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Sensor-Based Robots: Algorithms and Architectures

  • Conference proceedings
  • © 1991

Overview

Editors:
  1. C. S. George Lee

    1. School of Electrical Engineering, Purdue University, West Lafayette, USA

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Part of the book series: NATO ASI Subseries F: (NATO ASI F, volume 66)

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Table of contents (13 papers)

  1. Front Matter

    Pages I-X
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  2. Sensor Fusion and Integration

    1. Front Matter

      Pages 1-1
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    2. An Integrated Sensor System for Robots

      • Ulrich Rembold, Paul Levi
      Pages 3-24

    3. Robot Tactile Perception

      • G. Buttazzo, A. Bicchi, P. Dario
      Pages 25-40

    4. Uncertainty in Robot Sensing

      • E. Grant
      Pages 41-57

  3. Vision Algorithms and Architectures

    1. Front Matter

      Pages 59-59
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    2. Robotic Vision Knowledge System

      • Andrew K. C. Wong
      Pages 61-92

    3. Algorithm for Visible Surface Pattern Generation — a Tool for 3D Object Recognition

      • J. Majumdar, P. Levi, U. Rembold
      Pages 93-106

    4. Knowledge-Based Robot Workstation: Supervisor Design

      • Robert B. Kelley
      Pages 107-128

    5. Robot/Vision System Calibrations in Automated Assembly

      • F. G. King, G. V. Puskorius, F. Yuan, R. C. Meier, V. Jeyabalan, L. A. Feldkamp
      Pages 129-142

  4. Neural Networks, Parallel Algorithms and Control Architectures

    1. Front Matter

      Pages 143-143
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    2. A Unified Modeling of Neural Networks Architectures

      • S. Y. Rung, J. N. Hwang
      Pages 145-164

    3. Practical Neural Computing for Robots: Prospects for Real-Time Operation

      • I. Aleksander
      Pages 165-178

    4. Self-Organizing Neuromorphic Architecture for Manipulator Inverse Kinematics

      • Jacob Barhen, Sandeep Gulati
      Pages 179-202

    5. Robotics Vector Processor Architecture for Real-Time Control

      • David E. Orin, P. Sadayappan, Y. L. C. Ling, K. W. Olson
      Pages 203-238

    6. On The Parallel Algorithms for Robotic Computations

      • C. S. George Lee
      Pages 239-280

    7. Report on the Group Discussion about Neural Networks in Robotics

      • Carme Torras
      Pages 281-282

  5. Back Matter

    Pages 283-290
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Keywords

About this book

Most industrial robots today have little or no sensory capability. Feedback is limited to information about joint positions, combined with a few interlock and timing signals. These robots can function only in an environment where the objects to be manipulated are precisely located in the proper position for the robot to grasp (i. e. , in a structured environment). For many present industrial applications, this level of performance has been adequate. With the increasing demand for high performance sensor-based robot manipulators in assembly tasks, meeting this demand and challenge can only be achieved through the consideration of: 1) efficient acquisition and processing of intemaVextemal sensory information, 2) utilization and integration of sensory information from various sensors (tactile, force, and vision) to acquire knowledge in a changing environment, 3) exploitation of inherent robotic parallel algorithms and efficient VLSI architectures for robotic computations, and finally 4) system integration into a working and functioning robotic system. This is the intent of the Workshop on Sensor-Based Robots: Algorithms and Architectures - to study the fundamental research issues and problems associated with sensor-based robot manipulators and to propose approaches and solutions from various viewpoints in improving present day robot manipula­ tors in the areas of sensor fusion and integration, sensory information processing, and parallel algorithms and architectures for robotic computations.

Editors and Affiliations

  • School of Electrical Engineering, Purdue University, West Lafayette, USA

    C. S. George Lee

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