2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)最新文献_第3页

IMU and cable encoder data fusion for in-pipe mobile robot localization 管道内移动机器人定位的IMU与电缆编码器数据融合

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556377

Andreu Corominas Murtra, J. M. M. Tur

{"title":"IMU and cable encoder data fusion for in-pipe mobile robot localization","authors":"Andreu Corominas Murtra, J. M. M. Tur","doi":"10.1109/TePRA.2013.6556377","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556377","url":null,"abstract":"Inner pipe inspection of sewer networks is a hard and tedious task, due to the nature of the environment, which is narrow, dark, wet and dirty. So, mobile robots can play an important role to solve condition assessment of such huge civil infrastructures, resulting in a clear benefit for citizens. One of the fundamental tasks that a mobile robot should solve is localization, but in such environments GPS signal is completely denied, so alternative methods have to be developed. Visual odometry and visual SLAM are promising techniques to be applied in such environments, but they require a populated set of visual feature tracks, which is a requirement that can not be fulfilled in such environments in a continuous way. With the aim of designing robust and reliable robot systems, this paper proposes and evaluates a complementary approach to localize a mobile robot, which is based on sensor data fusion of an inertial measurement unit and of a cable encoder, which measures the length of an unfolded cable, from the starting point of operations up to the tethered robot. Data fusion is based on optimization of a set of windowed states given the sensor measurements in that window. The paper details theoretical basis, practical implementation issues and results obtained in testing pipe scenarios.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"3 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133007526","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: 33

Use of unobtrusive human-machine interface for rehabilitation of stroke victims through robot assisted mirror therapy 使用不显眼的人机界面，通过机器人辅助镜像治疗中风患者的康复

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556363

Gautam Narang, Arjun Narang, Soumya Singh, J. Lempiäinen

{"title":"Use of unobtrusive human-machine interface for rehabilitation of stroke victims through robot assisted mirror therapy","authors":"Gautam Narang, Arjun Narang, Soumya Singh, J. Lempiäinen","doi":"10.1109/TePRA.2013.6556363","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556363","url":null,"abstract":"Stroke is one of the leading causes of long-term disability worldwide. Present techniques employed for rehabilitation of victims suffering from partial paralysis or loss of function, such as mirror therapy, require substantial amount of resources, which may not be readily available. In traditional mirror therapy, patients place a mirror beside the functional limb, blocking their view of the affected limb, creating the illusion that both the limbs are working properly, which enhances recovery by enlisting direct simulation. This paper proposes an alternate robot based concept, named Wear-A-BAN, where the rehabilitative task will be carried out by a normal articulated industrial robot. During the proposed rehabilitative procedure, the patients are made to wear a smart sleeve on the functional limb. Movement of this limb is monitored in real-time, by wireless Body-Area Network (BAN) sensors placed inside the sleeve, and copied over the sagittal plane to the affected limb. This procedure results in considerable savings in terms of money and personnel, as even though this procedure does not make the rehabilitation process autonomous, but one therapist can monitor various patients at a time. The industrial robot used is suitable for this purpose due to safety aspects naturally existing in the robot, is relatively cheap in price, and allows comprehensive 3-D motions of the limb. Also, unlike traditional therapy, this procedure allows actual movement of the affected limb. The sensors can also be used for other applications, such as gaming and daily life personal activity monitoring.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"156 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":"116413943","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: 10

Proposal for the initiation of general and military specific benchmarking of robotic convoys 提议开始对机器人车队进行一般和军事特定基准测试

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556355

P. Maxwell, Joshua Rykowski, Gregory Hurlock

引用次数: 3

Motion planning of ladder climbing for humanoid robots 仿人机器人爬梯运动规划

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556364

Yajia Zhang, Jingru Luo, Kris K. Hauser, Robert Ellenberg, P. Oh, Hyungjun Park, Manas Paldhe, C. S. G. Lee

{"title":"Motion planning of ladder climbing for humanoid robots","authors":"Yajia Zhang, Jingru Luo, Kris K. Hauser, Robert Ellenberg, P. Oh, Hyungjun Park, Manas Paldhe, C. S. G. Lee","doi":"10.1109/TePRA.2013.6556364","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556364","url":null,"abstract":"This paper describes preliminary steps toward providing the Hubo-U+ humanoid robot with ladder climbing capabilities. Ladder climbing is an essential mode of locomotion for navigating industrial environments and conducting maintenance tasks in buildings, trees, and other man-made structures (e.g., utility poles). Although seemingly straightforward for humans, this task is quite challenging for humanoid robots due to differences from human kinematics, significant physical stresses, simultaneous coordination of four limbs in contact, and limited motor torques. We present a planning strategy for the Hubo-U+ robot that automatically generates multi-limbed locomotion sequences that satisfy contact, collision, and torque limit constraints for a given ladder specification. This method is used to automatically test climbing strategies on a variety of ladders in simulation. This planner-aided design paradigm allows us to employ extensive simulation in order to rapidly design, test, and verify novel climbing strategies, as well as testing how candidate hardware changes would affect the robot's ladder climbing capabilities.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"104 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":"122337598","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

An application of fuzzy DL-based semantic perception to soil container classification 模糊语义感知在土壤容器分类中的应用

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556369

M. Eich

{"title":"An application of fuzzy DL-based semantic perception to soil container classification","authors":"M. Eich","doi":"10.1109/TePRA.2013.6556369","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556369","url":null,"abstract":"Semantic perception and object labeling are key requirements for robots interacting with objects on a higher level. Symbolic annotation of objects allows the usage of planning algorithms for object interaction, for instance in a typical fetchand-carry scenario. In current research, perception is usually based on 3D scene reconstruction and geometric model matching, where trained features are matched with a 3D sample point cloud. In this work we propose a semantic perception method which is based on spatio-semantic features. These features are defined in a natural, symbolic way, such as geometry and spatial relation. In contrast to point-based model matching methods, a spatial ontology is used where objects are rather described how they \"look like\", similar to how a human would described unknown objects to another person. A fuzzy based reasoning approach matches perceivable features with a spatial ontology of the objects. The approach provides a method which is able to deal with senor noise and occlusions. Another advantage is that no training phase is needed in order to learn object features. The use-case of the proposed method is the detection of soil sample containers in an outdoor environment which have to be collected by a mobile robot. The approach is verified using real world experiments.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"46 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":"122726505","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: 8

Human-human interaction using a behavioural control strategy 使用行为控制策略的人际互动

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556361

Paramin Neranon, R. Bicker

引用次数: 0

tf: The transform library tf:转换库

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556373

Tully Foote

引用次数: 193

“Off the grid”: Self-contained landmarks for improved indoor probabilistic localization “脱离网格”:用于改进室内概率定位的独立地标

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556349

E. McCann, M. Medvedev, Daniel J. Brooks, Kate Saenko

{"title":"“Off the grid”: Self-contained landmarks for improved indoor probabilistic localization","authors":"E. McCann, M. Medvedev, Daniel J. Brooks, Kate Saenko","doi":"10.1109/TePRA.2013.6556349","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556349","url":null,"abstract":"Indoor localization is a challenging problem, especially in dynamically changing environments and in the presence of sensor errors such as odometry drift. We present a method for robustly localizing a robot in realistic indoor environments. We improve a popular probabilistic approach called Monte Carlo localization, which estimates the robot's position using depth features of the environment and is prone to errors when the topology changes (e.g., due to a moved piece of furniture). We propose a technique that improves localization by augmenting the environment with a set of QR code landmarks. Each landmark embeds information about its 3D pose relative to the world coordinate system, the same coordinate system as the map. Our algorithm detects the landmarks in images from an RGB-D camera, uses depth information to estimates their pose relative to the robot, and incorporates the resulting position evidence in a probabilistic manner. We conducted experiments on an iRobot ATRV-JR robot and show that our method is more reliable in dynamic environments than the exclusively probabilistic localization method.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"6 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":"130850617","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: 13

Linear One-to-Many (OTM) system 线性一对多(OTM)系统

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556359

Thane R. Hunt, Christopher J. Berthelette, Marko B. Popovic

引用次数: 14

Developing baxter 开发巴克斯特

2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-01 DOI: 10.1109/TePRA.2013.6556344

C. Fitzgerald

引用次数: 121