2017 IEEE International Conference on Robotics and Automation (ICRA)最新文献

Magnetic laser scanner for endoscopic microsurgery 内窥镜显微手术用磁激光扫描仪

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-27 DOI: 10.1109/ICRA.2017.7989485

Alperen Acemoglu, L. Mattos

{"title":"Magnetic laser scanner for endoscopic microsurgery","authors":"Alperen Acemoglu, L. Mattos","doi":"10.1109/ICRA.2017.7989485","DOIUrl":"https://doi.org/10.1109/ICRA.2017.7989485","url":null,"abstract":"Scanning lasers increase the quality of the laser microsurgery enabling fast tissue ablation with less thermal damage. However, the possibility to perform scanning laser microsurgery in confined workspaces is restricted by the large size of currently available actuators, which are typically located outside the patient and require direct line-of-sight to the microsurgical area. Here, a magnetic scanner tool is designed to allow endoscopic scanning laser microsurgery. The tool consists of two miniature electromagnetic coil pairs and permanent magnets attached to a flexible optical fiber. The actuation mechanism is based on the interaction between the electromagnetic field and the permanent magnets. Controlled and high-speed laser scanning is achieved by bending of the optical fiber with magnetic torque. Results demonstrate the achievement of a 3×3 mm2 scanning range within the laser spot is controlled with 35μm precision. The system is also capable of automatically executing high-speed laser scanning operations over customized trajectories with a root-mean-squared-error (RMSE) in the order of 75μm. Furthermore, it can be teleoperated in real-time using any appropriate user interface device. This new technology enables laser scanning in narrow and difficult to reach workspaces, promising to bring the benefits of scanning laser microsurgery to laparoscopic or even flexible endoscopic procedures. In addition, the same technology can be potentially used for optical fiber based imaging, enabling for example the creation of new family of scanning endoscopic OCT or hyperspectral probes.","PeriodicalId":195122,"journal":{"name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","volume":"127 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116373138","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: 8

Overlap-based ICP tuning for robust localization of a humanoid robot 基于重叠的类人机器人鲁棒定位ICP调优

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2017-07-24 DOI: 10.1109/ICRA.2017.7989547

S. Nobili, Raluca Scona, Marco Caravagna, M. Fallon

{"title":"Overlap-based ICP tuning for robust localization of a humanoid robot","authors":"S. Nobili, Raluca Scona, Marco Caravagna, M. Fallon","doi":"10.1109/ICRA.2017.7989547","DOIUrl":"https://doi.org/10.1109/ICRA.2017.7989547","url":null,"abstract":"State estimation techniques for humanoid robots are typically based on proprioceptive sensing and accumulate drift over time. This drift can be corrected using exteroceptive sensors such as laser scanners via a scene registration procedure. For this procedure the common assumption of high point cloud overlap is violated when the scenario and the robot's point-of-view are not static and the sensor's field-of-view (FOV) is limited. In this paper we focus on the localization of a robot with limited FOV in a semi-structured environment. We analyze the effect of overlap variations on registration performance and demonstrate that where overlap varies, outlier filtering needs to be tuned accordingly. We define a novel parameter which gives a measure of this overlap. In this context, we propose a strategy for robust non-incremental registration. The pre-filtering module selects planar macro-features from the input clouds, discarding clutter. Outlier filtering is automatically tuned at run-time to allow registration to a common reference in conditions of non-uniform overlap. An extensive experimental demonstration is presented which characterizes the performance of the algorithm using two humanoids: the NASA Valkyrie, in a laboratory environment, and the Boston Dynamics Atlas, during the DARPA Robotics Challenge Finals.","PeriodicalId":195122,"journal":{"name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125171011","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

Application-oriented design space exploration for SLAM algorithms 面向应用的SLAM算法设计空间探索

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2017-07-24 DOI: 10.1109/ICRA.2017.7989673

Sajad Saeedi, Luigi Nardi, Edward Johns, Bruno Bodin, P. Kelly, A. Davison

引用次数: 31

Implicit gaze-assisted adaptive motion scaling for highly articulated instrument manipulation 隐式凝视辅助自适应运动缩放高度铰接式仪器操作

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2017-07-24 DOI: 10.1109/ICRA.2017.7989488

Gauthier Gras, K. Leibrandt, Piyamate Wisanuvej, P. Giataganas, C. Seneci, Menglong Ye, Jianzhong Shang, Guang-Zhong Yang

{"title":"Implicit gaze-assisted adaptive motion scaling for highly articulated instrument manipulation","authors":"Gauthier Gras, K. Leibrandt, Piyamate Wisanuvej, P. Giataganas, C. Seneci, Menglong Ye, Jianzhong Shang, Guang-Zhong Yang","doi":"10.1109/ICRA.2017.7989488","DOIUrl":"https://doi.org/10.1109/ICRA.2017.7989488","url":null,"abstract":"Traditional robotic surgical systems rely entirely on robotic arms to triangulate articulated instruments inside the human anatomy. This configuration can be ill-suited for working in tight spaces or during single access approaches, where little to no triangulation between the instrument shafts is possible. The control of these instruments is further obstructed by ergonomic issues: The presence of motion scaling imposes the use of clutching mechanics to avoid the workspace limitations of master devices, and forces the user to choose between slow, precise movements, or fast, less accurate ones. This paper presents a bi-manual system using novel self-triangulating 6-degrees-of-freedom (DoF) tools through a flexible elbow, which are mounted on robotic arms. The control scheme for the resulting 9-DoF system is detailed, with particular emphasis placed on retaining maximum dexterity close to joint limits. Furthermore, this paper introduces the concept of gaze-assisted adaptive motion scaling. By combining eye tracking with hand motion and instrument information, the system is capable of inferring the user's destination and modifying the motion scaling accordingly. This safe, novel approach allows the user to quickly reach distant locations while retaining full precision for delicate manoeuvres. The performance and usability of this adaptive motion scaling is evaluated in a user study, showing a clear improvement in task completion speed and in the reduction of the need for clutching.","PeriodicalId":195122,"journal":{"name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128740597","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: 13

Room layout estimation from rapid omnidirectional exploration 从快速全方位探索估算房间布局

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2017-07-24 DOI: 10.1109/ICRA.2017.7989747

Robert Lukierski, Stefan Leutenegger, A. Davison

引用次数: 11

O-POCO: Online point cloud compression mapping for visual odometry and SLAM O-POCO:用于视觉里程计和SLAM的在线点云压缩映射

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2017-07-24 DOI: 10.1109/ICRA.2017.7989523

Luis Contreras, W. Mayol-Cuevas

引用次数: 16

Compression of topological models and localization using the global appearance of visual information 利用视觉信息的全局外观压缩拓扑模型和定位

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2017-07-24 DOI: 10.1109/ICRA.2017.7989661

L. Payá, W. Mayol, Sergio Cebollada, Ó. Reinoso

引用次数: 6

Two-eye model-based gaze estimation from a Kinect sensor 基于双目模型的Kinect传感器注视估计

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2017-07-24 DOI: 10.1109/ICRA.2017.7989194

Xiaolong Zhou, Haibin Cai, Youfu Li, Honghai Liu

引用次数: 31

Learning task constraints in operational space formulation 运算空间公式中的学习任务约束

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2017-07-24 DOI: 10.1109/ICRA.2017.7989039

Hsiu-Chin Lin, Prabhakar Ray, M. Howard

引用次数: 42

Visual stability prediction for robotic manipulation 机器人操作的视觉稳定性预测

2017 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2017-07-24 DOI: 10.1109/ICRA.2017.7989304

Wenbin Li, A. Leonardis, Mario Fritz

{"title":"Visual stability prediction for robotic manipulation","authors":"Wenbin Li, A. Leonardis, Mario Fritz","doi":"10.1109/ICRA.2017.7989304","DOIUrl":"https://doi.org/10.1109/ICRA.2017.7989304","url":null,"abstract":"Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. Developmental psychology has shown that such skills are acquired by infants from observations at a very early stage. In this paper, we contrast a more traditional approach of taking a model-based route with explicit 3D representations and physical simulation by an end-to-end approach that directly predicts stability from appearance. We ask the question if and to what extent and quality such a skill can directly be acquired in a data-driven way — bypassing the need for an explicit simulation at run-time. We present a learning-based approach based on simulated data that predicts stability of towers comprised of wooden blocks under different conditions and quantities related to the potential fall of the towers. We first evaluate the approach on synthetic data and compared the results to human judgments on the same stimuli. Further, we extend this approach to reason about future states of such towers that in return enables successful stacking.","PeriodicalId":195122,"journal":{"name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123983772","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: 32