Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, ide...
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Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object.< >
A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actu...
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A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods. The method is capable of handling arbitrarily complex geometries and does not rely on the identification of features. It lends itself naturally to a multisensor environment, and facilitates true 3-D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2-D plane. The authors focus on an important aspect of volumetric inspection which is the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected.< >
The kinematic path planning problem of a nonholonomic system can be posed as a point-to-point control problem of a nonlinear system. This system has the property that it is not locally stabilizable but is globally con...
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The kinematic path planning problem of a nonholonomic system can be posed as a point-to-point control problem of a nonlinear system. This system has the property that it is not locally stabilizable but is globally controllable. In this paper, we present a new algorithm for constructing a feasible path between specified initial and final configurations. Polyhedral constraints in both configuration and non-configuration spaces (possibly non-convex) can also be incorporated in this framework. The algorithm is based on the assumption that the system is usually controllable about a non-trivial trajectory, which is true for many cases. An initial trajectory is iteratively warped until the desired final configuration is reached. Examples of a front-wheel driven car, and tractors with one, two, and three trailers are included to illustrate the efficacy of the proposed algorithm.
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 an...
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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.< >
For pt.I, see ibid., p.1-10 (1992). The programmability (as a stored program) of the CNN universal machine is discussed. It is shown why and in which sense this machine is universal. The analogic type of algorithm is ...
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For pt.I, see ibid., p.1-10 (1992). The programmability (as a stored program) of the CNN universal machine is discussed. It is shown why and in which sense this machine is universal. The analogic type of algorithm is introduced. The application potential is reviewed and the biological relevance is analyzed. It is shown that the architecture is optimal not only for silicon implementations, but also for many biological information processing organs that have the same structure.< >
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