2005 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第10页

Novel mechatronics design for a robotic fish 机器鱼的机电一体化设计

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545283

Jindong Liu, Ian Dukes, Huosheng Hu

引用次数: 121

Stiffness influence atlases of a novel flexure hinge-based parallel mechanism with large workspace 一种新型大工作空间柔性铰链并联机构的刚度影响图谱

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545078

W. Dong, Z. Du, Lining Sun

{"title":"Stiffness influence atlases of a novel flexure hinge-based parallel mechanism with large workspace","authors":"W. Dong, Z. Du, Lining Sun","doi":"10.1109/IROS.2005.1545078","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545078","url":null,"abstract":"Parallel-structure flexure mechanisms are increasingly designed due to their superior characteristics. This paper explores a novel six degree-of-freedom large workspace flexure parallel mechanism based on the concept of wide-range flexure hinge, which can attain sub-micron scale accuracy over cubic centimeter motion range. The geometric dimensions of the flexure hinges utilized in this mechanism as passive joints will influence the system stiffness directly and other properties indirectly such as the workspace, load-carrying capacity, and driving-load capacity etc. In this paper, the stiffness model of individual flexure hinge is established firstly, and then the stiffness of the whole flexure mechanism is modeled via assembling stiffness matrices and formulating constraint equations. Based on the system stiffness model of the whole mechanism, the stiffness atlases' analysis is presented which provides theoretical principles for designing and developing this kind of flexure parallel mechanism in further. Finally, a 6-PSS large workspace flexure parallel mechanism prototype is proposed according to the analysis results, which will be utilized in the precision positioning.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126354325","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: 30

Development of a talking robot with vocal cords and lips having human-like biological structures 会说话的机器人，其声带和嘴唇具有类似人类的生物结构

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545356

K. Fukui, K. Nishikawa, S. Ikeo, E. Shintaku, Kentaro Takada, H. Takanobu, M. Honda, A. Takanishi

引用次数: 21

Real-time audio-visual localization of user using microphone array and vision camera 利用麦克风阵列和视觉摄像头对用户进行实时视听定位

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545030

Changkyu Choi, Donggeon Kong, Sujin Lee, Kiyoung Park, Sun-Gi Hong, Hyoung-Ki Lee, S. Bang, Yongbeom Lee, Sang Ryong Kim

{"title":"Real-time audio-visual localization of user using microphone array and vision camera","authors":"Changkyu Choi, Donggeon Kong, Sujin Lee, Kiyoung Park, Sun-Gi Hong, Hyoung-Ki Lee, S. Bang, Yongbeom Lee, Sang Ryong Kim","doi":"10.1109/IROS.2005.1545030","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545030","url":null,"abstract":"In home environments, demands for a robot to serve a user are on the increase, such as cleaning rooms, bringing something to the user, and so on. To achieve these tasks, it is essential for developing a natural way of human-robot interaction (HRI). One of the most natural ways is that the robot approaches the user to do some tasks after recognizing the user's call and localizing its position. In this case, user localization becomes a key technology. In this paper, we propose a novel audio visual user localization system. It consists of a microphone array with eight sensors and a video camera. Estimating calling direction is achieved by the spectral subtraction of the spatial spectra. In particular, a novel beam forming method is proposed to suppress the nonstationary audio noises where they always occur in a real world. Furthermore, a robust method for face detection is proposed to double check the user based on an Adaboost classifier. It is improved to reduce the false alarms remarkably through a new postprocessing on face candidates. Successful results in a real home environment show its efficacy and feasibility. The implementation issues, limitations, and their possible solutions are also discussed.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123092721","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

Sensing characteristics of an optical three-axis tactile sensor mounted on a multi-fingered robotic hand 安装在多指机械手上的光学三轴触觉传感器的传感特性

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545264

M. Ohka, Hiroaki Kobayashi, Y. Mitsuya

{"title":"Sensing characteristics of an optical three-axis tactile sensor mounted on a multi-fingered robotic hand","authors":"M. Ohka, Hiroaki Kobayashi, Y. Mitsuya","doi":"10.1109/IROS.2005.1545264","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545264","url":null,"abstract":"To develop a new three-axis tactile sensor for mounting on multi-fingered robotic hands, in this work we optimize sensing elements on the basis of our previous works concerning optical three-axis tactile sensors with a flat sensing surface. The present tactile sensor is based on the principle of an optical waveguide-type tactile sensor, which is composed of an acrylic hemispherical dome, a light source, an array of rubber sensing elements, and a CCD camera. The sensing element of the present tactile sensor comprises one columnar feeler and eight conical feelers. The contact areas of the conical feelers, which maintain contact with the acrylic dome, detect the three-axis force applied to the tip of the sensing element. Normal and shearing forces are then calculated from integration and centroid displacement of the gray-scale value derived from the conical feeler's contacts. To evaluate the present tactile sensor, we have conducted a series of experiments using a y-z stage, a rotational stage and a force gauge, and have found that although the relationship between integrated gray-scale value and normal force depends on the latitude on the hemispherical surface, it is easy to modify the sensitivity according to the latitude, and that the centroid displacement of the gray-scale value is proportional to the shearing force. Finally, to verify the present tactile sensor, we performed a series of scanning tests using a robotic manipulator equipped with the present tactile sensor to have the manipulator scan surfaces of fine abrasive papers. Results show that the obtained shearing force increased with an increase in the particle diameter of aluminium dioxide contained in the abrasive paper, and decreased with an increase in the scanning velocity of the manipulator over the abrasive paper. Because these results are consistent with tribology, we conclude that the present tactile sensor has sufficient dynamic sensing capability to detect normal and shearing forces.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"34 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126089374","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: 55

An example of parts handling and self-assembly using stable limit sets 一个使用稳定极限集的零件处理和自组装的例子

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545576

T. Murphey, Jay Bernheisel, D. Choi, K. Lynch

引用次数: 10

A tracking controller for motion coordination of multiple mobile robots 多移动机器人运动协调的跟踪控制器

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545164

Jinyan Shao, G. Xie, Junzhi Yu, Long Wang

引用次数: 22

Adaptive tuning of the sampling domain for dynamic-domain RRTs 动态域RRTs采样域的自适应调谐

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545607

L. Jaillet, A. Yershova, S. LaValle, T. Siméon

引用次数: 137

Stability analysis of a walk of a biped with control of the ZMP ZMP控制下两足行走的稳定性分析

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545239

D. Djoudi, C. Chevallereau

引用次数: 14

Making use of what you don't see: negative information in Markov localization 利用你看不到的东西:马尔科夫定位中的负面信息

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545087

Jan Hoffmann, Michael Spranger, D. Goehring, Matthias Jüngel

引用次数: 59