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2021 IEEE International Conference on Robotics and Automation (ICRA)最新文献

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Development of a Series Elastic Elbow Neurological Exam Training Simulator for Lead-pipe Rigidity* 铅管刚性系列弹性肘神经学考试训练模拟器的研制
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9560891
Kevin G. Gim, Maxine He, Mahshid Mansouri, Yinan Pei, E. Ripperger, Christopher M. Zallek, E. Hsiao-Wecksler
{"title":"Development of a Series Elastic Elbow Neurological Exam Training Simulator for Lead-pipe Rigidity*","authors":"Kevin G. Gim, Maxine He, Mahshid Mansouri, Yinan Pei, E. Ripperger, Christopher M. Zallek, E. Hsiao-Wecksler","doi":"10.1109/ICRA48506.2021.9560891","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9560891","url":null,"abstract":"This paper describes the development of a 1-DOF kinesthetic force display device in the form of an arm training simulator that replicates the haptic feeling of lead-pipe rigidity in the elbow joint. Patients with lead-pipe rigidity have uniformly elevated muscle tone throughout the range of motion, which is an important clinical sign for diagnosing Parkinson’s disease during a neurological examination. The simulator could provide training opportunities for healthcare trainees to learn and practice the assessment technique for lead-pipe rigidity. The simulator was driven by a series elastic actuator in order to have more accurate joint torque control in a safe and cost-effective manner for rendering abnormal muscle resistance. A mathematical model of lead-pipe rigidity based on hyperbolic tangent was proposed to recreate the elevated muscle resistance at different Unified Parkinson’s Disease Rating Scale (UPDRS) 0-3. Performance of the simulator was evaluated through benchtop tests and rigidity simulation tests. Preliminary results suggested the simulator had good torque control accuracy (an average RMSE < 0.27 Nm) and good fidelity in mimicking clinically-measured lead-pipe rigidity at UPDRS 0-3.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125499323","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: 1
Distributed Multi-Target Tracking for Heterogeneous Mobile Sensing Networks with Limited Field of Views 有限视场异构移动传感网络的分布式多目标跟踪
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561888
Jun Chen, P. Dames
{"title":"Distributed Multi-Target Tracking for Heterogeneous Mobile Sensing Networks with Limited Field of Views","authors":"Jun Chen, P. Dames","doi":"10.1109/ICRA48506.2021.9561888","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561888","url":null,"abstract":"This paper introduces the normalized unused sensing capacity to measure the amount of information that a sensor is currently gathering relative to its theoretical maximum. This quantity can be computed using entirely local information and works for arbitrary sensor models, unlike previous literature on the subject. This is then used to develop a distributed coverage control strategy for a team of heterogeneous sensors that automatically balances the load based on the current unused capacity of each team member. This algorithm is validated in a multi-target tracking scenario, yielding superior results to standard approaches that do not account for heterogeneity or current usage rates.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125529880","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: 16
Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics 刚体植物动力学自适应辨识中质量和转动惯性参数的均匀完全可观测性
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561892
Tyler M. Paine, L. Whitcomb
{"title":"Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics","authors":"Tyler M. Paine, L. Whitcomb","doi":"10.1109/ICRA48506.2021.9561892","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561892","url":null,"abstract":"This paper addresses the long-standing open problem of observability of mass and inertia plant parameters in the adaptive identification (AID) of second-order nonlinear models of 6 degree-of-freedom rigid-body dynamical systems subject to externally applied forces and moments. Although stable methods for AID of plant parameters for this class of systems, as well numerous approaches to stable model-based direct adaptive trajectory-tracking control of such systems, have been reported, these studies have been unable to prove analytically that the adaptive parameter estimates converge to the true plant parameter values. This paper reports necessary and sufficient conditions for the uniform complete observability (UCO) of 6-DOF plant inertial parameters for a stable adaptive identifier for this class of systems. When the UCO condition is satisfied, the adaptive parameter estimates are shown to converge to the true plant parameter values. To the best of our knowledge this is the first reported proof for this class of systems of UCO of plant parameters and for convergence of adaptive parameter estimates to true parameter values.We also report a numerical simulation study of this AID approach which shows that (a) the UCO condition can be met for fully-actuated plants as well as underactuated plants with the proper choice of control input and (b) convergence of adaptive parameter estimates to the true parameter values. We conjecture that this approach can be extended to include other parameters that appear rigid body plant models including parameters for drag, buoyancy, added mass, bias, and actuators.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114940248","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: 0
Real-time active detection of targets and path planning using UAVs 利用无人机实时主动探测目标和路径规划
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561365
Fangping Chen, Yuheng Lu, Yunyi Li, Xiaodong Xie
{"title":"Real-time active detection of targets and path planning using UAVs","authors":"Fangping Chen, Yuheng Lu, Yunyi Li, Xiaodong Xie","doi":"10.1109/ICRA48506.2021.9561365","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561365","url":null,"abstract":"This article proposes a new method that enables Unmanned Aerial Vehicles (UAVs) to actively find targets and shoot photographs of them in an unknown environment, while successfully avoiding surrounding obstacles and planning optimize routes. Owing to the limited computing ability on the UAVs, we obtained the point cloud data of surrounding objects, and selected the best segmentation method of the point cloud to perform real-time semantic segmentation on the collected point cloud data. The point cloud data with semantic attributes were merged into voxels. We reconstruct the real-time distance and angle between the surface of obstacles and the surrounding obstacles through Euclidean Signed Distance Fields (ESDFs), and adjust the gimbal angle and focal length of UAVs and use the two-dimensional image recognition to shoot the photographs of the target precisely. Considering the increasing scale of UAVs power inspections, we can improve the efficiency of fine inspections of power transmission lines by using the method we proposed.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115058104","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
Formal Verification of ROS Based Systems Using a Linear Logic Theorem Prover 用线性逻辑定理证明器形式化验证基于ROS的系统
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561191
Sitar Kortik, Tejas Kumar Shastha
{"title":"Formal Verification of ROS Based Systems Using a Linear Logic Theorem Prover","authors":"Sitar Kortik, Tejas Kumar Shastha","doi":"10.1109/ICRA48506.2021.9561191","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561191","url":null,"abstract":"In this paper, we propose a novel representation and verification technique for software components in a robotic system using a linear logic theorem prover. Linear logic includes consumable resources together with persistent resources, enabling representing and reasoning of robotic domains. We demonstrate model representation and verification of formal specifications through Robot Operating System (ROS) components. The system model can be either statically extracted by HAROS (a ROS based static analysis framework) or dynamically extracted once all system components are running. After ten years of its first release, ROS has become one of the most popular middlewares among robotic programming frameworks. Even though ROS is very popular among robotic developers, we believe that a framework for easily representing and verifying robotic systems is missing. This paper introduces a new technique for formally representing and verifying robotic systems using a linear logic theorem prover and finally presents a number of illustrations of model representation and safety property checking both statically and dynamically for the robot Kobuki.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115216821","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: 1
Unsupervised Motion Estimation of Vehicles Using ICP 基于ICP的车辆无监督运动估计
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561753
Tom Roussel, T. Tuytelaars, L. V. Eycken
{"title":"Unsupervised Motion Estimation of Vehicles Using ICP","authors":"Tom Roussel, T. Tuytelaars, L. V. Eycken","doi":"10.1109/ICRA48506.2021.9561753","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561753","url":null,"abstract":"Anticipating the motion of dynamic objects is critical for making intelligent decisions navigating through an environment while avoiding collisions. In this work, we propose a CNN model that estimates 3D motion of objects using sequences of monocular images. We show that we can train this model without using any manual annotations by using Iterative Closest Points (ICP) to align pointclouds of an object at different points in time. We compare our unsupervised approach to a model that was trained using ground truth supervision, on the KITTI tracking dataset. We further improve our model by training our model on a larger dataset, which would otherwise not be possible due to the lack of ground truth data. We also compare our approach with a 3D object detector that estimates motion using a simple tracking scheme.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116138545","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: 0
MonoSOD: Monocular Salient Object Detection based on Predicted Depth MonoSOD:基于预测深度的单目显著目标检测
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561211
George Dimas, Panagiota Gatoula, D. Iakovidis
{"title":"MonoSOD: Monocular Salient Object Detection based on Predicted Depth","authors":"George Dimas, Panagiota Gatoula, D. Iakovidis","doi":"10.1109/ICRA48506.2021.9561211","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561211","url":null,"abstract":"Salient object detection (SOD) can directly improve the performance of tasks like obstacle detection, semantic segmentation and object recognition. Such tasks are important for robotic and other autonomous navigation systems. State-of-the-art SOD methodologies, provide improved performance by incorporating depth information, usually acquired using additional specialized sensors, e.g., RGB-D cameras. This introduces an overhead to the overall cost and flexibility of such systems. Nevertheless, the recent advances of machine learning, have provided models, capable of generating depth map approximations, given a single RGB image. In this work, we propose a novel monocular SOD (MonoSOD) methodology, based on a two-branch CNN autoencoder architecture capable of predicting depth maps and estimating saliency through a trainable refinement scheme. Its application on benchmark datasets, indicates that its performance is comparable to that of state-of-the-art SOD methods relying on RGB-D data. Therefore, it could be considered as a lower-cost alternative of such methods for future applications.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122489079","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: 1
Distributed Rendezvous Control of Networked Uncertain Robotic Systems with Bearing Measurements 具有方位测量的网络不确定机器人系统的分布式交会控制
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561194
Jianing Zhao, Hanjiang Hu, Keyi Zhu, Xiao Yu, Hesheng Wang
{"title":"Distributed Rendezvous Control of Networked Uncertain Robotic Systems with Bearing Measurements","authors":"Jianing Zhao, Hanjiang Hu, Keyi Zhu, Xiao Yu, Hesheng Wang","doi":"10.1109/ICRA48506.2021.9561194","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561194","url":null,"abstract":"In this paper, the distributed rendezvous control problem of networked uncertain robotic systems with bearing measurements is investigated. The network topology of the multi-robot systems is described by an undirected graph. The dynamics of robots is modeled by Euler-Lagrange equation with unknown inertial parameters, which is more general than simple kinematics considered in existing works on rendezvous problem of multi-robot systems. To achieve rendezvous, a distributed adaptive force/torque control law is developed for each robot, which uses bearings with respect to its neighbors instead of relative displacements or distances. It is shown that the resulting closed-loop multi-robot systems are globally asymptotically stable. Then, the rendezvous control problem of multiple wheeled mobile robots is further solved by the proposed approach. Finally, on-site experiment on networked TurtleBot3 Burger mobile robots is conducted and the results demonstrate effectiveness of the proposed approach.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123009915","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: 0
Power Transmission Design of Fast and Energy-Efficient Stiffness Modulation for Human Power Assistance 快速节能的人力辅助刚度调制动力传动设计
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561044
Wonseok Shin, Gun-Cheol Park, JooYong Lee, Handdeut Chang, Jung Kim
{"title":"Power Transmission Design of Fast and Energy-Efficient Stiffness Modulation for Human Power Assistance","authors":"Wonseok Shin, Gun-Cheol Park, JooYong Lee, Handdeut Chang, Jung Kim","doi":"10.1109/ICRA48506.2021.9561044","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561044","url":null,"abstract":"Compliance in robot actuation provides a solution to perform safe physical human-robot interaction. Conventional compliant actuators (variable stiffness actuators, series elastic actuators) used more than two motors or closed-loop controller to modulate both stiffness and equilibrium position independently. These actuators are complex, lack of energy efficiency, and have limited stiffness range. In conjunction with an active, positive stiffness modulation, implementing a passive negative stiffness element enabled a compact design of the compliant actuator. This paper suggests a power transmission design of fast and energy-efficient stiffness modulation based on this new compliant actuator concept. First, the double slider-crank mechanism made fast stiffness modulation and high energy-efficiency. Second, positioning the leaf spring’s bending location to the center also enabled the fast stiffness modulation speed and wide range stiffness modulation. Third, optimized elliptical cam with compression spring generated negative stiffness in output. We provide theoretical modeling of each mechanical drivetrains and characterization of positive stiffness modulation (range and speed) and negative stiffness with corresponding power consumption experimentally.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114145716","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
UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation 带有未知偏移补偿的非完整机器人UWB室内全局定位
2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9562031
D. Fontanelli, Farhad Shamsfakhr, P. Bevilacqua, L. Palopoli
{"title":"UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation","authors":"D. Fontanelli, Farhad Shamsfakhr, P. Bevilacqua, L. Palopoli","doi":"10.1109/ICRA48506.2021.9562031","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9562031","url":null,"abstract":"The problem addressed in this paper is the localisation of a mobile robot using a combination of on-board sensors and Ultra-Wideband (UWB) beacons. Specifically, we consider a scenario in which a mobile robot travels across an area infrastructured with a small number of UWB anchors. The presence of obstacles in the environment introduces an offset in the measurements of the distance between the robot and the UWB anchors causing a degradation in the localisation performance. By using a discrete–time formulation of the system dynamics, we show that, under mild condition, the trajectories can be observed and the offset can be estimated in a finite number of steps. Besides being interesting in its on right, the global observability results offer a clear pathway towards the definition of a new generation of estimation algorithms.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114373632","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: 4
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