Sensors and Sensory Systems for Advanced Robots

1. Front Matter

   Pages I-XI

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2. The Biological Model: The Human Body and Its Sensory Systems

   1. Front Matter

      Pages 1-1

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   2. The Central Nervous System as a Low and High Level Control System

      • James S. Albus

      Pages 3-20

   3. Proprioceptive Feedback for Sensory-Motor Control

      • Manuel Hulliger

      Pages 21-47

   4. Physiology and Psychophysics in Taste and Smell

      • K. C. Persaud, J. A. DeSimone, G. L. Heck

      Pages 49-70

   5. The Physiology and Psychophysics of Touch

      • S. J. Lederman, R. A. Browse

      Pages 71-91

3. The Artificial Counterpart: Robots and Their Sensory Functions. General Remarks

   1. Front Matter

      Pages 93-93

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   2. Steps toward making robots see

      • Michael Brady

      Pages 95-123

   3. An Overview of Local Environment Sensing in Robotics Applications

      • B. Espiau

      Pages 125-151

   4. Force and Tactile Sensing for Robots

      • P. Dario, M. Bergamasco, A. Fiorillo

      Pages 153-185

4. Physics of Transduction and Transducing Techniques

   1. Front Matter

      Pages 187-187

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   2. Basic Transduction Mechanisms and Techniques

      • S. Middelhoek, A. C. Hoogerwerf

      Pages 189-199

   3. Analogs of Biological Tissues for Mechanoelectrical Transduction: Tactile Sensors and Muscle-Like Actuators

      • Danilo De Rossi, Claudio Domenici, Piero Chiarelli

      Pages 201-218

   4. Solid State Transducers

      • Wen H. Ko

      Pages 219-242

   5. Fibre Optic Sensors in Advanced Robotic Systems

      • Brian Culshaw

      Pages 243-257

5. Applications

   1. Front Matter

      Pages 259-259

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   2. Models of Errors and Mistakes in Machine Perception: First Results for Computer Vision Range Measurements

      • Ruzena Bajcsy, Eric Krotkov, Max Mintz

      Pages 261-277

   3. Holographic Techniques

      • W. Jüptner

      Pages 279-293

   4. Electrical Proximity Sensors

      • H. Clergeot, D. Placko, J. M. Detriche

      Pages 295-308

   5. Ultrasonic Sensors

      • Leif Bjørnø

      Pages 309-339

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.

• automatic control
• cognition
• computer vision
• control
• control system
• measurement
• multimedia
• pattern recognition
• perception
• psychophysics
• robot
• robotics
• sensor
• sensors
• simulation
• complexity
• Engineering Economics

• Scuola Superiore di Studi Universitari e di Perfezionamento S. Anna, Pisa, Italy

  Paolo Dario

• Centro “E. Piaggio”, University of Pisa, Pisa, Italy

  Paolo Dario

Policies and ethics