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2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)最新文献

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Vision enhanced reactive locomotion control for trotting on rough terrain 视觉增强了在崎岖地形上小跑的反应性运动控制
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556366
S. Bazeille, Victor Barasuol, Michele Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini, D. Caldwell
{"title":"Vision enhanced reactive locomotion control for trotting on rough terrain","authors":"S. Bazeille, Victor Barasuol, Michele Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini, D. Caldwell","doi":"10.1109/TePRA.2013.6556366","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556366","url":null,"abstract":"Legged robots have the potential to navigate in more challenging terrain than wheeled robots do. Unfortunately, their control is more difficult because they have to deal with the traditional mapping and path planning problems, as well as foothold computation, leg trajectories and posture control in order to achieve successful navigation. Many parameters need to be adjusted in real time to keep the robot stable and safe while it is moving. In this paper, we will present a new framework for a quadruped robot, which performs goal-oriented navigation on unknown rough terrain by using inertial measurement data and stereo vision. This framework includes perception and control, and allows the robot to navigate in a straight line forward to a visual goal in a difficult environment. The developed rough terrain locomotion system does not need any mapping or path planning: the stereo camera is used to visually guide the robot and evaluate the terrain roughness and an inertial measurement unit (IMU) is used for posture control. This new framework is an important step forward to achieve fully autonomous navigation because in the case of problems in the SLAM mapping, a reactive locomotion controller is always active. This ensures stable locomotion in rough terrain, by combining direct visual feedback and inertial measurements. By implementing this controller, an autonomous navigation system has been developed, which is goal-oriented and overcomes disturbances from the ground, the robot weight, or external forces. Indoor and outdoor experiments with our quadruped robot show the effectiveness and the robustness of this framework.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125356315","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 23
Humanoid robots walking on grass, sands and rocks 在草地、沙滩和岩石上行走的人形机器人
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556367
Yuan F. Zheng, Hongfei Wang, Shimeng Li, Yiping Liu, D. Orin, Kiwon Sohn, Youngbum Jun, P. Oh
{"title":"Humanoid robots walking on grass, sands and rocks","authors":"Yuan F. Zheng, Hongfei Wang, Shimeng Li, Yiping Liu, D. Orin, Kiwon Sohn, Youngbum Jun, P. Oh","doi":"10.1109/TePRA.2013.6556367","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556367","url":null,"abstract":"Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the future, humanoid robots are required to replace human beings to operate in natural or damaged man-engineered environments. In such environments, the robots may have to walk on rough surfaces such as grass, sands or rocks, which all impose great challenges to the stability of biped locomotion due to uncertainties and deformations of these surfaces. We investigate how humanoid robots can walk on these surfaces, using the Hubo 2+humanoid robot as the target of study. We will first introduce the overall structure of Hubo 2+, and model the deformation characteristics these surfaces. Then new walking patterns, a \"step-over\" gait and a ski-type gait, are proposed as a global approach to maintain stability while compliant motion is used to solve the robust foot-holding problem. Simulation and experimental results are presented to verify the new approaches.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124331388","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 20
Development of a low-cost, self-contained, combined vision and inertial navigation system 开发一种低成本、独立、结合视觉和惯性导航系统
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556351
Justin M. Barrett, M. Gennert, W. Michalson, Michael D. Audi, Julian L. Center, James F. Kirk, B. Welch
{"title":"Development of a low-cost, self-contained, combined vision and inertial navigation system","authors":"Justin M. Barrett, M. Gennert, W. Michalson, Michael D. Audi, Julian L. Center, James F. Kirk, B. Welch","doi":"10.1109/TePRA.2013.6556351","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556351","url":null,"abstract":"In the field of autonomous vehicle research, maintaining accurate estimates of a vehicle's velocities, position, and orientation is crucial to successful navigation. Normally, this information can be obtained through the use of a GPS system. However, GPS signals are not always available in some of the more exotic or dangerous locations that a vehicle might be dispatched to. This paper proposes a hybrid navigation system for autonomous vehicles that uses inertial sensors and a stereo camera system to accurately determine the velocities, position, and orientation of a vehicle. Such a system would be ideal for vehicles that have to operate in underground, indoor, extraterrestrial, or other GPS-denied environments.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130909357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Design and implementation of an Intelligent Portable Aerial Surveillance System (IPASS) 智能便携式空中监视系统(IPASS)的设计与实现
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556379
Adam Blumenau, Alec Ishak, Brett Limone, Zachary Mintz, C. Russell, A. Sudol, R. Linton, Lifeng Lai, T. Padır, Richard Van Hook
{"title":"Design and implementation of an Intelligent Portable Aerial Surveillance System (IPASS)","authors":"Adam Blumenau, Alec Ishak, Brett Limone, Zachary Mintz, C. Russell, A. Sudol, R. Linton, Lifeng Lai, T. Padır, Richard Van Hook","doi":"10.1109/TePRA.2013.6556379","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556379","url":null,"abstract":"This paper presents the design and implementation of a light-weight, inexpensive, and one-man operable UA V for short range surveillance. The UA V design weighs less than five pounds, fits inside a cubic foot of volume when unassembled, distinguishes a human at a one-hundred foot range, displays image data at a rate of at least one image every five seconds, and is radio controlled. The system is comprised of an integrated propulsion system, an electronics box housing three cameras and two microcontrollers, and a ground station incorporating a graphical user interface for the human-in-the-loop. The design and preliminary results demonstrate a prototype system for the advancement of man-portable aerial surveillance systems. We present our work-in-progress and preliminary results on systems integration, communications and image stitching using the on-board cameras.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124172002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Continuous trajectory optimization for autonomous humanoid door opening 机器人自主开门的连续轨迹优化
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556358
Matthew Zucker, Youngbum Jun, Brittany Killen, Tae-Goo Kim, P. Oh
{"title":"Continuous trajectory optimization for autonomous humanoid door opening","authors":"Matthew Zucker, Youngbum Jun, Brittany Killen, Tae-Goo Kim, P. Oh","doi":"10.1109/TePRA.2013.6556358","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556358","url":null,"abstract":"The upcoming DARPA Robotics Challenge (DRC) presents a demanding set of real-world tasks to be accomplished autonomously by robots. In this paper, we describe the development of a system to control an existing humanoid robot to open a door, one of the many tasks of the DRC. Special emphasis is placed upon generating smooth trajectories which minimize unnecessary motion of the robot. We describe methods for generating and optimizing trajectories for the robot, and present preliminary results demonstrated on the physical robotic platform. To the best of our knowledge, we demonstrate the first large scale application of the CHOMP trajectory optimization in a situation with closed kinematic chain constraints.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121363699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 24
GPU assisted processing of point cloud data sets for ground segmentation in autonomous vehicles GPU辅助处理自动驾驶车辆地面分割的点云数据集
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556352
S. Baker, R. W. Sadowski
{"title":"GPU assisted processing of point cloud data sets for ground segmentation in autonomous vehicles","authors":"S. Baker, R. W. Sadowski","doi":"10.1109/TePRA.2013.6556352","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556352","url":null,"abstract":"In autonomous ground systems, developing a clear model of the surroundings is crucial for operating in any environment. Three-dimensional light detection and ranging (LIDAR) sensors, such as the Velodyne HDL-64E S2, are powerful tools for robotic perception. However, these sensors generate large data sets exceeding one million points per second that can be difficult to use on space, power, and processing constrained platforms. We report on GPU assisted processing within a Robotic Operating System (ROS) environment capable of achieving greater than an order of magnitude reduction in point cloud ground segmentation processing time using a gradient field algorithm with only a small increase in power consumption.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132250369","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Motion control for intelligent ground vehicles based on the selection of paths using fuzzy inference 基于模糊推理路径选择的智能地面车辆运动控制
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556354
Shiwei Wang, Adam Panzica, T. Padır
{"title":"Motion control for intelligent ground vehicles based on the selection of paths using fuzzy inference","authors":"Shiwei Wang, Adam Panzica, T. Padır","doi":"10.1109/TePRA.2013.6556354","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556354","url":null,"abstract":"This paper describes a motion planning technique for intelligent ground vehicles using a path selection algorithm based on fuzzy inference. The approach extends on the motion planning algorithm known as driving with tentacles. The selection of the tentacle (a drivable path) to follow relies on the calculation of a weighted cost function for each tentacle in the current speed set and depends on variables such as the distance to the desired position, speed, and the closeness of a tentacle to any obstacles. A Matlab simulation and the practical implementation of the fuzzy inference rule on a Clearpath Husky robot within the Robot Operating System (ROS) framework are provided.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115040841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Humanoid robot teleoperation for tasks with power tools 用电动工具遥控操作的人形机器人
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556362
Rowland O'Flaherty, Peter Vieira, Michael X. Grey, P. Oh, A. Bobick, M. Egerstedt, Mike Stilman
{"title":"Humanoid robot teleoperation for tasks with power tools","authors":"Rowland O'Flaherty, Peter Vieira, Michael X. Grey, P. Oh, A. Bobick, M. Egerstedt, Mike Stilman","doi":"10.1109/TePRA.2013.6556362","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556362","url":null,"abstract":"This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires autonomous execution of various search and rescue tasks, such as cutting through walls, which is a very practical application to robotics. Using a closed-form kinematic solution and a basic feedback controller, our objective of executing simple tasks is realized via teleoperation. Joint limits and singularities are accounted for using the different cases in the kinematic solution; and a decision method is implemented to determine how to position the end-effector when the goal is outside the feasible workspace.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127085587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 26
Optical-guided autonomous docking method for underwater reconfigurable robot 水下可重构机器人的光制导自主对接方法
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556376
Donny K. Sutantyo, David Buntoro, P. Levi, S. Mintchev, C. Stefanini
{"title":"Optical-guided autonomous docking method for underwater reconfigurable robot","authors":"Donny K. Sutantyo, David Buntoro, P. Levi, S. Mintchev, C. Stefanini","doi":"10.1109/TePRA.2013.6556376","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556376","url":null,"abstract":"This paper introduces the application of blue light sensor for guiding an individual AUV to dock to another one in clear water environment. Thanks to this method, an underwater reconfigurable robot can evolve from swarm mode into organism mode to perform other embodiment and locomotion mechanisms. Compared to classical sonar systems, the advantage of using blue light is the robustness to the multi robot interferences, the compactness of the hardware system, and the capability to ensure a high bandwidth communication. This ultimately enable the integration into miniaturized and low cost underwater swarm robotic platform. Experiments validate the proposed docking procedure demonstrating the working principles of the selected docking method and sensory system that work at an inter-robot initial distance up to five times the robot body-length (100cm).","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"28 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126965825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
A multi-baseline stereo system for scene segmentation in natural environments 用于自然环境中场景分割的多基线立体系统
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556370
A. Milella, G. Reina, M. Foglia
{"title":"A multi-baseline stereo system for scene segmentation in natural environments","authors":"A. Milella, G. Reina, M. Foglia","doi":"10.1109/TePRA.2013.6556370","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556370","url":null,"abstract":"A long range visual perception system is presented based on a multi-baseline stereo frame. The system is intended to be used onboard an autonomous vehicle operating in natural settings, such as an agricultural environment, to perform 3D scene reconstruction and segmentation tasks. First, the multi-baseline stereo sensor and the associated processing algorithms are described; then, a self-learning ground classifier is applied to segment the scene into ground and non-ground regions, using geometric features, without any a priori assumption on the terrain characteristics. Experimental results obtained with an off-road vehicle operating in an agricultural test field are presented to validate the proposed approach. It is shown that the use of a multi-baseline stereo frame allows for accurate reconstruction and scene segmentation at a wide range of viewing distances, thus increasing the overall flexibility and reliability of the perception system.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116291431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
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