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IEEE International Conference on robotics and automation (ICRA)

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

A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypothesize-and-test paradigm is invoked to search for the optimal solution. A three-on-three match of model features to data features is used to reduce the transform search space to polynomial size. A polynomial-time assignment algorithm is used to compute the optimal correspondence for each hypothesized pose. The strength of the algorithm lies in its ability to perform with noisy or incomplete data and with missing or spurious features. It is capable of rejecting outliers and finding partial matches, and it produces sensible results even in the presence of large noise. The algorithm has been implemented and tested on actual data.< >

关键词： Shape Polynomials robotics and automation Testing Robustness Kinematics Least squares approximation Fingers Data engineering Systems engineering and theory

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Automatic synthesis and verification of compliance mappings

Automatic synthesis and verification of compliance mappings

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IEEE International Conference on robotics and automation (ICRA)

作者： S. Vougioukas S. Gottschlich New York State Center for Advanced Technology in Robotics and Automation USA Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute NY USA

When the uncertainty is large compared to clearances between objects, some form of compliance is required for a robot to manipulate these objects. Such situations include, but are not restricted to, assembly operations. Compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. A methodology for the automated synthesis of this mapping is described. The possible erroneous configurations of the robot together with their resulting contact forces are computed, and a corrective motion is identified for each configuration. The validity of the mapping is checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion.< >

关键词： robotics and automation Robot sensing systems Uncertainty Robotic assembly Path planning Motion planning Damping Systems engineering and theory Technology planning Sensor systems

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Rapid Retargetting of a Flexible Pointing System with Structure Mounted Sensors and Actuators

Rapid Retargetting of a Flexible Pointing System with Struct...

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American Control Conference (ACC)

作者： Farshad Khorrami Sandeep Jain M. Mattice N. Coleman Control/Robotics Research Laboratory School of Electrical Engineering El Computer Science Polytechnic University Brooklyn NY USA Development and Engineering Center Automation and Robotics Team U.S. Army Armament Research Picatinny Arsenal NJ USA

In this paper, active control of flexible structures through utilization of structure mounted sensors and actuators is considered. Specifically, dynamic feedback design utilizing signals from the accelerometer mounted on the structure is discussed. Furthermore, utilization of piezoceramics for sensing and actuation to provide a higher level of control for vibration damping is investigated. The flexible pointing system considered here is the test-bed at the Army Research Development engineering Center (ARDEC), which is a scaled-down representation of real-life targetting systems. This setup is also a nice benchmark problem for system identification and different control design philosophies. The approaches advocated here are based on Youla's parametrization of stabilizing controllers, Wiener-Hopf design and decentralized frequency shaping. Modelling aspects for the setup, taking all the structural intricacies into account, are discussed. The preliminary results indicate a significant improvement in performance through utilization of these control schemes.

关键词： Sensor systems Actuators Flexible structures Feedback Signal design Accelerometers Piezoelectric materials Vibration control Damping System testing

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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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Robust control of a vibrating link robot manipulator 24

Robust control of a vibrating link robot manipulator

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24th Southeastern Symposium on System Theory and 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design, SSST/CSA 1992

作者： Shukla, Deepak Dawson, D.M. Paul, F.W. Department of Mechanical Engineering Robotics and Machine Automation Laboratory Center for Advanced Manufacturing Clemson University ClemsonSC United States Department of Electrical and Computer Engineering Robotics and Machine Automation Laboratory Center for Advanced Manufacturing Clemson University ClemsonSC United States

ISBN: (纸本)0818626658

This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts which are familiar to most control engineers. The approach is illustrated by developing a robust tracking controller that achieves global uniform ultimate boundedness (GUUB) stability of the link tracking error in spite of model uncertainty and the additional link dynamics. © 1992 IEEE.

关键词： Robust control

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EFFICIENT DISTANCE COMPUTATION USING BEST ELLIPSOID FIT

EFFICIENT DISTANCE COMPUTATION USING BEST ELLIPSOID FIT

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1992 IEEE INTERNATIONAL SYMP ON INTELLIGENT CONTROL

作者： RIMON, E BOYD, SP Robotics Laboratory Stanford University Department of Computer Science United States Information Systems Laboratory Stanford University Department of Electrical Engineering United States

ISBN: (纸本)0780305469

Knowledge of the distance between a robot and its surrounding environment is vital for any robotic system. The robot must obtain this information rapidly in order to plan and react in real-time. Our technique first surrounds the robot links and the obstacles by optimal ellipsoids, and then computes the clearance of the links from the obstacles with a generalized distance function. This approach offers an attractive alternative to the widely used technique of computing the distance via polyhedral representation of the robot and the obstacles. In particular, our approach offers a drastic reduction in the complexity of the data structures: each polyhedron, typically represented by a list of its features and their adjacency graph;is replaced by a minimum-volume ellipsoid represented by its center and a symmetric matrix whose dimension is either two or three (the workspace dimension). Moreover, while the computation time of the distance between polyhedra is often a function of their geometrical complexity, computation time in the ellipsoidal case is essentially constant;and becomes even more rapid when it is computed repeatedly along the robot's trajectory. Our method consists of the following two algorithms: The first computes the optimal ellipsoid surrounding a convex polyhedron. The second is an analytic formula for the free margin about one ellipsoid with respect to another, that is computed as a standard eigenvalue problem. An efficient incremental version of the latter algorithm is then proposed. This system has been implemented and preliminary simulation results are provided throughout the paper. © 1992 IEEE.

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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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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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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A two-layer Radon transform cellular neural network

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IEEE Transactions on Circuits and Systems II: Analog and Digital Signal Processing 1992年第7期39卷 488-489页

作者： Wu, Chai Wah Chua, Leon O. Roska, Tamas Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA Dual and Neural Computing Systems Research Laboratory Computer and Automation Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

A two-layer continuous-time cellular neural network for finding the Radon transform of a binary image is presented. The functionality of this cellular neural network follows from the functionality of the connected com... 详细信息

关键词： Image processing

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