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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Sukhan Lee Ming-Feng Jean Jong-Oh Park Chong-Won Lee Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Korea Institute of Science and Technology (KIST) Seoul South Korea

ISBN: (纸本)0780344650

A new paradigm of event-based robotic and telerobotic control, referred to as the reference adaptive impedance control, is presented for partially constrained robotic and telerobotic tasks under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. The reference adaptive impedance control also serves as a powerful tool for implementing shared control in teleoperation. A case study of robotic and telerobotic soil trenching is given with peg-hole insertion experiment.

关键词： Programmable control Adaptive control Impedance Telerobotics Robot control Trajectory Intelligent robots Robot kinematics Strain control Force control

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The design and control of a prototype quadruped microrover

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AUTONOMOUS ROBOTS 1997年第2期4卷 211-220页

作者： Sukhatme, GS Robotics Research Laboratory Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles

We describe the design, construction and control of a quadruped robot which walks on uneven terrain. A control system which produces a statically stable gait has been implemented;results showing a straight and turning gait are presented. The control of quadruped robots poses interesting challenges due to a small stability margin (when compared to hexapods for example). For this reason most implemented systems for outdoor walking on uneven terrain have been hexapods. The system described here has the added virtue of using very few inexpensive sensors and actuators. One of the aims of this work is to build a reduced complexity (low power, low mass and direct drive) walking robot for statically stable walking. The other aim is to compare the performance of this robot with a wheeled robot roughly the same size and weight. In this paper we report on progress towards the first of these two goals using a traverse across an obstacle field as an example.

关键词： quadruped robot static stability microrover walking robot

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The haptic display of complex graphical environments 97

The haptic display of complex graphical environments

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24th Annual Conference on computer Graphics and Interactive Techniques, SIGGRAPH 1997

作者： Ruspini, Diego C. Kolarov, Krasimir Khatib, Oussama Robotics Laboratory Computer Science Department Stanford University StanfordCA94305 United States Interval Research Corporation Building C 1801 Page Mill Road Palo AltoCA94305 United States

ISBN: (纸本)0897918967

Force feedback coupled with visual display allows people to interact intuitiv ely with complex virtual environments. For this synergy of haptics and graphics to flourish, however, haptic systems must be capable of modeling environments with the same richness, complexity and interactivity that can be found in existing graphic systems. To help meet this challenge, we have developed a haptic rendering system that allows for the efficient tactile display of graphical information. The system uses a common high-level framework to model contact constraints, surface shading, friction and texture. The multilevel control system also helps ensure that the haptic device will remain stable even as the limits of the renderer's capabilities are reached. Copyright © 1997 by the Association for Computing Machinery, Inc.

关键词： Virtual reality

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Haptic interaction in virtual environments

Haptic interaction in virtual environments

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： D.C. Ruspini K. Kolarov O. Khatib Robotics Laboratory Computer Science Department University of Stanford Stanford CA USA Interval Research Corporation Palo Alto CA USA

We present a haptic rendering framework that allows the tactile display of complex virtual environments. This framework allows surface constraints, surface shading, friction, texture and other effects to be modeled solely by updating the position of a representative object, the "virtual proxy". This abstraction reduces the task of the haptic servo control loop to the minimization of the error between user's position and that of the proxy. This framework has been implemented in a system that is able to haptically render virtual environments of a complexity that is near and often in excess of the capabilities of current interactive graphic systems.

关键词： Haptic interfaces Virtual environment Graphics Rendering (computer graphics) Surface texture Robots Probes Fingers computer science Milling machines

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Efficient algorithm for feature extraction from oceanographic images

Efficient algorithm for feature extraction from oceanographi...

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International Conference on High Performance Computing

作者： S.S. Iyengar K.K. Simhadri S.K. Trivedi Robotics Research Laboratory Department of Computer Science Louisiana State University Baton Rouge LA USA Department of Computer Science Southern University Baton Rouge LA USA

This paper presents a new computational scheme based on multiresolution decomposition for extracting the features of interest from oceanographic images by suppressing noise. The multiresolution analysis from the median presented by (Starck et al., 1994) is used for the noise suppression. A parallel approach is presented for this computationally intensive problem of infrared images.

关键词： Feature extraction Image resolution Wavelet transforms Oceans Concurrent computing Signal resolution computer science Infrared imaging Image edge detection Image processing

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Emergence and Effectiveness of Communication Interface in a System of Distributed Intelligent Agents

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Journal of robotics and Mechatronics 1997年第2期9卷 146-151页

作者： Agah, Arvin Bekey, George A. Bio-Robotics Division Mechanical Engineering Laboratory AIST- Ministry of International Trade and Industry 1-2 Namiki Tsukuba305 Japan Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90089 United States

The emergence and effectiveness of communication interface in a colony of autonomous agents is discussed in this paper. The robotic agents sense the world within which they are embedded, while performing specific tasks in the world. Some of the tasks require the simultaneous cooperation of two robotic agents. These agents are able to sense other agents and communicate via simple, task-related messages. Using genetic algorithms, a colony of agents is evolved, producing agents with improved performance. It is shown that the tendency of the robotics agents to communicate increases through evolution, as the colony cooperates more, in order to perform more tasks. The concepts developed through computer simulation are tested for feasibility in a team of four small mobile-manipulator robots, each controlled autonomously via an on-board micro-processor. © Fuji Technology Press Ltd.

关键词： Multi agent systems

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Geometry-based part grouping for assembly planning

Geometry-based part grouping for assembly planning

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： H. Moradi K. Goldberg S. Lee Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Industrial Engineering and Operation Research University of California Berkeley USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

One way to find an optimal plan is to enumerate all plans and evaluate a quality metric for each plan. However it is well known that N parts can have up to O(2/sup N/) assembly plans. Reducing N by grouping parts has been proposed earlier but to our knowledge has not been formally defined. In this paper we define two types of groups in terms of part geometry using the nondirectional blocking graph and binary adjacency matrices defined by Wilson and Latombe (1994). We give a polynomial time algorithm for identifying serial and parallel groups. We tested the algorithm on two planar assemblies where it reduced plan time by a factor of 4.

关键词： Robotic assembly Fasteners Intelligent robots Transmission line matrix methods Testing Design automation Product design Design engineering Process planning Terminology

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Reference adaptive impedance control: a new paradigm for event-based robotic and telerobotic control

Reference adaptive impedance control: a new paradigm for eve...

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International Conference on Advanced robotics (ICAR)

ISBN: (纸本)0780341600

A new paradigm of event-based robotic and telerobotic control, referred to here as the reference adaptive impedance control, is presented for partially constrained robotic and telerobotic tasks under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively, in such a way as to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. The reference adaptive impedance control also serves as a powerful tool for implementing shared control in teleoperation. A case study of robotic and telerobotic soil trenching is given with simulations.

关键词： Programmable control Adaptive control Impedance Telerobotics Robot control Intelligent robots Trajectory Robot kinematics Optimal control Strain control

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Reference adaptive impedance control and its application to obstacle avoidance trajectory planning

Reference adaptive impedance control and its application to ...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S. Lee S.-Y. Yi Jong-Oh Park Chong-Won Lee Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute of Robotics and Xntelligent Systems University of Southern California Los Angeles CA USA Korea Institute of Science and Technology Seoul South Korea

A new paradigm of event-based robotic control, called reference adaptive impedance control, is presented for partially constrained robots under uncertain or unknown environmental constraints. The reference adaptive impedance control determines the desired next state adaptively in such a way as to follow the optimal path from the current state, where the optimal path is generated with the environmental constraints updated through time. The embedded impedance control provides a mechanism for collecting more complete information on the environment. An application to obstacle avoidance trajectory planning is given with computer simulations.

关键词： Programmable control Adaptive control Impedance Trajectory Robot kinematics Robot control Error correction Force control Control systems Application software

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The area bisectors of a polygon and force equilibria in programmable vector fields 97

The area bisectors of a polygon and force equilibria in prog...

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Proceedings of the thirteenth annual symposium on Computational geometry

作者： Karl-Friedrich Böhringer Bruce Randall Donald Dan Halperin ALPHA Lab Dept. of Ind. Eng. and Op. Research Univ. of CA Berkeley and Robotics & Vision Lab Dept. of Comp. Sc. Cornell Univ. Robotics & Vision Laboratory Department of Computer Science Cornell University Dept. of Comp. Sc. Tel Aviv Univ. Tel Aviv 69978 Israel

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