2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)最新文献

A Survey on Path Planning Algorithms for Mobile Robots 移动机器人路径规划算法综述

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-24 DOI: 10.1109/ICARSC.2019.8733623

Márcia M. Costa, M. Silva

引用次数: 71

A Model-Based Biped Walking Controller Based on Divergent Component of Motion 一种基于运动发散分量的模型双足行走控制器

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-24 DOI: 10.1109/ICARSC.2019.8733608

M. Kasaei, N. Lau, Artur Pereira

{"title":"A Model-Based Biped Walking Controller Based on Divergent Component of Motion","authors":"M. Kasaei, N. Lau, Artur Pereira","doi":"10.1109/ICARSC.2019.8733608","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733608","url":null,"abstract":"Biped robots have high degrees of freedom and they are naturally unstable, hence design and develop a reliable walking controller is a complex subject which is one of the interesting topics in the robotic community. In this paper, we proposed a model-based walking controller which is able to negate the effect of external impacts not only by applying compensating torques but also by adjusting the landing location of swing leg. This controller is composed of two levels of control which takes into account the stable and unstable dynamics parts of center of mass (COM). In the proposed controller, the overall dynamics of a humanoid robot is approximated using an enhanced version of Linear Inverted Pendulum Plus Flywheel Model (ELIPPFM) and, according to this dynamics model, an optimal controller is designed to track the reference trajectories. Moreover, Divergent Component of Motion (DCM) is used to define when and where a robot should take a step to prevent falling. The proposed controller has been successfully tested by performing several simulations using MATLAB. The results showed that the proposed controller is capable of controlling the balance of a simulated robot in presence of severe disturbances.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115470859","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: 4

Using Radar for Grid Based Indoor Mapping 利用雷达进行网格室内测绘

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-24 DOI: 10.1109/ICARSC.2019.8733614

Sedat Dogru, Lino Marques

引用次数: 7

Grasp Planning with Incomplete Knowledge About the Object to be Grasped 在不完全了解被掌握对象的情况下掌握计划

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-24 DOI: 10.1109/ICARSC.2019.8733615

Joao Goncalves, P. Lima

{"title":"Grasp Planning with Incomplete Knowledge About the Object to be Grasped","authors":"Joao Goncalves, P. Lima","doi":"10.1109/ICARSC.2019.8733615","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733615","url":null,"abstract":"Robotic grasping in domestic environments is nowadays a topic of intensive research, since the big number of variables and constraints in a household scenario makes it a difficult task to accomplish. This paper addresses the problem of grasp planning in these situations. The first problem to deal with is the selection of the grasp pose for the end-effector - the position and orientation in which it should grasp the desired object. To tackle this issue, this work applies a method to detect grasp poses in point clouds with objects that may be unknown to the robot, followed by an approach to select the grasp candidate in terms of its appropriateness for a given scene. The second part of the grasping task is the motion planning that places the end-effector in the grasp pose. This involves getting an Inverse Kinematics (IK) solution for the goal arm configuration and a trajectory for the arm avoiding any obstacle in the scene. This was addressed by using MoveIt! framework together with an additional tolerance method to compute feasible movements. A comparative study regarding the used motion planners and IK solvers was conducted. We show experimental results of the pipeline, featuring the components mentioned above, which can plan and execute grasps with a success rate that may go up to 90%, depending on the scenario.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124548786","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

Comparison of Algorithms for 3D Reconstruction 三维重建算法的比较

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-24 DOI: 10.1109/ICARSC.2019.8733610

J. E. N. Masson, M. Petry

{"title":"Comparison of Algorithms for 3D Reconstruction","authors":"J. E. N. Masson, M. Petry","doi":"10.1109/ICARSC.2019.8733610","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733610","url":null,"abstract":"The photogrammetry, 3D reconstruction from images, is an old technique but it's potentials could only be seen after the development of computers and digital photographs. Nowadays it has many applications, as creating scenarios for games, acquiring human expressions, roof inspection, stockpile measurement, high voltage transformer inspection, etc. As new technologies appear, new applications to photogrammetry are created. In this paper the use of available open and closed-source algorithms for 3D reconstruction and texturization is investigated. To achieve this goal, images of a fountain from several points-of-view were used. Next a comparison between several open and closed-source algorithms was performed, evaluating the number of faces, time consumption, RAM memory, GPU memory and the generated textured 3D models. The results obtained demonstrate that with the right setup, current open-source algorithms can achieve results near or better than proprietary software. Regarding the comparison, 3Dflow and MeshRecon presented the most accurate textured 3D models. When comparing quantitative measures, though, MeshRecon presented a slightly better performance in time consumption, but 3Dflow had a better RAM memory usage and a lower quantity of faces with a similar level of details.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125966953","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

Short-term Path Planning with Multiple Moving Obstacle Avoidance based on Adaptive MPC 基于自适应MPC的多运动避障短期路径规划

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-24 DOI: 10.1109/ICARSC.2019.8733653

Alberto Franco, Vítor M. F. Santos

引用次数: 18

Human-robot dialogue and Collaboration for social navigation in crowded environments 拥挤环境中人机对话与协作的社会导航

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-24 DOI: 10.1109/ICARSC.2019.8733641

Carlos Lobato, Araceli Vega-Magro, Pedro Núñez Trujillo, Luis J. Manso

{"title":"Human-robot dialogue and Collaboration for social navigation in crowded environments","authors":"Carlos Lobato, Araceli Vega-Magro, Pedro Núñez Trujillo, Luis J. Manso","doi":"10.1109/ICARSC.2019.8733641","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733641","url":null,"abstract":"Robot navigation in human-populated environments is a subject of great interest among the international scientific community. In order to be accepted in these scenarios, it is important for robots to navigate respecting social rules. Avoid getting too close to a person, not interrupting conversations or asking for permission or collaboration when it is required by social conventions, are some of the behaviours that robots must exhibit. This paper presents a social navigation system that integrates different software agents within a cognitive architecture for robots and describes, as the main contribution, the corpus that allows to establish dialogues between robots and humans in real situations to improve the human-aware navigation system. The corpus has been experimentally evaluated by the simulation of different daily situations, where robots need to plan interactions with real people. The results are analysed qualitatively, according to the behaviour expected by the robot in the interaction performed. The results show how the corpus presented in this paper improves the robot navigation, making it more socially accepted.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128369832","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: 5

Cooperative Load Transportation with Quadrotors 四旋翼机协同载重运输

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733619

T. Bacelar, C. Cardeira, P. Oliveira

引用次数: 5

Development of a simulated transtibial amputee model 模拟胫骨截肢者模型的建立

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733636

C. Ferreira, F. Dzeladini, A. Ijspeert, L. Reis, C. Santos

引用次数: 1

Robot Localization Through Optical Character Recognition of Signs 基于符号光学字符识别的机器人定位

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733652

Romulo Pacher Junior, M. Petry

引用次数: 0