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Motion coordination and reactive control of autonomous multi-manipulator systems

JOURNAL OF ROBOTIC systems 1996年第11期13卷 737-754页

作者： Nassal, UM Institute for Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany [*]Institute for Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany

The emerging field of service robots demands new systems with increased flexibility. The flexibility of a robot system can be increased in many different ways. Mobile manipulation-the coordinated use of manipulation capabilities and mobility-is an approach to increase robots flexibility with regard to their motion capabilities. Most mobile manipulators that are currently under development use a single arm on a mobile platform. The use of a two-arm manipulator system allows increased manipulation capabilities, especially when large, heavy, or non-rigid objects must be manipulated. This article is concerned with motion control for mobile two-arm systems. These systems require new schemes for motion coordination and control. A coordination scheme called transparent coordination is presented that allows for an arbitrary number of manipulators on a mobile platform. Furthermore, a reactive control scheme is proposed to enable the platform to support sensor-guided manipulator motion. Finally, this article introduces a collision avoidance scheme for mobile two-arm robots. This scheme surveys the vehicle motion to avoid platform collisions and arm collisions caused by self-motion of the robot. (C) 1996 John Wiley & Sons, Inc.

关键词： Reactive power control Motor Control Service robots Platform Robot System Mobile Robot Manipulators Collision avoidance

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Interactive control and environment modelling for a mobile robot based on multisensor perceptions

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robotics ANd AUTONOMOUS systems 1996年第3期18卷 301-310页

作者： Lin, IS Wallner, F dillmann, R Institute for Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Germany

This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is described. With multisensor on-board the robot at the remote site can adjust its path while continuously accepting commands from the human operator. Interactive modelling that allows the modelling of an unknown environment and makes landmarks known to the robot is introduced. A graphical user interface and a 3-d animation system are important elements in the teleoperation, they are integrated in this system to help the operator by task analysis, off-line teaching and on-line monitoring. Experiments performed with the mobile robot PRIAMOS are discussed.

关键词： mobile robot telerobotics multisensor man-machine systems

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dynamic task mapping in a real-time controller for distributed cooperating robot systems

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CONTROL ENGINEERING PRACTICE 1996年第6期4卷 831-838页

作者： Lueth, T Laengle, T Heinzman, J Institutef/or Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany

An intelligent control architecture for autonomous robot systems must be modular, scaleable, extendible, and adaptable to the available capacity of computer control systems. To support these properties, the concept of an adaptive control structure, ACS, is presented in this paper. Experiments with a small autonomous assembly robot show the successful use of ACS.

关键词： robot control distributed control distributed computer control systems adaptive control discrete-event systems

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Intelligent control for haptic displays

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computer GRAPHICS FORUM 1996年第3期15卷 C217-C226页

作者： Munch, S Stangenberg, M Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Kaiserstr. 12 D-76128 Karlsruhe Germany

Usually, a mouse is used for input activities only, whereas output from the computer is sent via the monitor and one or true loudspeakers. But why not use the mouse for output, tool For instance, if it would be possible to predict the next interaction object the user wants to click on, a mouse with a mechanical brake could stop the cursor movement at the desired position. This kind of aid is especially attractive for small targets like resize. handles of windows or small buttons. In this paper, we present an approach for the integration of haptic feedback in everyday graphical user interfaces. We use a specialized mouse which is able to apply simple haptic information to the user's hand and index finger. A multi-agent system has been designed which 'observes' the user is. order to predict the next interaction object and launch haptic feedback, thus supporting positioning actions with the mouse. Although primarily designed in order to provide 'intelligent' haptic feedback, the system can be combined with other output modalities as well, due to its modular and flexible architecture.

关键词： multimodal interaction haptic output user modelling human-computer interaction

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Programming by demonstration: A machine learning approach to support skill acquision for robots 3rd

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3rd International Conference on Artificial Intelligence and Symbolic Mathematical Computation, AISMC 1996

作者： dillmann, R. Friedrich, H. University of Karlsruhe Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)3540617329

Programming by demonstration (Pbd) is a programming method that allows to add new functionalities to a system by simply showing the desired task or skill in form of few examples. In the domain of robotics this paradigm offers the potential to reduce the complexity of robot task programming and to make programming more "natural". In case of programming an assembly task Pbd allows with the help of a video or a laser camera and a data glove the automatic generation the necessary robot program for the assembly task. In addition, the demonstration of the task with few different assembly situations and strategies may achieve a generalized assembly function for all possible variants of the class. In order to realize such a Pbd system at least two major problems have to be solved. First, the sensor data trace of a demonstration has to be interpreted and transformed into a high-level situation-action representation. This task is not yet well understood nor solved in general. Second, if a generalization is required, induction algorithms must be applied to the sensor data trace, to find the most general user-intended robot function from only few examples. In this paper mainly the second problem is focused. The described experimental Pbd environment consists of an industrial robot, a 6d space mouse used as input device, and some sensors. Various data can be recorded during a demonstration for further processing in the Pbd system implemented on a workstation. The objective is to exploit the possibilities of integrating learning and clustering algorithms for automated robot programming. In particular it is investigated how human interaction with the Pbd system as well as user-initiated dialogs can support inductive learning to acquire generalized assembly programs and skills. © Springer-Vedag Berlin Heidelberg 1996.

关键词： demonstrations

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Stereo grouping for model-based recognition

Stereo grouping for model-based recognition

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13th International Conference on Pattern Recognition, ICPR 1996

作者： Ude, Aleš Ekre, Tor Eivind Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Kaiserstr. 12 76128 Karlsruhe Germany

ISBN: (纸本)081867282X

A strategy for the fusion of information from a stereo image pair for model-based object recognition is discussed. Our scheme combines a new method for feature grouping with a region-based stereo matching and a hypothesize-and-verify paradigm. The grouping method developed is based on a graph theoretical algorithm. It exploits prior knowledge to find the groups of image features which are likely to come from a sought model(s). The Bayesian classification is used to deal with the resulting hypotheses. A mechanism for a dynamic threshold modification is incorporated into the system to enable the grouping at different resolutions. Unlike classical techniques for object recognition from stereo, our strategy does not depend on a data driven computation of a depth map. We argue that a propulsive reconstruction of 3d information can be more efficient and robust. © 1996 IEEE.

关键词： Object recognition

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THE LIQUId MOdEL LOAd BALANCING METHOd

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Parallel Algorithms and Applications 1996年第3-4期8卷 285-307页

作者： dominik Henrich[a] [a] Institute for Real-Time Computer Systems and Robotics Computer Science Department University of Karlsruhe Karlsruhe D Germany

Load balancing is one of the central problems that have to be solved in parallel computation. Here, the problem of distributed, dynamic load balancing for massive parallelism is addressed.A new local method, which realizes a physical analogy to equilibrating liquids in multi-dimensional tori or hypercubes, is presented. It is especially suited for communication mechanisms with low set-up to transfer ratio occurring in tightly-coupled or SIMd systems. By successive shifting single load elements to the direct neighbors, the load is automatically transferred to lightly loaded *** to former methods, the proposed Liquid model has two main advantages. First, the task of load sharing is combined with the task of load balancing, where the former has priority. This property is valuable in many applications and important for highly dynamic load distribution. Second, the Liquid model has high efficiency, Asymptotically, it needsO(d K Ldiff) load transfers to reach the balanced state in ad-dimensional torus withKprocessors per dimension and a maximum initial load difference ofLdiff. The Liquid model clearly outperforms an earlier load balancing approach, the *** a survey of related research, analytical results within a formal framework are derived. These results are validated by worst-case simulations in one- and two-dimeasional tori with up to two thousand processors.

关键词： distributed computing parallel algorithms load sharing load balancing rings tori hypcrcubes.

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Simultaneous planning and execution in cranio- and maxillofacial surgery

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Studies in Health Technology and Informatics 1996年 29卷 435-446页

作者： Bohner, Petra Pokrandt, Peter Hassfeld, Stefan Institute for Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Clinic for Maxillofacial and Craniofacial Surgery University of Heidelberg D-69120 Heidelberg Germany

This paper describes the development of a system for simultaneous planning and execution of surgical operations in the cranio-maxillo facial area. Simultaneous planning and execution is the process of taking an implicit task description, planning a sequence of explicit execution commands e.g. for robots and monitoring their execution. As the execution planning process is running completely on-line, that means during the actual execution of the assembly task, the planning process is highly reactive based on sensor information about the robot's present environment. In order to meet the problem that medical data is usually complex and needs time-costly preprocessing an appropriate architecture for evaluating sensor data has been developed. In this paper, a detailed presentation of the phases of execution planning and sensor data evaluation is given. As an example, the execution of a LeFort I osteotomy is presented. © The authors 1996.

关键词： Surgery

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Building elementary robot skills from human demonstration

Building elementary robot skills from human demonstration

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Kaiser R. dillmann Institute for Real Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

This paper presents a general approach to the acquisition of sensor-based robot skills from human demonstrations. Since human-generated examples cannot be assumed to be optimal with respect to the robot, adaptation of the initially acquired skill is explicitly considered. Results for acquiring and refining manipulation skills for a Puma 260 manipulator are given.

关键词： Humans Robot sensing systems real time systems Robot control Character generation Sensor phenomena and characterization

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A review of parallel processing approaches to motion planning

A review of parallel processing approaches to motion plannin...

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IEEE International Conference on robotics and Automation (ICRA)

作者： d. Henrich Institute for Real Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly computational parallelism. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly computational parallelism. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. We review approaches to motion planning using parallel computation.

关键词： Parallel processing Process planning Concurrent computing Surface-mount technology Mobile robots Mesh generation Orbital robotics Search methods Broadcasting

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