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Showing papers in "IEEE Robotics & Automation Magazine in 1997"


Journal ArticleDOI
TL;DR: This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot and safely controlled the mobile robot RHINO in populated and dynamic environments.
Abstract: This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot. In experiments, the dynamic window approach safely controlled the mobile robot RHINO at speeds of up to 95 cm/sec, in populated and dynamic environments.

2,886 citations


Journal ArticleDOI
TL;DR: The SENARIO project is develoing a sensor-aided intelligent navigation system that provides high-level navigational aid to users of powered wheelchairs and has succeeded in fully supporting semi-autonomous navigation.
Abstract: The SENARIO project is develoing a sensor-aided intelligent navigation system that provides high-level navigational aid to users of powered wheelchairs. The authors discuss new and improved technologies developed within SENARIO concerning task/path planning, sensing and positioning for indoor mobile robots as well as user interface issues. The autonomous mobile robot SENARIO, supports semi- or fully autonomous navigation. In semi-autonomous mode the system accepts typical motion commands through a voice-activated or standard joystick interface and supports robot motion with obstacle/collision avoidance features. Fully autonomous mode is a superset of semi-autonomous mode with the additional ability to execute autonomously high-level go-to-goal commands. At its current stage, the project has succeeded in fully supporting semi-autonomous navigation, while experiments on the fully autonomous mode are very encouraging.

194 citations


Journal ArticleDOI
TL;DR: AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers, which are ideal for reliable use in the deep ocean.
Abstract: AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modeling/planning for supervisory 'blind grasping'. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen.

124 citations


Journal ArticleDOI
TL;DR: The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.
Abstract: The TETROBOT is an actuated robotic structure which may be reassembled into many different configurations while still being controlled by the same hardware and software architecture. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.

93 citations


Journal ArticleDOI
TL;DR: ROBOOP, a robotic manipulator simulation package which is both platform and vendor independent, compares favourably against a package requiring similar coding effort.
Abstract: Using an object-oriented programming approach, ROBOOP, a robotic manipulator simulation package which is both platform and vendor independent, compares favourably against a package requiring similar coding effort. Performance tests show that with ROBOOP the class inverse dynamics of a 6-DOF robot can be computed in less than 5 ms with a Pentium 100 MHz computer.

78 citations


Journal ArticleDOI
TL;DR: A unique, single-wheel robot that exploits gyroscopic forces for steering and stability is developed that shows promise for the concept for high-speed, rough-terrain and amphibious applications.
Abstract: The authors have developed a unique, single-wheel robot that exploits gyroscopic forces for steering and stability. Experiments with two working models show promise for the concept for high-speed, rough-terrain and amphibious applications.

43 citations


Journal ArticleDOI
TL;DR: The authors describe the design and implementation of the AW systems for vehicle and mission control, and report the results of the sea trials conducted with the vehicle in Sines, Portugal.
Abstract: An autonomous underwater vehicle (AW), named MARIUS, has been developed under the MAST Programme of the Commission of the European Communities. The primary envisioned missions of the prototype AW are environmental surveying and oceanographic data acquisition in coastal waters. The authors describe the design and implementation of the AW systems for vehicle and mission control, and report the results of the sea trials conducted with the vehicle in Sines, Portugal.

41 citations


Journal ArticleDOI
TL;DR: A simple, but effective, method of calibrating a multimanipulator robotic system is introduced which resulted in an order of magnitude reduction in the pose error.
Abstract: A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process.

40 citations


Journal ArticleDOI
TL;DR: Since the whole assembly process has typical phase transitions between control laws driven by the environment event, the techniques of hybrid control can be employed to specify the hybrid control properties.
Abstract: Since the whole assembly process has typical phase transitions between control laws driven by the environment event, the techniques of hybrid control can be employed to specify the hybrid control properties. Finally a hybrid controller and corresponding hybrid control programs are designed using the HCSP language to describe a peg-in-hole problem.

37 citations


Journal ArticleDOI
TL;DR: The authors present a robotic system incorporating vision and force/torque sensing for handling flat textile materials and describe the results of experiments to measure the accuracy and reliability of the system.
Abstract: The authors present a robotic system incorporating vision and force/torque sensing for handling flat textile materials and describe the results of experiments to measure the accuracy and reliability of the system for a variety of representative handling tasks for textile materials.

29 citations


Journal ArticleDOI
TL;DR: This paper presents a general description of the discrete event modeling and control synthesis for robot manipulation and methods for the effective monitoring based on the detection and identification of discrete events.
Abstract: Discrete event systems are presented as a powerful framework for a large number of robot control tasks. This paper presents a general description of the discrete event modeling and control synthesis for robot manipulation. Additionally, methods for the effective monitoring of the process based on the detection and identification of discrete events are given. The effectiveness and versatility of the approach are demonstrated through a wide variety of experiments. Applications are demonstrated in assembly, online training of robots, advanced perception capabilities, human-robot shared control and the understanding of human manipulation skills.

Journal ArticleDOI
TL;DR: This implementation of a configuration controller for a dexterous 7-DOF manipulator on an IBM-compatible personal computer represents a step toward high-performance robotic controllers designed with consumer electronics.
Abstract: This implementation of a configuration controller for a dexterous 7-DOF manipulator on an IBM-compatible personal computer represents a step toward high-performance robotic controllers designed with consumer electronics. The system has the capability for 3D graphical animation of the arm motion, which is performed on a separate single-board computer interfaced to the PC. Several experiments have shown the control performance comparable to that obtained with more expensive computing platforms.

Journal ArticleDOI
TL;DR: An application of Leonardo da Vinci's approach has lead to the development of a new kinematic architecture that is being used to meet NASA's requirements for a robotic surrogate to aid astronauts in space station construction, maintenance and expansion.
Abstract: Leonardo da Vinci's powerful approach of linking kinesiology and anatomy, and translating them into kinematics and structure is a model for future lines of research. This application of Leonardo's approach has lead to the development of a new kinematic architecture that is being used to meet NASA's requirements for a robotic surrogate to aid astronauts in space station construction, maintenance and expansion. Various commercial applications are envisaged for the robotic surrogate.

Journal ArticleDOI
TL;DR: This paper presents the tractive performance of a one-wheeled vehicle equipped with a rotative leg appendage and the maximum coefficient of traction is determined.
Abstract: This paper presents the tractive performance of a one-wheeled vehicle equipped with a rotative leg appendage. Traction tests of the vehicle are performed and the maximum coefficient of traction is determined. Tests to measure the pressure distribution created by the legs on a soil bin are conducted to illustrate traction enhancement.

Journal ArticleDOI
TL;DR: The interaction between robot position control and force control has been investigated, exploiting the features of a specific simulation tool for the design and evaluation of the real-time control strategies and of the hardware/software architecture.
Abstract: This paper proposes the application of discrete event and hybrid modeling in the architectural design of a new commercial robot controller featuring force control capabilities. A case study is considered and architectural aspects, such as distribution of functions over a multiprocessor structure, communication among processors and sensors and task scheduling and synchronization, are modeled and simulated together with the arm continuous time dynamics. In particular, the interaction between robot position control and force control has been investigated, exploiting the features of a specific simulation tool for the design and evaluation of the real-time control strategies and of the hardware/software architecture.

Journal ArticleDOI
TL;DR: In this article, the authors present an overview of some existing strategies that are used to control systems in real-time based on sensory data, including event and hybrid systems modeling, which has been used extensively in automation, robotics and manufacturing applications.
Abstract: Discrete event and hybrid systems modeling has been used extensively in automation, robotics, and manufacturing applications. Different frameworks for dynamic supervisory controllers are used in flexible manufacturing systems (FMS) and automated processes. This article presents an overview of some existing strategies that are used to control systems in real-time based on sensory data.

Journal ArticleDOI
Yoshitomo Ikkai1, K. Kakihara, T. Ohkawa, N. Komoda, K. Doi, I. Tone 
TL;DR: In this paper, an automatic regeneration method (SPAIR) is proposed to replace or maintain the installed control logic documents of a target control unit and its supplementary specifications, which indicate the information about timers and interior coils.
Abstract: Today, many plants built in the 1960s will probably be replaced or maintained. However, it is difficult to replace or maintain them because the installed sequential control logic documents are seldom still in existence. Therefore, we have proposed an automatic regeneration method (SPAIR) in order to solve this problem. SPAIR regenerates sequential control logic that is expressed on a ladder diagram from the input and output data of a target control unit and its supplementary specifications, which indicate the information about timers and interior coils. Time series data is compressed and translated into training data using the specifications. The training data are processed by inductive learning and transformed into control logic. We have developed the SPAR-System in order to edit all kinds of data, generate target logic for plants, and to easily verify the inferred logic simulation plant. Simulation experiments confirmed that control logic that is regenerated by SPAIR behaves in the same way as the installed control logic of a target plant model.

Journal ArticleDOI
C.-C. Seifert1, M. Stimler
TL;DR: The ENTOREL Database for radiation stressed electronic components and systems has been established to collate data on high doses which meet the requirements of advanced teleoperators working in hazardous or disordered nuclear environments within the frame of a European telerobotics programme for the nuclear industry.
Abstract: The ENTOREL Database for radiation stressed electronic components and systems has been established to collate data on high doses (aiming at Mega Grays) which meet the requirements of advanced teleoperators working in hazardous or disordered nuclear environments within the frame of a European telerobotics programme for the nuclear industry The ENTOREL Database holds data from 614 tests on total dose effects

Journal ArticleDOI
TL;DR: The strategic objective was to develop advanced telerobots that respond to the needs of the nuclear industry, including maintenance, decommissioning and accident management, through reducing the radiation exposure of human operators.
Abstract: TELEMAN was a programme of research and training for the European Atomic Energy Community under the Second and Third Framework Programmes in the field of remote handling in hazardous or disordered nuclear environments. The strategic objective was to develop advanced telerobots that respond to the needs of the nuclear industry, including maintenance, decommissioning and accident management. The emphasis was on improved nuclear safety through reducing the radiation exposure of human operators. The first set of 16 multi-partner contracts related to the development of components and sub-systems and their environmental tolerance. The second set of five projects integrated results from the first projects into research machines for demonstration, testing and evaluation in realistic conditions. The programme ended with the testing of the major TELEMAN research projects in industrial locations.