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

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Water strider's muscle arrangement-based robot 水黾的肌肉排列机器人
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545355
Hideaki Takonobu, Keisuke Kodaira, Hitomi Takeda
{"title":"Water strider's muscle arrangement-based robot","authors":"Hideaki Takonobu, Keisuke Kodaira, Hitomi Takeda","doi":"10.1109/IROS.2005.1545355","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545355","url":null,"abstract":"In this paper, we describe the research and development of a robot based on the water strider's internal mechanism. Robots must function in various environments, both on land and under water. However, there have been few studies regarding robots capable of moving on the water surface. We examined the function of an aquatic insect, the water strider, to allow the development of a robot. We examined the leg structure of the water strider, along with the angle transitions of each leg. A robot was then designed and produced with leg motion similar to that of the actual water strider.","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":"134208605","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: 25
Walking stabilization of biped with pneumatic actuators against terrain changes 气动驱动的两足机器人在地形变化下的行走稳定性
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545396
Takashi Takuma, K. Hosoda, M. Asada
{"title":"Walking stabilization of biped with pneumatic actuators against terrain changes","authors":"Takashi Takuma, K. Hosoda, M. Asada","doi":"10.1109/IROS.2005.1545396","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545396","url":null,"abstract":"Humans are supposed to utilize its joint elasticity to realize smooth and adaptive walking. Although such human-like biped walking is strongly affected by the terrain dynamics, it was not taken into account in robotic bipedalism since it is very difficult to model the dynamics formally. In this paper, instead of modeling the dynamics formally, we propose to estimate the relationship between actuation (air valve opening duration) and sensing (touch sensor information) by real walking trials, and to stabilize walking cycle by utilizing it. Since the terrain dynamics is involved in the relation, we can avoid to model it formally. We conducted walking experiments on various types of terrain to demonstrate the effectiveness of the proposed method.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"16 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":"133964255","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: 18
Robust multi-view face tracking 鲁棒的多视图人脸跟踪
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545533
K. An, Dong Hyun Yoo, Sung-Uk Jung, M. Chung
{"title":"Robust multi-view face tracking","authors":"K. An, Dong Hyun Yoo, Sung-Uk Jung, M. Chung","doi":"10.1109/IROS.2005.1545533","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545533","url":null,"abstract":"For face tracking in a video sequence, various face tracking algorithms have been proposed. However, most of them have a difficulty in finding the initial position and size of a face automatically. In this paper, we present a fast and robust method for fully automatic multi-view face detection and tracking. Using a small number of critical rectangle features selected and trained by Adaboost learning algorithm, we can detect the initial position, size and view of a face correctly. Once a face is reliably detected, we can extract face and upper body color distribution from the detected facial regions and upper body regions for building a robust color modeling respectively. Simultaneously, each color modeling is performed by using k-means clustering and multiple Gaussian models. Then, fast and efficient multi-view face tracking is executed by using several critical features and a simple linear Kalman filter. Our proposed algorithm is robust to rotation, partial occlusions, and scale changes in front of dynamic, unstructured background. In addition, our proposed method is computationally efficient. Therefore, it can be executed in real-time.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"249 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":"134313057","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: 18
Compliant motion of a multi-segmented inspection robot 多节段检测机器人的柔性运动
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545488
C. Birkenhofer, M. Hoffmeister, Johann Marius Zöllner, R. Dillmann
{"title":"Compliant motion of a multi-segmented inspection robot","authors":"C. Birkenhofer, M. Hoffmeister, Johann Marius Zöllner, R. Dillmann","doi":"10.1109/IROS.2005.1545488","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545488","url":null,"abstract":"This paper presents a method to potentate the multi-segmented inspection robot Kairo-II to navigate in unstructured and dynamic environment. Previous methods for motion planning for such robots come from driving scenarios in highly structured areas. The virtual tube algorithm is introduced which enables a multi-segmented robot to range in such complex environment. Precise force feedback is required. Therefore, we present a sensor system which is based on strain-gauges technology. Information extracted by this sensor enables the trajectory planning algorithm to adapt its curve. Thus, the proposed system provides and evaluates key functions for compliant motion of a multi-segmented robot within unstructured environment.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"40 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":"134334135","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: 22
A visually guided swimming robot 视觉引导的游泳机器人
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545231
G. Dudek, M. Jenkin, C. Prahacs, A. Hogue, Junaed Sattar, P. Giguère, A. German, Hui Liu, S. Saunderson, A. Ripsman, Saul Simhon, L. Torres-Méndez, E. Milios, Pifu Zhang, Ioannis M. Rekleitis
{"title":"A visually guided swimming robot","authors":"G. Dudek, M. Jenkin, C. Prahacs, A. Hogue, Junaed Sattar, P. Giguère, A. German, Hui Liu, S. Saunderson, A. Ripsman, Saul Simhon, L. Torres-Méndez, E. Milios, Pifu Zhang, Ioannis M. Rekleitis","doi":"10.1109/IROS.2005.1545231","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545231","url":null,"abstract":"We describe recent results obtained with AQUA, a mobile robot capable of swimming, walking and amphibious operation. Designed to rely primarily on visual sensors, the AQUA robot uses vision to navigate underwater using servo-based guidance, and also to obtain high-resolution range scans of its local environment. This paper describes some of the pragmatic and logistic obstacles encountered, and provides an overview of some of the basic capabilities of the vehicle and its associated sensors. Moreover, this paper presents the first ever amphibious transition from walking to swimming.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"93 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":"131550923","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: 153
Optimal control of flexible end effector in AFM based nanomanipulation 基于AFM的纳米操作柔性末端执行器的最优控制
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545136
Jiangbo Zhang, N. Xi, Guangyong Li
{"title":"Optimal control of flexible end effector in AFM based nanomanipulation","authors":"Jiangbo Zhang, N. Xi, Guangyong Li","doi":"10.1109/IROS.2005.1545136","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545136","url":null,"abstract":"Atomic force microscope (AFM) based nanomanipulation has been extensively investigated for many years. However, the efficiency and accuracy of the AFM based nanomanipulation is still a major issue due to the nonlinearities and uncertainties in nanomanipulation operations. The deformation of the cantilever caused by manipulation force, in our experience, is one of the most major nonlinearities and uncertainties. It causes difficulties in precisely controlling the tip position, which will cause the tip to miss the position of the object. In order to solve this problem, the traditional approach is to use a rigid cantilever. However, this will significantly reduce the sensitivity of the force feeling during the manipulation, which is essential for achieving an efficient and reliable nanomanipulation. An active AFM probe is used to solve this problem by directly controlling the cantilever's flexibility or rigidity during manipulation. An infinite dimensional model of the active probe is developed. Control of the active probe employing an optimal LQR control law is also implemented. The experimental results have verified the theoretical model and demonstrated that the precise position control and high sensitive interaction force measurement can be achieved simultaneously.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"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":"131577944","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
Self-stabilized biped walking under control of a novel reflexive network 一种新型自反网络控制下的自稳定双足行走
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545449
T. Geng, B. Porr, F. Wörgötter
{"title":"Self-stabilized biped walking under control of a novel reflexive network","authors":"T. Geng, B. Porr, F. Wörgötter","doi":"10.1109/IROS.2005.1545449","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545449","url":null,"abstract":"Biologically inspired reflexive controllers have been implemented on various walking robots. However, due to the natural instability of biped walking, up to date, there has not existed a biped robot that depends exclusively on reflexive controllers for its dynamically stable walking control. In this paper, we present our design and experiments of a planar biped robot under control of a pure reflexive controller that includes only local extensor and flexor reflexes (no any other reflexes for explicit stability control). The reflexive controller is built with biologically inspired stretch receptors and model neurons. It requires fewer phasic feedbacks than those reflexive controllers of multilegged robots, and does not employ any kind of position or velocity control algorithm even on its low level. Instead, the approximate property of this reflexive controller has allowed our biped robot to substantially exploit its own passive dynamics in some stages of its walking gait cycle. Due to the interaction of the reflexive controller and the properly designed mechanics of the robot, the biped robot works as a closely coupled neuromechanical system, and demonstrates self-stabilizing property in the experiments of slightly perturbed walking, shallow slope walking, and various speed walking. Moreover, our biped robot can walk stably at a relatively high speed (nearly three leg-lengths per second). We know of no other biped robots that could attain such a high relative speed.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"500 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":"131808134","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
QoS management of supermedia enhanced teleoperation via overlay networks 基于覆盖网络的超媒体增强远程操作的QoS管理
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545296
Zhiwei Cen, M. Mutka, Yang Liu, A. Goradia, N. Xi
{"title":"QoS management of supermedia enhanced teleoperation via overlay networks","authors":"Zhiwei Cen, M. Mutka, Yang Liu, A. Goradia, N. Xi","doi":"10.1109/IROS.2005.1545296","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545296","url":null,"abstract":"In supermedia enhanced Internet based teleoperation systems, the data flowing between the operator and the robot include robotic control commands, video, audio, haptic feedback and other media types. The difference between an Internet based teleoperation system and other Internet applications are that (1) there are many media types involved in teleoperation systems and each of them has a particular quality of service (QoS) requirement; and (2) some media types are very latency sensitive. Overlay networks have been proposed to improve the QoS of teleoperation applications. However efficient use the overlay network resources and the distribution of these resources optimally to all supermedia streams remains an important problem. This paper aims to provide a framework of QoS management for teleoperation systems over overlay networks. The validity and performance of the system is evaluated using the PlanetLab overlay network.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"287 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":"131817820","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
Soft remote control system in the intelligent sweet home 软控系统在智能甜蜜家居中的应用
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545302
Jun-Hyeong Do, Hyoyoung Jang, S. Jung, Jin-Woo Jung, Zeungnam Bien
{"title":"Soft remote control system in the intelligent sweet home","authors":"Jun-Hyeong Do, Hyoyoung Jang, S. Jung, Jin-Woo Jung, Zeungnam Bien","doi":"10.1109/IROS.2005.1545302","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545302","url":null,"abstract":"In this paper, we describe the \"soft remote control system\" that provides easy control of home installed appliances to improve the inhabitant's comfort. This system is feasible to control various home appliances naturally by recognizing the user's hand gestures in the \"intelligent sweet home\". The user selects the device that he/her wants to control by pointing it with his/her hand. Then, the user can command operation of the desired function via a predefined hand gesture. The approach complements the inconvenience of the conventional remote controllers giving additional freedom to persons with movement deficits and people without disabilities.","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":"130772326","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
The Pantograph Mk-II: a haptic instrument 受电弓Mk-II:一种触觉仪器
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2005-12-05 DOI: 10.1109/IROS.2005.1545066
G. Campion, Qi Wang, V. Hayward
{"title":"The Pantograph Mk-II: a haptic instrument","authors":"G. Campion, Qi Wang, V. Hayward","doi":"10.1109/IROS.2005.1545066","DOIUrl":"https://doi.org/10.1109/IROS.2005.1545066","url":null,"abstract":"We describe the redesign and the performance evaluation of a high-performance haptic device system called the Pantograph. The device is based on a two degree-of-freedom parallel mechanism which was designed for optimized dynamic performance, but which also is well kinematically conditioned. The results show that the system is capable of producing accurate tactile signals in the DC-400 Hz range and can resolve displacements of the order of 10 /spl mu/m. Future improvements are discussed.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"74 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":"131029587","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: 104
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