2016 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第4页

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

Work density analysis of adjustable stiffness mechanisms 可调刚度机构的功密度分析

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487190

Marius Stücheli, A. Foehr, M. Meboldt

{"title":"Work density analysis of adjustable stiffness mechanisms","authors":"Marius Stücheli, A. Foehr, M. Meboldt","doi":"10.1109/ICRA.2016.7487190","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487190","url":null,"abstract":"Mechanical compliance is important for a robust and safe physical interaction of robots with humans and unstructured environments. Using adjustable stiffness, the advantages of compliant and stiff systems can be combined and thus the versatility of a robot increased. The realisation of adjustable stiffness in robot joints through compliant mechanisms shows several advantages over active control approaches, especially in terms of robustness. The compactness of adjustable stiffness mechanisms (ASMs) is important for their integration in robotic systems. An important aspect of compactness in ASMs is the storable work per volume, i.e. the work density. Therefore we propose a set of benchmarks to analyse the work density of elastic mechanisms on different design levels. The application of these benchmarks is demonstrated on a novel ASM, which is part of the adjustable impedance element AIE Uno, and on DLR's FSJ. The analysis of these ASMs demonstrates the application and the benefit of the proposed benchmarks. The benchmarks support the choice between alternative solutions and the identification of improvement potential in an existing design.","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":"121182593","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

Neural-based underwater surface localization through electrolocation 基于神经的水下表面电定位

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487417

Y. Morel, V. Lebastard, F. Boyer

{"title":"Neural-based underwater surface localization through electrolocation","authors":"Y. Morel, V. Lebastard, F. Boyer","doi":"10.1109/ICRA.2016.7487417","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487417","url":null,"abstract":"By manipulation of electric fields, it is possible to detect the presence of foreign objects underwater. The presented work builds upon a previous result, in which was developed a neural network-based methodology allowing to address this detection problem for spherical objects. Hereafter, we show that the approach generalizes to the case of continuous walls. The technique relies on a neural model of the forward map (from scene configuration to electric measures). Exploiting this model, together with collected electric measures, it becomes possible to detect and infer the relative distance and orientation of a planar wall. In addition, we show that relying on a single forward model, only descriptive of the presence of a single wall, it is possible to address the same problem in presence of a combination of walls forming a corner or a corridor. Closing the motion control loop with information obtained using the proposed approach, it becomes possible to regulate position of a system at a fixed distance and orientation from a wall, with applications to the exploration and monitoring of flooded pipelines, or to surface quality monitoring of ships' hulls (in relation to biofouling). Data collected experimentally are used together with analytical models and numerical simulations to illustrate efficacy of the approach.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"27 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":"116490152","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

A new meta-module for efficient reconfiguration of hinged-units modular robots 铰链单元模块化机器人高效重构的元模块

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487726

I. Parada, Vera Sacristán Adinolfi, Rodrigo I. Silveira

引用次数: 6

Flexible, semi-autonomous grasping for assistive robotics 辅助机器人的灵活，半自主抓取

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487692

J. Vogel, K. Hertkorn, Rohit Menon, M. Roa

{"title":"Flexible, semi-autonomous grasping for assistive robotics","authors":"J. Vogel, K. Hertkorn, Rohit Menon, M. Roa","doi":"10.1109/ICRA.2016.7487692","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487692","url":null,"abstract":"This paper proposes a scheme to provide flexible semi-autonomous grasping capabilities to an assistive robotic manipulator. The testbed consists of a five-finger robotic hand mounted on a robotic arm. During teleoperation, the position of the hand is continuously controlled in the three translational degrees of freedom, and the user has no direct influence over the rotational behavior. The proposed semi-autonomy scheme assists the user for moving and orienting the hand towards the object, and automates the grasping process when it is triggered. The velocity commands issued by the user are enhanced using virtual fixtures, which are not preprogrammed to support one approach direction to the (known) object, but are adapted online according to the intended movement. The approach is validated with a psycho-physical user study where the participants grasp objects in a simulation environment using a SpaceMouse interface. This setting serves as a testbed for the target application in which disabled subjects will control the real robotic system with an interface based on bio-signals. The user study compares the semi-autonomous and the pure teleoperation modes in terms of objective and subjective measures, showing an increase in performance and a decrease in workload for the proposed semi-autonomous mode.","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":"114790158","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

Learning high-dimensional Mixture Models for fast collision detection in Rapidly-Exploring Random Trees 在快速探索随机树中学习用于快速碰撞检测的高维混合模型

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487116

Jinwook Huh, Daniel D. Lee

引用次数: 51

Inverse kinematics and design of a novel 6-DoF handheld robot arm 一种新型六自由度手持机械臂的运动学逆解与设计

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487359

Austin Gregg-Smith, W. Mayol-Cuevas

{"title":"Inverse kinematics and design of a novel 6-DoF handheld robot arm","authors":"Austin Gregg-Smith, W. Mayol-Cuevas","doi":"10.1109/ICRA.2016.7487359","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487359","url":null,"abstract":"We present a novel 6-DoF cable driven manipulator for handheld robotic tasks. Based on a coupled tendon approach, the arm is optimized to maximize movement speed and configuration space while reducing the total mass of the arm. We propose a space carving approach to design optimal link geometry maximizing structural strength and joint limits while minimizing link mass. The design improves on similar non-handheld tendon-driven manipulators and reduces the required number of actuators to one per DoF. As the manipulator has one redundant joint, we present a 5-DoF inverse kinematics solution for the end effector pose. The inverse kinematics is solved by splitting the 6-DoF problem into two coupled 3-DoF problems and merging their results. A method for gracefully degrading the output of the inverse kinematics is described for cases where the desired end effector pose is outside the configuration space. This is useful for settings where the user is in the control loop and can help the robot to get closer to the desired location. The design of the handheld robot is offered as open source. While our results and tools are aimed at handheld robotics, the design and approach is useful to non-handheld applications.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"171 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":"124152016","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

Adaptive control for robot navigation in human environments based on social force model 基于社会力模型的人类环境下机器人导航自适应控制

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487791

Chen Wang, Yanan Li, S. Ge, Tong-heng Lee

引用次数: 13

Slip-aware Model Predictive optimal control for Path following 路径跟踪的滑移感知模型预测最优控制

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487659

V. Rajagopalan, Çetin Meriçli, A. Kelly

{"title":"Slip-aware Model Predictive optimal control for Path following","authors":"V. Rajagopalan, Çetin Meriçli, A. Kelly","doi":"10.1109/ICRA.2016.7487659","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487659","url":null,"abstract":"Traditional control and planning algorithms for wheeled mobile robots (WMR) either totally ignore or make simplifying assumptions about the effects of wheel slip on the motion. While this approach works reasonably well in practice on benign terrain, it fails very quickly when the WMR is deployed in terrain that induces significant wheel slip. We contribute a novel control framework that predictively corrects for the wheel slip to effectively minimize path following errors. Our framework, the Receding Horizon Model Predictive Path Follower (RHMPPF), specifically addresses the problem of path following in challenging environments where the wheel slip substantially affects the vehicle mobility. We formulate the solution to the problem as an optimal controller that utilizes a slip-aware model predictive component to effectively correct the controls generated by a strictly geometric pure-pursuit path follower. We present extensive experimental validation of our approach using a simulated 6-wheel skid-steered robot in a high-fidelity data-driven simulator, and on a real 4-wheel skid-steered robot. Our results show substantial improvement in the path following performance in both simulation and real world experiments.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"9 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":"127780972","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: 19

Road following with blind crawling robot 盲人爬行机器人的道路跟踪

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487544

M. Stejskal, Jakub Mrva, J. Faigl

引用次数: 11