2016 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第3页

Triple Scissor Extender: A 6-DOF lifting and positioning robot 三剪式扩展器:六自由度提升定位机器人

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487215

Daniel J. Gonzalez, H. Asada

引用次数: 8

Hybrid driving-stepping locomotion with the wheeled-legged robot Momaro 轮腿机器人Momaro的混合驱动步进运动

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487776

Max Schwarz, Tobias Rodehutskors, M. Schreiber, Sven Behnke

引用次数: 47

RoboBench: Towards sustainable robotics system benchmarking RoboBench:走向可持续的机器人系统标杆

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487514

Jonathan Weisz, Yipeng Huang, Florian Lier, S. Sethumadhavan, P. Allen

{"title":"RoboBench: Towards sustainable robotics system benchmarking","authors":"Jonathan Weisz, Yipeng Huang, Florian Lier, S. Sethumadhavan, P. Allen","doi":"10.1109/ICRA.2016.7487514","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487514","url":null,"abstract":"We present RoboBench, a novel platform for sharing robot full-system simulations for benchmarking. The creation of this platform and benchmark suite is motivated by a need for reproducible research. A challenge in creating a full-system benchmarks are incompatibilities in software created by different groups and the difficulty of reproducing software environments. We solve this problem by using software containers, an emerging virtualization technology. RoboBench enables sharing robot software in a runnable state, capturing the software behavior of robots carrying out missions. These simulations make clear the performance impact and resource usage of programs and algorithms relative to other software involved in the mission. These containers are integrated with the CITK platform for reproducible research, which automates generation and publishing of the containers. We present an overview of the system, a description of our prototype set of benchmark missions, along with a validation study comparing the computational load profile of a mission performed on a real and simulated robot. Additionally, we present preliminary results of an overall analysis of the benchmarks in the RoboBench suite, showing where computational work is expended in robotics common robotics tasks. RoboBench is extensible, and is the first step toward a robust, quantitative approach to engineering computationally-efficient robots.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128247273","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: 26

Optimal navigation policy for an autonomous agent operating in adversarial environments 对抗环境下自主智能体的最优导航策略

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487483

Emmanuel Boidot, A. Marzuoli, E. Feron

引用次数: 2

Cooperative multi-quadrotor pursuit of an evader in an environment with no-fly zones 在有禁飞区的环境下，多架四旋翼飞行器协同追踪一架躲避机

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487151

Alyssa Pierson, Armin Ataei-Esfahani, I. Paschalidis, M. Schwager

引用次数: 29

KONTUR-2: Force-feedback teleoperation from the international space station kontur2:来自国际空间站的力反馈远程操作

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487246

J. Artigas, R. Balachandran, Cornelia Riecke, Martin Stelzer, Bernhard M. Weber, J. Ryu, A. Albu-Schäffer

{"title":"KONTUR-2: Force-feedback teleoperation from the international space station","authors":"J. Artigas, R. Balachandran, Cornelia Riecke, Martin Stelzer, Bernhard M. Weber, J. Ryu, A. Albu-Schäffer","doi":"10.1109/ICRA.2016.7487246","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487246","url":null,"abstract":"This paper presents a new robot controller for space telerobotics missions specially designed to meet the requirements of KONTUR-2, a German & Russian telerobotics mission that addressed scientific and technological questions for future planetary explorations. In KONTUR-2, Earth and ISS have been used as a test-bed to evaluate and demonstrate a new technology for real-time telemanipulation from space. During the August 2015' experiments campaign, a cosmonaut teleoperated a robot manipulator located in Germany, using a force-feedback joystick from the Russian segment of the International Space Station (ISS). The focus of the paper is on the design and performance of the bilateral controller between ISS joystick and Earth robot. The controller is based on a 4-Channels architecture in which stability is guaranteed through passivity and the Time Delay Power Network (TDPN) concept. We show how the proposed approach successfully fulfills mission requirements, specially those related to system operation through space links and internet channels, involving time delays and data losses of different nature.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129368952","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: 78

Towards lifelong feature-based mapping in semi-static environments 在半静态环境中实现基于特征的终身映射

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487237

David M. Rosen, Julian Mason, J. Leonard

{"title":"Towards lifelong feature-based mapping in semi-static environments","authors":"David M. Rosen, Julian Mason, J. Leonard","doi":"10.1109/ICRA.2016.7487237","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487237","url":null,"abstract":"The feature-based graphical approach to robotic mapping provides a representationally rich and computationally efficient framework for an autonomous agent to learn a model of its environment. However, this formulation does not naturally support long-term autonomy because it lacks a notion of environmental change; in reality, “everything changes and nothing stands still, ” and any mapping and localization system that aims to support truly persistent autonomy must be similarly adaptive. To that end, in this paper we propose a novel feature-based model of environmental evolution over time. Our approach is based upon the development of an expressive probabilistic generative feature persistence model that describes the survival of abstract semi-static environmental features over time. We show that this model admits a recursive Bayesian estimator, the persistence filter, that provides an exact online method for computing, at each moment in time, an explicit Bayesian belief over the persistence of each feature in the environment. By incorporating this feature persistence estimation into current state-of-the-art graphical mapping techniques, we obtain a flexible, computationally efficient, and information-theoretically rigorous framework for lifelong environmental modeling in an ever-changing world.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124664649","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: 68

Robust camera motion estimation using direct edge alignment and sub-gradient method 基于直接边缘对准和次梯度方法的鲁棒摄像机运动估计

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487181

Manohar Kuse, S. Shen

引用次数: 49

A new interaction force decomposition maximizing compensating forces under physical work constraints 一种新的在物理功约束下补偿力最大化的相互作用力分解方法

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487698

Alexander M. Schmidts, Manuel Schneider, Markus Kuhne, A. Peer

引用次数: 2

WALK-MAN humanoid lower body design optimization for enhanced physical performance WALK-MAN人形下半身优化设计，增强物理性能

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487327

F. Negrello, M. Garabini, M. Catalano, P. Kryczka, Wooseok Choi, D. Caldwell, A. Bicchi, N. Tsagarakis

{"title":"WALK-MAN humanoid lower body design optimization for enhanced physical performance","authors":"F. Negrello, M. Garabini, M. Catalano, P. Kryczka, Wooseok Choi, D. Caldwell, A. Bicchi, N. Tsagarakis","doi":"10.1109/ICRA.2016.7487327","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487327","url":null,"abstract":"The deployment of robots to assist in environments hostile for humans during emergency scenarios require robots to demonstrate enhanced physical performance, that includes adequate power, adaptability and robustness to physical interactions and efficient operation. This work presents the design and development of the lower body of the new high performance humanoid WALK-MAN, a robot developed recently to assist in disaster response scenarios. The paper introduces the details of the WALK-MAN lower-body, highlighting the innovative design optimization features considered to maximize the leg performance. Starting from the general lower body specifications the objectives of the design and how they were addressed are introduced, including the selection of the leg kinematics, the arrangement of the actuators and their integration with the leg structure to maximize the range of motion, reduce the leg mass and inertia, and shape the leg mass distribution for better dynamic performance. Physical robustness is ensured with the integration of elastic transmission and impact energy absorbing covers. Experimental walking trials demonstrate the correct operation of the legs while executing a walking gait.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129101579","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: 56