2005 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第2页

A disposable plastic compact wrist for smart minimally invasive surgical tools 一种用于智能微创手术工具的一次性塑料紧凑型手腕

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545440

F. V. Meer, A. Giraud, D. Estève, X. Dollat

{"title":"A disposable plastic compact wrist for smart minimally invasive surgical tools","authors":"F. V. Meer, A. Giraud, D. Estève, X. Dollat","doi":"10.1109/IROS.2005.1545440","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545440","url":null,"abstract":"This paper describes a new compact bending and disposable (to avoid nosocomial contaminations) plastic wrist for minimally invasive surgery with a large free space for several connections such as electrical wires, fiberoptics and fluidic tubes, etc. It uses small partially locked ball joints to increase the dexterity of surgical tools in all directions contrary to other wrists using several successive orthogonal joints. This compact wrist is a generic concept comprises at least two vertebrae composed of non-attached contacts: plastic plates and balls. Six metal wires drive the position of each vertebra and several other free wires allow the locking of wrist axial rotations. Analytic and finite element simulations allow an evaluation of the mechanical rigidity of the wrist by several parameters: the wire number, diameter, position, mechanical properties and the general geometry of the wrist. The wrist is fabricated with 6 mm biocompatible plastic vertebrae micromachined by low cost water jet cutting. It uses 0.3 mm NiTi super-elastic wires for its mechanical structure which enable two degrees of freedom (DOF) in any directions between -85 degrees and 85 degrees. The two DOFs of the wrist and the DOF of the forceps are driven by a handled basic system using pulleys, 0.5mm Topline/spl reg/ ropes connected to NiTi wires and four RC-servomotors. In the first prototype 6 electrical wires, 2 micro-light emitters and 4 fiberoptics were successfully integrated. We are convinced of the effectiveness of this compact disposable plastic wrist, to be used with a usual or a motorised handled surgical instrument and integrating new functionalities such as electrical/optical/fluidics connections for smart surgical embedded micro-systems like micro-sensors and micro-actuators.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"11 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":"123782904","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

Motion planning for the large space manipulators with complicated dynamics 具有复杂动力学特性的大型空间机械臂运动规划

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545547

I. Belousov, Claudia Esteves, J. Laumond, Etienne Ferre

引用次数: 27

Real-time image-based topological localization in large outdoor environments 大型户外环境下基于实时图像的拓扑定位

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545442

David M. Bradley, R. Patel, N. Vandapel, S. Thayer

引用次数: 52

A model-based approach for visual guided grasping with uncalibrated system components 一种基于模型的无标定系统组件视觉引导抓取方法

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545598

Oliver Hornung, B. Heimann

引用次数: 2

Integrating vision and speech for conversations with multiple persons 整合视觉和语言，与多人对话

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545158

Maren Bennewitz, F. Faber, D. Joho, M. Schreiber, Sven Behnke

引用次数: 35

Working postures for humanoid robots to generate large manipulation force 类人机器人的工作姿势能产生较大的操纵力

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545237

A. Konno, Yoonkwon Hwang, S. Tamada, M. Uchiyama

引用次数: 16

Efficient mapping through exploitation of spatial dependencies 通过利用空间依赖性进行高效映射

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545118

Y. Rachlin, J. Dolan, P. Khosla

{"title":"Efficient mapping through exploitation of spatial dependencies","authors":"Y. Rachlin, J. Dolan, P. Khosla","doi":"10.1109/IROS.2005.1545118","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545118","url":null,"abstract":"Occupancy grid mapping algorithms assume that grid block values are independently distributed. However, most environments of interest contain spatial patterns that are better characterized by models that capture dependencies among grid blocks. To account for such dependencies, we model the environment as a pairwise Markov random field. We specify a belief propagation-based mapping algorithm that takes these dependencies into account when estimating a map. To demonstrate the potential benefits of this approach, we simulate a simple multi-robot minefield mapping scenario. Minefields contain spatial dependencies since some landmine configurations are more likely than others, and since clutter, which causes false alarms, can be concentrated in certain regions and completely absent in others. Our belief propagation-based approach outperforms conventional occupancy grid mapping algorithms in the sense that better maps can be obtained with significantly fewer robot measurements. The belief propagation algorithm requires a modest amount of increased computation, but we contend that in applications where significant energy and time expenditure is associated with robot movement and active sensing, the reduction in the required number of samples justified the increased computation.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 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":"116857921","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: 19

Serpentine locomotion of a snake-like robot controlled by cyclic inhibitory CPG model 循环抑制CPG模型控制蛇形机器人的蛇形运动

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545435

Zhenli Lu, Shugen Ma, Bin Li, Yuechao Wang

引用次数: 45

Extracting multi-modal dynamics of objects using RNNPB 利用RNNPB提取物体的多模态动力学

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.20965/jrm.2005.p0681

T. Ogata, H. Ohba, J. Tani, Kazunori Komatani, HIroshi G. Okuno

引用次数: 30

Active multi-camera object recognition in presence of occlusion 存在遮挡的主动多摄像头目标识别

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545591

Forough Farshidi, S. Sirouspour, T. Kirubarajan

引用次数: 11