2017 18th International Conference on Advanced Robotics (ICAR)最新文献_第9页

Passing over several steps using a pair of step-climbing units for a manual wheelchair user 使用手动轮椅使用者使用的攀爬装置通过几个台阶

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023510

Y. Mori, Kaoru Katsumura

引用次数: 0

A dense semantic mapping system based on CRF-RNN network 基于CRF-RNN网络的密集语义映射系统

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023671

Jiyu Cheng, Yuxiang Sun, M. Meng

引用次数: 20

Model-based Q-learning for humanoid robots 基于模型的类人机器人q学习

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023674

Than D. Le, An T. Le, D. Nguyen

引用次数: 9

The impact of module morphologies on modular robots 模块形态对模块化机器人的影响

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023524

Ceyue Liu, Jiangong Liu, Rodrigo Moreno, Frank Veenstra, A. Faíña

{"title":"The impact of module morphologies on modular robots","authors":"Ceyue Liu, Jiangong Liu, Rodrigo Moreno, Frank Veenstra, A. Faíña","doi":"10.1109/ICAR.2017.8023524","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023524","url":null,"abstract":"Many different types of modular robots have been designed in the last two decades. However, limited research has been done on analyzing which module morphology is able to create better robots for a given task. To address this issue, this paper investigates how the number and position of available connection faces in a module influence the evolvability of the modular robot. In contrast to previous research on modular robots, an analysis of the morphology of the module is done in order to improve and simplify its mechanical design. To this end, we designed a homogeneous module called EMeRGE, and defined the number of connection faces and their relative positions as morphological parameters. Afterwards, we evolved the morphology and control of robots composed of EMeRGE modules in a robotic simulation platform. Simulation results indicate that robots containing modules with only two available connection faces were able to acquire better performance than robots that contained modules using more connection faces for a locomotion task. Finally, the simulated robots were transferred to the real world in the actual modular robot to verify the simulation results.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"53 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":"132275940","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: 10

Performance study of single-query motion planning for grasp execution using various manipulators 不同机械手抓取执行单查询运动规划的性能研究

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023648

J. Meijer, Qujiang Lei, M. Wisse

引用次数: 12

A distributed multi-agent algorithm for topology control in mobile ad-hoc networks 移动自组织网络拓扑控制的分布式多智能体算法

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023525

A. Konak

引用次数: 7

Kinematics and design of a rigid foldable origami robot 刚性可折叠折纸机器人运动学与设计

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023512

Chonlatit Sanprueksin, Chanikarn Wongviriyawong

{"title":"Kinematics and design of a rigid foldable origami robot","authors":"Chonlatit Sanprueksin, Chanikarn Wongviriyawong","doi":"10.1109/ICAR.2017.8023512","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023512","url":null,"abstract":"“Origami” is an art of paper-folding. Recently, origami has been applied to the design of foldable robot structure. There are various folding techniques including the one we studied — Miura-ori. We designed a Miura-ori of non-zero thickness that 1) was made from rigid materials (rigid origami), and 2) contained self-similar units (modular origami). Our design has a maximum thickness of 6 mm, but can be folded up to 180° (complete fold)—equivalent to a zero-thickness origami. In this paper, we presented a novel design of rigid, foldable, modular origami, as well as derived constraints of joint design that enable a complete fold. Moreover, neodymium magnets were placed in the cores of each rotational axis in certain patterns. This not only allows for the structure to have characteristics of self-folding or self-unfolding, but also gives us the ability to control this robot structure using a current-induced magnetic field. When the magnetic field is on, the robot can switch from an unfolding position to a folding position. Such feature presents a potential for this structure to be used as a dynamic “spring” with an adjustable stiffness. This adjustability could be achieved by varying the input current applied to generate the magnetic field. Another application of this mechanism includes reducing shocks, and vibrations that are perpendicular to the structure.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"17 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":"123489923","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

Simulation study on supporting condition of a robotic gravity compensation system for the prototype test of spacecraft 航天器样机试验机器人重力补偿系统支撑条件仿真研究

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023627

Tomohiro Hirata, K. Tsujita

引用次数: 2

Active perception model extracting object features from unlabeled data 主动感知模型从未标记数据中提取目标特征

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023659

M. Gouko, Chyon Hae Kim, Yuichi Kobayashi

引用次数: 0

AIO robot: A EDI modular robotic dramatization platform AIO机器人:EDI模块化机器人戏剧化平台

2017 18th International Conference on Advanced Robotics (ICAR) Pub Date : 2017-07-01 DOI: 10.1109/ICAR.2017.8023528

Miguel Angel Bermeo Ayerbe, David S. González, Fabian Andres Merchan Jimenez, Enríque González Guerrero, Alejandra María González Correal

{"title":"AIO robot: A EDI modular robotic dramatization platform","authors":"Miguel Angel Bermeo Ayerbe, David S. González, Fabian Andres Merchan Jimenez, Enríque González Guerrero, Alejandra María González Correal","doi":"10.1109/ICAR.2017.8023528","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023528","url":null,"abstract":"This article presents a logical architecture of a modular robotic platform oriented to dramatization that was implemented and tested in a robotic prototype. The theater play is controlled by a multi-agent system; a director agent synchronizes several robotic actors to perform a theater script. The architectural decisions of the actor agent are based on the BDI model which includes an emotional module that influences the way the agent performs actions. A centralized multi-agent protocol controls the simultaneous motion of several robotic actors. Furthermore, each actor agent has an intermediary module, called SOCA, connecting it with its sensor and action modules. The SOCA module makes flexible and transparent the communication and serves as coordinator and synchronizer; the aim is to make easier to modify the robot physical and logical configuration as required by an actor that must change accordingly to the represented character. A robotic prototype was implemented to validate this architecture and the communication scheme. It includes four modules: processing, mobility, audiovisual and manipulation. The basic experimental results show that the robot actor is well suited to perform drama scripts in educational contexts.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"30 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":"115110959","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