2017 18th International Conference on Advanced Robotics (ICAR)最新文献_第8页

Towards autonomous exploration with information potential field in 3D environments 面向三维环境中具有信息势场的自主勘探

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023630

Chaoqun Wang, Lili Meng, Teng Li, C. D. Silva, M. Meng

{"title":"Towards autonomous exploration with information potential field in 3D environments","authors":"Chaoqun Wang, Lili Meng, Teng Li, C. D. Silva, M. Meng","doi":"10.1109/ICAR.2017.8023630","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023630","url":null,"abstract":"Autonomous exploration is one of the key components for flying robots in 3D active perception. Fast and accurate exploration algorithms are essential for aerial vehicles due to their limited flight endurance. In this paper, we address the problem of exploring the environment and acquiring information using aerial vehicles within limited flight endurance. We propose an information potential field based method for autonomous exploration in 3D environments. In contrast to the existing approaches that only consider either the traveled distances or the information collected during exploration, our method takes into account both the traveled cost and information-gain. The next best view point is chosen based on a multi-objective function which considers information of several candidate regions and the traveled path cost. The selected goal attracts the robot while the known obstacles form the repulsive force to repel the robot. These combined force drives the robot to explore the environment. Different from planners that use all acquired global information, our planner only considers the goal selected and the nearby obstacles, which is more efficient in high-dimensional environments. Furthermore, we present a method to help the robot escape when it falls into a trapped area. The experimental results demonstrate the efficiency and efficacy of our proposed method.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128882760","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

Design of a cloud robotics middleware based on web service technology 基于web服务技术的云机器人中间件设计

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023654

Jie Luo, Lei Zhang, H. Zhang

引用次数: 9

Design evolution and pilot study for a kirigami-inspired flexible and soft anthropomorphic robotic hand 受kirigami启发的柔韧拟人化机械手的设计演变与初步研究

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023645

Y. Chan, Z. Tse, Hongliang Ren

引用次数: 13

Dynamic analysis of a linear Delta robot in hybrid polishing machine based on the principle of virtual work 基于虚功原理的混合抛光机线性Delta机器人动力学分析

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023636

P. Xu, Bing Li, C. Chueng

引用次数: 9

Precise angle estimation using geometry features for bin picking 精确的角度估计使用几何特征的料仓拣选

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023620

Jihyeong Pyo, Kye-Hyeon Kim

引用次数: 2

Control flow for robust one-shot robot programming using entity-based resources 基于实体资源的鲁棒一次性机器人编程控制流

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023498

Eric M. Orendt, D. Henrich

{"title":"Control flow for robust one-shot robot programming using entity-based resources","authors":"Eric M. Orendt, D. Henrich","doi":"10.1109/ICAR.2017.8023498","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023498","url":null,"abstract":"Robotic systems are used in a wide range of applications. With an intuitive programming system from previous work we are able to transfer the advantages of robotic systems into more unstructured environments like private households or small and medium sized enterprises. An important challenge in this field is to enable non-experts to use all the capabilities of a robot. This includes two aspects: Robots must be intuitive to program and robust to execute. Our recently presented One-Shot programming framework concerns both aspects. The main contribution of this work is to extend the existing framework and to raise the usability of our approach. With this motivation we identify generalization chances in our task representation model and introduce an extension of our programming paradigm by integrating control flow to increase its capabilities. The proposed system concept enables users to guide a robot kinesthetically through a task without prior knowledge. By observing resources in the workspace, the demonstrated task is encoded as a finite state machine (FSM). This FSM allows the reproduction of a task by the robot itself and also offers two ways to control the flow of a robot program: Loops and Branches. With these statements a non-expert user gains the opportunity to program even more complex task solutions.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130863182","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: 6

Step-climbing maneuver for transleg in the wheeled mode 轮式模式下跨腿爬阶机动

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023647

Zhong Wei, G. Song, Huiyu Sun, Qien Qi, Shengsong Liu, Guifang Qiao

{"title":"Step-climbing maneuver for transleg in the wheeled mode","authors":"Zhong Wei, G. Song, Huiyu Sun, Qien Qi, Shengsong Liu, Guifang Qiao","doi":"10.1109/ICAR.2017.8023647","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023647","url":null,"abstract":"Transleg is a transformable leg-wheel robot conceived to work in the unstructured environment. The steps exist all over this environment, so it is essential that Transleg has the ability to negotiate the steps. The step-climbing performance of Transleg in the wheeled mode is studied in this paper. Transleg owns four leg-wheel and one spine mechanisms, and only the leg-wheel mechanisms are used in the study of this paper. Each leg-wheel is actuated by two actuators. One is for driving the thigh in the legged locomotion and wheel in the wheeled locomotion. The other is for driving the shank in the legged locomotion. For the low steps, Transleg can climb easily, only driving the wheels. To find the height of step Transleg can climb in this way, it is driven to climb the steps with different heights. The results show that Transleg can cross steps whose heights are a little lower than the radius of its wheels 55mm in the wheeled mode. To climb the higher steps, a step-climbing maneuver is designed. In this maneuver, the shanks play an important role. Some simulations are done to verify this maneuver, and the results show that Transleg can negotiate the steps with the height of 94mm which are much higher than the radius of its wheels using this step-climbing maneuver.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128700499","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

Rapid hardware and software reconfiguration in a robotic workcell 机器人工作单元中的快速硬件和软件重构

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023523

Timotej Gaspar, Barry Ridge, Robert Bevec, Martin Bem, I. Kovac, A. Ude, Ž. Gosar

{"title":"Rapid hardware and software reconfiguration in a robotic workcell","authors":"Timotej Gaspar, Barry Ridge, Robert Bevec, Martin Bem, I. Kovac, A. Ude, Ž. Gosar","doi":"10.1109/ICAR.2017.8023523","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023523","url":null,"abstract":"In an increasingly competitive manufacturing industry it is becoming ever more important to rapidly react to changes in market demands. In order to satisfy these requirements, it is crucial that automated manufacturing processes are flexible and can be adapted to new production requirements quickly. In this paper we present a novel automatically reconfigurable robot workcell that addresses the issues of flexible manufacturing. The proposed workcell is reconfigurable in terms of hardware and software. The hardware elements of the workcell, both those selected off-the-shelf and those developed specifically for the system, allow for fast cell setup and reconfiguration, while the software aims to provide a modular, robot-independent, ROS-based programming environment. While the proposed workcell is being developed in such a way as to address the needs of production-oriented SMEs where batch sizes are relatively small, it will also be of interest to enterprises with larger production lines since it additionally targets high performance in terms of speed, interoperability of robotic elements, and ease of use.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130068156","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

Innovative human-robot interaction for a robot tutor in biology game 创新人机交互的机器人导师在生物游戏

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023675

A. Saleh, Nashwa Abdelbaki

引用次数: 3

Self-organized task allocation in swarm robotics foraging based on dynamical response threshold approach 基于动态响应阈值法的群体机器人觅食自组织任务分配

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023527

Bao Pang, Cheng-jin Zhang, Yong Song, Hongling Wang

{"title":"Self-organized task allocation in swarm robotics foraging based on dynamical response threshold approach","authors":"Bao Pang, Cheng-jin Zhang, Yong Song, Hongling Wang","doi":"10.1109/ICAR.2017.8023527","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023527","url":null,"abstract":"Social insects can flexibly respond to variational environment without global information and centralized control, and inspired by the collective behavior in ants and bees, this paper proposes a dynamical response threshold model (DRTM) in which the robots perform task allocation in self-organized manner. The proposed method depends on neither the global information nor the communication between robots. Using this method, the individual robot considers the amount of food in nest as stimulus and can compute the threshold dynamically according to monitoring the number of resting robots as well as counting the times of obstacle avoidance in the last foraging task. Taking advantage of stimulus and threshold, the robots automatically decide whether to forage on the basis of foraging probability. Simulation experiments are carried out with the aim of studying the effectiveness of the proposed model and evaluating the performance of task allocation in foraging scenarios. The experimental results presented in this paper prove that DRTM can achieve an efficient task allocation and possess better self-organized feature compared with the existing fixed response threshold model (FRTM).","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132796551","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: 11