Showing papers on "Humanoid robot published in 1991"
09 Apr 1991
TL;DR: The navigation system of HelpMate makes use of the specific structure of a hospital hallway environment and relies on recent results on provable sensor-based motion planning algorithms that specifically address the issue of navigation in an unknown and unstructured environment.
Abstract: The objective of the hospital transport mobile robot, HelpMate, is to carry out such tasks as the delivery of off-schedule meal trays, lab and pharmacy supplies, and patient records. Unlike many existing delivery systems in the industry which operate within a rigid network of wires buried or attached to the floor, a hospital transport robot is expected to be able to navigate much like a human, including handling uncertainty and unexpected obstacles. The navigation system of HelpMate makes use of the specific structure of a hospital hallway environment and relies on recent results on provable sensor-based motion planning algorithms that specifically address the issue of navigation in an unknown and unstructured environment. also incorporated in the system are algorithms for handling unmodeled factors such as sensor noise and sensor inaccuracy, errors in position estimation, and moving obstacles. >
19 citations
09 Apr 1991
TL;DR: A sensor-driven control model for multijointed cooperating robotic arms that uses human-like joint motion profiles and sensory information of all joints, evaluates the weighted work done by each joint in cooperative motion, and then synthesizes a minimal effort motion trajectory to precisely and efficiently position the robotic arm end effector is explored.
Abstract: The development and validation of a sensor-driven control model for multijointed cooperating robotic arms is explored. The approach is used to explore an anthropomorphic model, and to then reason by analogy to discover a robust control model for robotic arm motion. This approach uses human-like joint motion profiles and sensory information of all joints, evaluates the weighted work done by each joint in cooperative motion, and then synthesizes a minimal effort motion trajectory to precisely and efficiently position the robotic arm end effector. This sensor-based approach significantly reduces the computational requirements for such cooperative motion. The result is a less complex, faster, and adaptive control process. A pressure-servoed hydraulic motion system has been developed to implement the movement strategy. This is a major step toward a long-term research goal of conceptualizing in an intelligent way to implement a manufacturing task. >
6 citations