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  • Articles  (11)
  • robotics  (11)
  • Springer  (11)
  • Blackwell Publishing Ltd
  • 1995-1999  (11)
  • 1980-1984
  • 1925-1929
  • 1997  (11)
  • 1981
  • 1928
  • Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics  (11)
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  • Articles  (11)
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Keywords
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  • Springer  (11)
  • Blackwell Publishing Ltd
Years
  • 1995-1999  (11)
  • 1980-1984
  • 1925-1929
Year
Topic
  • Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics  (11)
  • Computer Science  (11)
  • Mathematics  (1)
  • 1
    Electronic Resource
    Electronic Resource
    Robot metrology using two kinds of measurement equipment (1997)
    Springer
    Journal of intelligent manufacturing 8 (1997), S. 137-146 
    Details
    ISSN: 1572-8145
    Keywords: Metrology ; robotics ; Taguchi methods
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This study was designed to compare the effectiveness of using two measurement devices: the WATSMART system and the WILDCAT theodolite system for robot metrology. The former device is less expensive, and runs automatically. The theodolite system has a better resolution but is more expensive, and runs manually. The objective was to determine the agreement in their measurement accuracy, variation, and the resulting best performance condition for the robot (i.e. optimal factor–level combination) between the two kinds of measurement equipment. The idea was that even if the accuracy and variation of the equipment differed, if the practical aspects (i.e. measurement performance and the purpose of measurement) were acceptable, the less expensive equipment would provide cost and automation benefits. The experiment was conducted on a PRO-ARM RS-2200, five axis, open loop, joint-coordinate type, educational robot. A Taguchi L27 orthogonal array was selected for the experimentation. Seven controllable factors (load, speed, distance moved, orientation of the robot arm, direction of travel, height of travel, and the starting point), along with three interactions, were studied. The accuracy of the robot and the best factor–level combination (FLC) were computed for each set of observations. The mean, standard deviation and maximum values for the two pieces of equipment were also computed. Based on this, the agreement between the two equipment was deduced. Although some similarity existed, the results were not good enough to convince the authors that the two measurement systems were equally effective. Recommendations are made for the appropriate situations for using each of the measurement devices.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1018508805175
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  • 2
    Electronic Resource
    Electronic Resource
    Comparison of Extended Jacobian and Lagrange Multiplier Based Methods for Resolving Kinematic Redundancy (1997)
    Springer
    Journal of intelligent and robotic systems 19 (1997), S. 39-54 
    Details
    ISSN: 1573-0409
    Keywords: extended Jacobian method ; Lagrange multiplier method ; kinematically redundant manipulators ; numerical efficiency ; optimization ; robotics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Several methods have been proposed in the past for resolving the control of kinematically redundant manipulators by optimizing a secondary criterion. The extended Jacobian method constrains the gradient of this criterion to be in the null space of the Jacobian matrix, while the Lagrange multiplier method represents the gradient as being in the row space. In this paper, a numerically efficient form of the Lagrange multiplier method is presented and is compared analytically, computationally, and operationally to the extended Jacobian method. This paper also presents an improved method for tracking algorithmic singularities over previous work.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007941331202
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  • 3
    Electronic Resource
    Electronic Resource
    Fast Motion Planning by Parallel Processing – a Review (1997)
    Springer
    Journal of intelligent and robotic systems 20 (1997), S. 45-69 
    Details
    ISSN: 1573-0409
    Keywords: robotics ; autonomous systems ; parallel algorithms ; parallelism and concurrency ; motion planning ; review
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract One of the many features needed to support the activities of autonomoussystems is the ability to plan motion. This enables robots to move in theirenvironment securely and to accomplish given tasks. Unfortunately, thecontrol loop comprising sensing, planning, and acting has not yet beenclosed for robots in dynamic environments. One reason involves the longexecution times of the motion planning component. A solution for thisproblem is offered by the use of highly parallel computation. Thus, animportant task is the parallelization of existing motion planning algorithmsfor robots so that they are suitable for highly parallel computation. Inseveral cases, completely new algorithms have to be designed, so that aparallelization is feasible. In this survey, we review recent approaches tomotion planning using parallel computation. As a classification scheme, weuse the structure given by the different approaches to the robot’smotion planning. For each approach, the available parallel processingmethods are discussed. Each approach is assigned a unique class. Finally,for each research work referenced, a list of keywords is given.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007948727999
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  • 4
    Electronic Resource
    Electronic Resource
    On Intelligent Robot Motion Planning via Learning (1997)
    Springer
    Journal of intelligent and robotic systems 19 (1997), S. 299-320 
    Details
    ISSN: 1573-0409
    Keywords: robotics ; motion planning ; learning
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Automatic motion planning is one of the basic modules that are needed to increase robot intelligence and usability. Unfortunately, the inherent complexity of motion planning has rendered traditional search algorithms incapable of solving every problem in real time. To circumvent this difficulty, we explore the alternative of allowing human operators to participate in the problem solving process. By having the human operator teach during difficult motion planning episodes, the robot should be able to learn and improve its own motion planning capability and gradually reduce its reliance on the human operator. In this paper, we present such a learning framework in which both human and robot can cooperate to achieve real-time automatic motion planning. To enable a deeper understanding of the framework in terms of performance, we present it as a simple learning algorithm and provide theoretical analysis of its behavior. In particular, we characterize the situations in which learning is useful, and provide quantitative bounds to predict the necessary training time and the maximum achievable speedup in planning time.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007981604566
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  • 5
    Electronic Resource
    Electronic Resource
    Intelligent Control for an Acrobot (1997)
    Springer
    Journal of intelligent and robotic systems 18 (1997), S. 209-248 
    Details
    ISSN: 1573-0409
    Keywords: acrobot ; robotics ; fuzzy control ; genetic algorithms
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract The acrobot is an underactuated two-link planar robot that mimics the human acrobat who hangs from a bar and tries to swing up to a perfectly balanced upside-down position with his/her hands still on the bar. In this paper we develop intelligent controllers for swing-up and balancing of the acrobot. In particular, we first develop classical, fuzzy, and adaptive fuzzy controllers to balance the acrobot in its inverted unstable equilibrium region. Next, a proportional-derivative (PD) controller with inner-loop partial feedback linearization, a state-feedback, and a fuzzy controller are developed to swing up the acrobot from its stable equilibrium position to the inverted region, where we use a balancing controller to ‘catch’ and balance it. At the same time, we develop two genetic algorithms for tuning the balancing and swing-up controllers, and show how these can be used to help optimize the performance of the controllers. Overall, this paper provides (i) a case study of the development of a variety of intelligent controllers for a challenging application, (ii) a comparative analysis of intelligent vs. conventional control methods (including the linear quadratic regulator and feedback linearization) for this application, and (iii) a case study of the development of genetic algorithms for off-line computer-aided-design of both conventional and intelligent control systems.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007953809856
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  • 6
    Electronic Resource
    Electronic Resource
    Adaptive Control of a Single Link Manipulator Including Motor and Input Unmodelled Dynamics (1997)
    Springer
    Journal of intelligent and robotic systems 20 (1997), S. 211-223 
    Details
    ISSN: 1573-0409
    Keywords: adaptive control ; input unmodelled dynamics ; motor dynamics ; nonlinear control ; robotics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract An adaptive nonlinear control law that incorporates the manipulatordynamics as well as dynamics of the actuator is developed in this article.The technique is based on nonlinear feedback linearization. The electricalparameters of the actuator are considered to be of uncertain values. Incontrast to known methods the robot position is the only measurementavailable, a nonlinear observer is designed to estimate the remaining statesrequired by the nonlinear controller. Moreover the input unmodelled dynamicsproblem is addressed in the context of nonlinear geometric designs.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007933903859
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  • 7
    Electronic Resource
    Electronic Resource
    Human-Machine Collaboration in Robotics: Integrating Virtual Tools with a Collision Avoidance Concept using Conglomerates of Spheres (1997)
    Springer
    Journal of intelligent and robotic systems 18 (1997), S. 367-397 
    Details
    ISSN: 1573-0409
    Keywords: virtual reality ; human-machine system ; robotics ; neural networks ; collision avoidance ; trajectory planning ; conglomerate of spheres
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper describes how virtual tools that represent real robot end-effectors are used in conjunction with a generalized conglomerate-of-spheres approach to collision avoidance in such a way that telerobotic trajectory planning can be accomplished using simple gesture phrases such as ‘put that there while avoiding that’. In this concept, an operator (or set of collaborators) need not train for cumbersome telemanipulation on several multiple-link robots, nor do robots need a priori knowledge of operator intent and exhaustive algorithms for evaluating every aspect of a detailed environment model. The human does what humans do best during task specification, while the robot does what machines do best during trajectory planning and execution. Four telerobotic stages were implemented to demonstrate this strategic supervision concept that will facilitate collaborative control between humans and machines. In the first stage, virtual reality tools are selected from a ‘toolbox’ by the operator(s) and then these virtual tools are computationally interwoven into the live video scene with depth correlation. Each virtual tool is a graphic representation of a robot end-effector (gripper, cutter, or other robot tool) that carries tool-use attributes on how to perform a task. An operator uses an instrumented glove to virtually retrieve the disembodied tool, in the shared scene, and place it near objects and obstacles while giving key-point gesture directives, such as ‘cut there while avoiding that’. Collaborators on a network may alter the plan by changing tools or tool positioning to achieve preferred results from their own perspectives. When parties agree, from wherever they reside geographically, the robot(s) create and execute appropriate trajectories suitable to their own particular links and joints. Stage two generates standard joint-interpolated trajectories, and later creates potential field trajectories if necessary. Stage three tests for collisions with obstacles identified by the operator and modeled as conglomerates of spheres. Stage four involves automatic grasping (or cutting etc.) once the robot camera acquires a close-up view of the object during approach. In this paper particular emphasis is placed on the conglomerate-of-spheres approach to collision detection as integrated with the virtual tools concept for a Puma 560 robot by the Virtual Tools and Robotics Group in the Computer Integrated Manufacturing Laboratory at The Pennsylvania State University (Penn State).
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1007933917719
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  • 8
    Electronic Resource
    Electronic Resource
    A Control Strategy for Terrain Adaptive Bipedal Locomotion (1997)
    Springer
    Autonomous robots 4 (1997), S. 243-257 
    Details
    ISSN: 1573-7527
    Keywords: robotics ; control ; biped locomotion ; walking
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Rhythmic movements of a five-link sagittal biped with muscle-likeactuators are considered. In walking, as the support phases changecontact is periodically made with the environment. The inputs toevery actuator are modeled after the inputs to muscles in mammals. Thesystem possesses intrinsic position and velocity feedback due to theactuator dynamics. A control strategy is articulated that is novelin that it; a) is physiologically viable; b) simplifies the dynamics;and c) adapts to the speed of walking, going up and down stairs,going up or down inclines, maneuvering over obstacles or holes, andthe tempo and stride length of walking. Walking simulations of afive-link sagittal biped are presented.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008839925389
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  • 9
    Electronic Resource
    Electronic Resource
    Reinforcement Learning in the Multi-Robot Domain (1997)
    Springer
    Autonomous robots 4 (1997), S. 73-83 
    Details
    ISSN: 1573-7527
    Keywords: robotics ; robot learning ; group behavior ; multi-agent systems ; reinforcement learning
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper describes a formulation of reinforcement learning that enables learning in noisy, dynamic environments such as in the complex concurrent multi-robot learning domain. The methodology involves minimizing the learning space through the use of behaviors and conditions, and dealing with the credit assignment problem through shaped reinforcement in the form of heterogeneous reinforcement functions and progress estimators. We experimentally validate the approach on a group of four mobile robots learning a foraging task.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008819414322
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  • 10
    Electronic Resource
    Electronic Resource
    Robots in Space: U.S. Missions and Technology Requirements into the Next Century (1997)
    Springer
    Autonomous robots 4 (1997), S. 159-173 
    Details
    ISSN: 1573-7527
    Keywords: robotics ; rovers ; planetary exploration ; in-orbit servicing ; robot autonomy ; sample acquisition ; dexterous manipulation ; sample return
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract The Telerobotics Program of the National Aeronautics and Space Administration (NASA) Office of Space Science is developing innovative telerobotics technologies to enable or support a wide range of space missions over the next decade and beyond. These technologies fall into four core application areas: landers, surface vehicles (rovers), and aerovehicles for solar system exploration and science; rovers for commercially supported lunar activities; free-flying and platform-attached robots for in-orbit servicing and assembly; and robots supporting in-orbit biotechnology and microgravity experiments. Such advanced robots will enable missions to explore Mars, Venus, and Saturn's moon Titan, as well as probes to sample comets and asteroids. They may also play an important role in commercially funded exploration of large regions on Earth's Moon, as well as the eventual development of a human-supporting Lunar Outpost. In addition, in-orbit servicing of satellites and maintenance of large platforms like the International Space Station will require extensive robotics capabilities.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008808730915
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  • 11
    Electronic Resource
    Electronic Resource
    Rocking, Tapping and Stepping: A Prelude to Dance (1997)
    Springer
    Autonomous robots 4 (1997), S. 227-242 
    Details
    ISSN: 1573-7527
    Keywords: robotics ; control ; biped locomotion ; dance ; music ; beat tracking ; rhythm
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Dancing to a rhythm, as humans do, is a complex process, andformulation of its dynamics and control are very difficult. Rhythmicexchange of the support surfaces and stability of the overall systemare not well understood. To produce a dancing movement, simplermovements such as rocking, tapping, and stepping can be combined. Therhythm of dancing is usually driven by a music beat. A method thatextracts beats from a wide variety of music in real time ispresented. Work is being done to couple the extracted rhythm of themusic to a dancing biped. The seven degree of freedom sagittal bipedwith sixteen actuators is controlled to move in a rocking, tapping,and stepping fashion. A pattern generator is described which takes amusical beat and generates oscillations. The oscillations are usedto select a finite sequence of predefined desired states, and todrive the system from the current desired state to the next. Thesenext desired states allow derivation of neural excitation inputs tothe sixteen muscle-like actuators. Simulations show the feasibilityof the control strategy moving the biped from desired state todesired state as it traverses the trajectories of these three simplermovements of rocking, tapping, and stepping. In a final simulation,the three movements of rocking, stepping, and tapping are combined ina three-step up and down dancing movement.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008887808551
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