Sensors and Sensory Systems for Advanced Robots

588 Pages·1988·13.95 MB·English

by  James S. Albus (auth.)

NATO ASI Series
Advanced Science Institutes Series
A series presenting the results of activities sponsored by the NA TO Science
Committee, which aims at the dissemination of advanced scientific and
technological knowledge, with a view to strengthening links between scientific
communities.
The Series is published by an international board of publishers in conjunction with
the NATO Scientific Affairs Division
A Life Sciences Plenum Publishing Corporation
B Physics London and New York
C Mathematical and Kluwer Academic Publishers
Physical Sciences Dordrecht, Boston and London
o Behavioural and
Social Sciences
E Applied Sciences
F Computer and Springer-Verlag
Systems Sciences Berlin Heidelberg New York
G Ecological Sciences London Paris Tokyo
H Cell Biology
The ASI Series Books Published as a Result of
Activities of the Special Programme on
SENSORY SYSTEMS FOR ROBOTIC CONTROL
This book contains the proceedings of a NATO Advanced Research Workshop held within the
activities of the NATO Special Programme on Sensory Systems for Robotic Control, running
from 1983 to 1988 under the auspices of the NATO Science Committee.
The books published so far as a result of the activities of the Special Programme are:
Vol. F25: Pyramidal Systems for Computer Vision. Edited by V. Cantoni and S. Levialdi. 1986.
Vol. F29: Languages for Sensor-Based Control in Robotics. Edited by U. Rembold and
K. Hormann. 198?
Vol. F33: Machine Intelligence and Knowledge Engineering for Robotic Applications. Edited by
A.K.C. Wong and A. Pugh.198?
Vol. F42: Real-Time Object Measurement and Classification. Edited by A. K. Jain. 1988.
Vol. F43: Sensors and Sensory Systems for Advanced Robots. Edited by P. Dario. 1988.
Series F: Computer and Systems Sciences Vol. 43
Sensors and Sensory Systems
for Advanced Robots
Edited by
Paolo Daria
Scuola Superiore di Studi Universitari
e di Perfezionamento S. Anna
Via Carducci 40
1-56100 Pisa, Italy
and
Centro "E. Piaggio"
University of Pisa
Via Diotisalvi, 2
1-56100 Pisa, Italy
Springer-Verlag
Berlin Heidelberg GmbH
Proceedings of the NATO Advanced Research Workshop on Sensors and Sensory
Systems for Advanced Robots, held in Maratea, Italy, April 28 - May 3, 1986.
ISBN 978-3-642-83412-7 ISBN 978-3-642-83410-3 (eBook)
DOI 10.1007/978-3-642-83410-3
Library 01 Congress Cataloging-in-Publication Data. NATD Advanced Research Workshop on Sensors and
Sensory Systems lor Advanced Robots (1986: Maratea. Italy) Sensors and sensory systems for advanced
robots/edited by Paolo Dario. p. cm.-(NATD ASI series. Series F. Computer and systems sciences;
voI. 43) "Proceedings 01 the NATD Advanced Research Workshop on Sensors and Sensory Systems lor
Advanced Robots, held in Maratea, Italy, April 28 - May 3, 1986"-"Published in cooperation with NATD
Scientilic Affairs Division."
1. Robotics-Congresses. 2. Detectors-Congresses. 1. Dario, Paolo, 1951-. II. North Atlantic Treaty
Drganization. Scientilic Affairs Division. III. Title. IV. Series: NATO ASI series. Series F, Computer and
system sciences; voI. 43. TJ210.3.N3?6 1986 629.8'92-dc 19
This work is subject to copyright. AII rights are reserved, whether the whole or pari 01 the material is
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parts thereol is only permitted under the provisions 01 the German Copyright Law of September 9, 1965, in
its vers ion 01 June 24, 1985, and a copyright lee must always be paid. Violations fali under the prosecution
act of the German Copyright Law.
© Springer·Verlag Berlin Heidelberg 1988
Originally published by Springer-Verlag Berlin Heidelberg 1988
PREFACE
This volume contains papers presented at the NATO
Advanced Research Workshop (ARW) on "Sensors and Sensory
Systems for Advanced Robots", which was held in Maratea,
Italy, during the week Apri I 28 - May 3, 1986. Participants in
the ARW, who came from eleven NATO and two non-NATO countries,
represented an i nternat i ona I assortment of d i st i ngu i shed
research centers in industry, government and academia.
Purpose of the Workshop was to rev i ew the state of the
art of sensing for advanced robots, to discuss basic concepts
and new ideas on the use of sensors for robot control and to
provide recommendations for future research in this area,
There IS an almost unanimous consensus among
invest i gators in the fie I d of robot i cs that the add i t i on of
sensory capabi I ities represents the "natural" evolution of
present industrial robots, as wei I as the necessary premise to
the development of advanced robots for nonindustrial
app I i cat ions. However, a number of conceptua I and techn i ca I
problems sti I I challenge the practical implementation and
widespread appl ication of sensor-based robot control
techn i ques. Cruc i a I among those prob I ems is the ava i lab iii ty
of adequate sensors.
For these reasons, the analysis of transducer
technologies potentially usable for robotics appl ications
const i tuted the core of the ARW. Prob I ems re I ated to the
development of new sensors for robots, especially those
intended for operation In unstructured environments, were
addressed with particular emphasis.
As the development of artificial sensory systems requIres
multidiscipl inary efforts, the ARW gathered together
sc i ent i sts be long i ng to different cu I tura I areas, inc I ud i ng
neurophysiology, psychology, biophysics, materials science,
mechan i ca I, chern i ca I, electron i cs and b i omed i ca I eng i neer i ng,
computer sc i ence and automat i c contro I. The often d i ff i cu It
interaction between sensor scientists and robotics scientists
was pointed out. Efforts aimed at faci I itating a closer
co I I aborat i on between sensor des i gners and users were
recommended.
Other aspects of art i f i cia I sensory systems des i gn were
discussed also during lectures, working groups and round
tables within the ARW. In particular, the merit of a bionic
versus a purely "mechanistic" approach to the design of
VI
sensory systems and sensor-based robot contro I arch i tectures
was debated. In th i s context, the different cultural
background of participants stimulated many observations of
both practical and speculative value.
The book is organized In five sections. The four papers
contained in Section 1 are concerned with the biological
model, and illustrate the solutions adopted by the human
sensory systems in order to manage the interact ions with the
environment.
The three papers inc I uded I n Sect i on 2 introduce the
general problem of providing a robot with sensory
capab iii ties. I n part i cu I ar, these papers are concerned with
vision, proximity and tacti Ie sensing.
The four papers of Section 3 illustrate the principles of
operation of some classes of sensors for robotics applications
Sect ion 4 inc I udes eight papers wh i ch descr i be a number
of different sensors a I ready used or potent i a I I y usab I e for
nonconventional visual, proximity or environment sensing.
The six papers contained in Section 5 deal with the high
level integration of different sensory systems In robots
intended for operating predominantly In unstructured
environments.
The Append i x inc I udes a few short papers on specific
appl ications, which were presented within the working groups,
and the I ist of participants.
A I though it is a I most i mposs i b I e to render ina wr i tten
text the "flavour" of the many formal and informal discussions
that an i mated the Workshop, the var i ety of exper i ences and
viewpoints expressed by the participants is reflected, In its
essence, by the papers included in this book.
Inc I os i ng, I wish to acknow I edge the support of a I I the
speakers in contr i but i ng exce I lent presentat ions, and of a I I
the participants in ensuring stimulating discussions as well
as creating a very friendly atmosphere.
I would also I ike to express my appreciation of the NATO
Scientific Affairs Division and of the Panel on "Sensory
Systems for Robotic Control" who recommended and provided most
of the financial support to the Workshop. In particular I wish
to acknowledge the late Mario Di Lullo and Jean Vertut, who
were invaluable in providing advice and encouragement.
VII
The other members of the Scientific Committee of the ARW,
Professors Ruzena Bajcsy, Mi chae I Brady, Bernard Esp i au and
Marc Raibert assisted me with very useful comments and
suggestions.
Furthermore, the grants from IBM Ital ia S.p.A. and from
Siemens AG, which provided substantial financial support for
some participants, are gratefully acknowledged. The assistance
of the "Azienda Autonoma Soggiorno e Turismo" of Maratea and
of the "Banco di Lucania" allowed the participants to find
some (short) breaks in the busy schedu I e of the Workshop and
to enjoy the splendid natural environment of Maratea.
am also very indebted to Massimo Bergamasco, Claudio
Domenici and Antonino F i or i I 10, who co I I aborated with me In
the organization of the ARW, as we II as to Daniela Fantozzi
and lolanda Giusti for their invaluable secretarial
assistance.
Finally, I wish to recognize the efforts of Mr. Guzzardi
and his staff of the Hotel Vi Iia del Mare In enhancing the
warm atmosphere of the Workshop.
P. Dario
Pisa, January 1988
TABLE OF CONTENTS
1. THE BIOLOGICAL MODEL: THE HUMAN BODY AND ITS SENSORY
SYSTEMS
The central nervous system as a low and high
level control system
J.S. Albus ...... . 3
Proprioceptive feedback for sensory-motor control
M.Hulliger ..... . 21
Physiology and psychophysics in taste and smell
K.C. Persaud, J.A. DeSimone and G.L. Heck 49
The physiology and psychophysics of touch
S. J. Lederman and R. A. Browse . . . 71
2. THE ARTIFICIAL COUNTERPART: ROBOTS AND THEIR SENSORY
FUNCTIONS. GENERAL REMARKS
Steps toward making robots see
M. Brady ......... . 95
An overview of local environment sensing
In robotics appl ications
B. Espiau . • . . . . 125
Force and tacti Ie sensing for robots
P. i1ario, M. Bergamasco and A. S. Fiori 110 ••• 153
3. PHYSICS OF TRANSDUCTION AND TRANSDUCING TECHNIQUES
Basic transduction mechanisms and techniques
S. Middelhoek and A.C. Hoogerwerf ....... 189
Analogs of biological tissues for mechano
electrical transduction: Tacti Ie sensors and
muscle-I ike actuators
D. De Rossi, C. Domenici and P. Chiarell i .... 201
Solid state transducers
W.H. Ko ..................•.. 219
x
Fibre optic sensors In advanced robotic systems
B. Culshaw. . 243
4. APPLICATIONS
Models of errors and mistakes In machine
perception: First results for computer
vision range measurements
R. Bajcsy, E. Krotkov and M. Mintz · 261
Holographic techniques
IV. Juptner · 279
Electrical proximity sensors
H. Clergeot, o. Placko and J.M. Detriche · 29)
Ultrasonic sensors
L. Bj9lrnfS . · 309
Acoustic imaging in three dimensions
J.F. Martin, K. Marsh, J.M. Richardson
and G. Rivera. · 341
Gas sensors: Towards an artificial nose
P. Pelosi and K. Persaud · 361
Development and appl ication of humidity
sensors
P.P.L. Regtien · 383
Development and appl ication of chemical
sensors in liquids
P. Bergveld . · 397
5. INTEGRATION OF SENSORY SYSTEMS
Integration of robot sensory systems
B.V. Jaya\oJant . · 417
Multisensory feedback including
cooperative robots
G. Hirzinger and J. Dietrich · 423
XI
Active vIsion: Integration of fixed and
mobile cameras
P. Morasso, G. Sandini and M. Tistarel I i · 449
Sensors for mobile robots
G. Drunk · 463
Multimedia sensory systems for the solution
of the error recovery problem
V. Cag I i ot i, R. S i mi no and M. Soma I v i co · 493
Pattern recognition in multidimensional
perception: Robots and humans
G. Beni and S. Hackwood . 537
APPENDIX
An iterative and interactive simulation
method to reconstruct unknown inputs
contributing to known outputs of neuronal
systems
M. Hull iger . . 561
Non-conventional smart colour sensing
in robotics
R.F. Wolffenbuttel . 571
Adaptable accomodation in assembly
C.J. Bland 581
List of Participants.