >

关键词： Smoothing methods Filters intelligent robots computer vision intelligent systems Anisotropic magnetoresistance Image edge detection Signal processing Wave functions Laplace equations

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