Sensor-Based Robots: Algorithms and Architectures

  • C. S. George Lee

Part of the NATO ASI Series book series (volume 66)

Table of contents

  1. Front Matter
    Pages I-X
  2. Sensor Fusion and Integration

    1. Front Matter
      Pages 1-1
    2. Ulrich Rembold, Paul Levi
      Pages 3-24
    3. G. Buttazzo, A. Bicchi, P. Dario
      Pages 25-40
    4. E. Grant
      Pages 41-57
  3. Vision Algorithms and Architectures

    1. Front Matter
      Pages 59-59
    2. Andrew K. C. Wong
      Pages 61-92
    3. 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
    2. S. Y. Rung, J. N. Hwang
      Pages 145-164
    3. David E. Orin, P. Sadayappan, Y. L. C. Ling, K. W. Olson
      Pages 203-238
  5. Back Matter
    Pages 283-290

About these proceedings


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.


Robot control Robot manipulation Robotersteuerung Robotics Robotik Sensorsysteme algorithms control knowledge parallel Systeme parallel systems proving robot sensor sensors

Editors and affiliations

  • C. S. George Lee
    • 1
  1. 1.School of Electrical EngineeringPurdue UniversityWest LafayetteUSA

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 1991
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-642-75532-3
  • Online ISBN 978-3-642-75530-9
  • Buy this book on publisher's site