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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

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Using projected dynamics to plan dynamic contact manipulation 使用投影动力学来规划动态接触操作
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545210
S. Srinivasa, M. Erdmann, M. T. Mason
{"title":"Using projected dynamics to plan dynamic contact manipulation","authors":"S. Srinivasa, M. Erdmann, M. T. Mason","doi":"10.1109/IROS.2005.1545210","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545210","url":null,"abstract":"This paper addresses the planning and control of dynamic contact manipulation. In an earlier paper (Srinivasa et al., 2005), we derived a constraint on the robot joint accelerations that needed to be satisfied to obtain a desired contact mode and a desired dynamic motion of the object. We proposed a technique for trajectory planning which involved planning a path in the system configuration space followed by time-scaling the path to satisfy dynamic constraints. This paper tackles a problem where only a small set of paths can be time-scaled to satisfy the constraints. We note that the dynamic constraints depend only on a subspace of the system state space. Projecting the dynamics and the constraints onto the subspace allows us to compute an analytical solution for the trajectory generation problem. We generate controllable simulations by allowing the user to control the system in the space orthogonal to the projection. We also demonstrate the construction of feedback controllers using dynamic programming.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"34 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":"128136882","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
Prosody based emotion recognition for MEXI 基于韵律的情感识别
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545341
A. Austermann, Natascha Esau, L. Kleinjohann, B. Kleinjohann
{"title":"Prosody based emotion recognition for MEXI","authors":"A. Austermann, Natascha Esau, L. Kleinjohann, B. Kleinjohann","doi":"10.1109/IROS.2005.1545341","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545341","url":null,"abstract":"This paper describes the emotion recognition from natural speech as realized for the robot head MEXI. We use a fuzzy logic approach for analysis of prosody in natural speech. Since MEXI often communicates with well known persons but also with unknown humans, for instance at exhibitions, we realized a speaker dependent mode as well as a speaker independent mode in our prosody based emotion recognition. A key point of our approach is that it automatically selects the most significant features from a set of twenty analyzed features based on a training database of speech samples. This is important according to our results, since the set of significant features differs considerably between the distinguished emotions. With our approach we reach average recognition rates of 84% in speaker dependent mode and 60% in speaker independent mode.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"13 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":"125454794","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: 27
Actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair 实现轮椅安全稳定的爬楼梯和立体运动
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545335
Jianjun Yuan, S. Hirose
{"title":"Actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair","authors":"Jianjun Yuan, S. Hirose","doi":"10.1109/IROS.2005.1545335","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545335","url":null,"abstract":"Leg-wheel hybrid mobile vehicle has been regarded as the best combination and many of them have been presented recently because of the high terrain adaptability of legged walking robots on rough ground and the high mobility of wheeled mobile vehicles on flat terrain. We discuss the detailed actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair - with mainly indoor or ordered terrain environments - in mechanism sensor system and control method based on the developed leg-wheel hybrid mobile vehicle Zero Carrier I in this paper.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"28 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":"125631761","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: 12
Developments of new anthropomorphic robot hand and its master slave system 新型拟人机械手及其主从系统的发展
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545508
T. Mouri, H. Kawasaki, Katsu Umebayashi
{"title":"Developments of new anthropomorphic robot hand and its master slave system","authors":"T. Mouri, H. Kawasaki, Katsu Umebayashi","doi":"10.1109/IROS.2005.1545508","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545508","url":null,"abstract":"This paper presents a newly developed anthropomorphic robot hand called KH Hand type S, which has high potential of dexterous manipulation and displaying hand shape, and its master slave system using the bilateral controller for five-fingers robot hand. The robot hand is improved by reducing the weight, the backlash of transmission, and the friction between gears by using elastic body. Expression of Japanese finger alphabet is shown. In order to demonstrate the dexterous grasping and manipulating an object, the experiment of peg-in-hole task controlled by bilateral controller is shown. These results denote that the KH Hand type S has a high potential to perform dexterous object manipulation like the human hand.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"70 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":"126016236","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: 65
Acquiring and maintaining abstract landmark chunks for cognitive robot navigation 认知机器人导航中抽象地标块的获取与维护
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545556
R. Luke, J. Keller, M. Skubic, S. Senger
{"title":"Acquiring and maintaining abstract landmark chunks for cognitive robot navigation","authors":"R. Luke, J. Keller, M. Skubic, S. Senger","doi":"10.1109/IROS.2005.1545556","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545556","url":null,"abstract":"In this paper, we discuss an important aspect of cognitive mobile robotics stemming from a new project in which an adaptive working memory is investigated for robot control and learning. Specifically, our approach is built on the premise that qualitative spatial reasoning is an appropriate framework to pose, learn, and solve navigational tasks. As such, the robot must be able to acquire and maintain landmarks in a form that facilitates learning and subsequent travel. Much research on landmark recognition has focused on either point landmarks or on landmark objects that come from segmentation and feature extraction. Here, we combine these approaches in the following sense. Potential landmark points are acquired in the point mode, but aggregations of them are utilized to represent \"interesting\" objects that can then be maintained throughout the path. In this paper, we investigate whether consistent aggregations can be maintained and thus serve as candidate chunks for the working memory system. The approach was tested on a video sequence of 1200 frames. Examples from this outdoor video are shown to corroborate the approach.","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":"122272989","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
Control of multifunction myoelectric hand using a real-time EMG pattern recognition 利用实时肌电图模式识别控制多功能肌电手
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545586
J. Chu, Inhyuk Moon, Shin-Ki Kim, M. Mun
{"title":"Control of multifunction myoelectric hand using a real-time EMG pattern recognition","authors":"J. Chu, Inhyuk Moon, Shin-Ki Kim, M. Mun","doi":"10.1109/IROS.2005.1545586","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545586","url":null,"abstract":"This paper proposes a novel real-time EMG pattern recognition for the control of a multifunction myoelectric hand from four channel EMG signals. To cope with the nonstationary signal property of the EMG, features are extracted by wavelet packet transform. For dimensionality reduction and nonlinear mapping of the features, we also propose a linear-nonlinear feature projection composed of PCA and SOFM. The dimensionality reduction by PCA simplifies the structure of the classifier, and reduces processing time for the pattern recognition. The nonlinear mapping by SOFM transforms the PCA-reduced features to a new feature space with high class separability. Finally a multilayer neural network is employed as the pattern classifier. We implement a real-time control system for a multifunction myoelectric hand. From experimental results, we show that all processes, including myoelectric hand control, are completed within 125 msec, and the proposed method is applicable to real-time myoelectric hand control without an operation time delay.","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":"131340224","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: 46
Modeling tooling interactions of teleoperation using grey system theory 基于灰色系统理论的遥操作工装交互建模
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545454
G. Zhang, W. Hamel
{"title":"Modeling tooling interactions of teleoperation using grey system theory","authors":"G. Zhang, W. Hamel","doi":"10.1109/IROS.2005.1545454","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545454","url":null,"abstract":"Online modeling or estimating tooling interaction of teleoperation is complicated and difficult. Classic analytical and numerical modeling methods are not suitable for real-time modeling. In this paper, a grey prediction model GM(1,1) was developed for predicting tooling interactions of teleoperation since grey modeling has the following characteristics: (i) small data set, (ii) less computation, (iii) online real-time modeling, and (iv) any kind of data distribution. The developed GM(1,1) was successfully applied to model bandsawing interaction forces.","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":"130095252","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
Adaptable Web interfaces for networked robots 用于联网机器人的可适应Web接口
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545297
J. Fernández-Madrigal, E. Cruz-Martin, A. Cruz-Martín, Javier González, C. Galindo
{"title":"Adaptable Web interfaces for networked robots","authors":"J. Fernández-Madrigal, E. Cruz-Martin, A. Cruz-Martín, Javier González, C. Galindo","doi":"10.1109/IROS.2005.1545297","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545297","url":null,"abstract":"Most research in networked robots that use Web interfaces for robot control has been focused recently on the network part, since Ethernet involves poor (unpredictable) time performance. However, we believe that the problem to be addressed is more general and should not be restricted only to communication engineering: the interfaced system as a whole should adapt to get the most from the user, from the connection, and from the robot, even when no strict performance is possible. For that purpose, this paper introduces a new architecture for Web remote operation of robots that exhibits a high degree of flexibility in its adaptation to each particular user (through modular, configurable JAVA applets), to the system time-varying performance (through probability-guided, run-time adaptation of control loops), and to the robot software architecture (the standard CORBA is assumed as its middleware). Our approach constitutes an initial step for adapting comprehensively to all the mentioned issues, hence permitting to be employed in very different scenarios: realtime control, telecare, remote surveillance, etc.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2272 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":"130250680","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: 7
A shoulder structure of muscle-driven humanoid with shoulder blades 有肩胛骨的肌肉驱动的人形肩部结构
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545123
Yoshinao Sodeyama, I. Mizuuchi, T. Yoshikai, Y. Nakanishi, M. Inaba
{"title":"A shoulder structure of muscle-driven humanoid with shoulder blades","authors":"Yoshinao Sodeyama, I. Mizuuchi, T. Yoshikai, Y. Nakanishi, M. Inaba","doi":"10.1109/IROS.2005.1545123","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545123","url":null,"abstract":"We are trying to create an innovative humanoid which has increased flexibility by imitating the structure of a human shoulder, especially the shoulder blade. We designed a flexible shoulder structure for a muscle-driven humanoid robot which has the following merits, 1) wide range of movement and flexible shoulder like humans, 2) having the shoulder structure built on to the outside of the chest, allowing space for a lot of parts inside the chest. We developed a prototype humanoid robot named \"Blade\" which has a musculo-skeletal humanoid torso with the shoulder blade, driven by motor-actuated tendons. This paper describes the advantages of the structure of the shoulder blade, the development of a humanoid with the shoulder blade, and some experiments showing its range of movement using the prototype humanoid robot we presented.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"8 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":"130468724","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: 34
On-line learning of a feedback controller for quasi-passive-dynamic walking by a stochastic policy gradient method 基于随机策略梯度法的准被动动态步行反馈控制器在线学习
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545258
K. Hitomi, T. Shibata, Yutaka Nakamura, S. Ishii
{"title":"On-line learning of a feedback controller for quasi-passive-dynamic walking by a stochastic policy gradient method","authors":"K. Hitomi, T. Shibata, Yutaka Nakamura, S. Ishii","doi":"10.1109/IROS.2005.1545258","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545258","url":null,"abstract":"A class of biped locomotion called passive dynamic walking (PDW) has been recognized to be efficient in energy consumption and a key to understand human walking. Although PDW is sensitive to the initial condition and disturbances, some studies of quasi-PDW, which introduces supplementary actuators, are reported to overcome the sensitivity. In this article, for realization of the quasi-PDW, an on-line learning scheme of a feedback controller based on a policy gradient reinforcement learning method is proposed. Computer simulations show that the parameter in a quasi-PDW controller is automatically tuned by our method utilizing the passivity of the robot dynamics. The obtained controller is robust against variations in the slope gradient to some extent.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"10 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":"134114743","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: 7
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