2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)最新文献_第2页

Service mobile robot control for tracking a moving object with collision avoidance 服务移动机器人的避碰跟踪控制

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428197

T. Dewi, N. Uchiyama, S. Sano

引用次数: 8

An automatic self-calibration approach for wide baseline stereo cameras using sea surface images 一种基于海面图像的宽基线立体相机自动自标定方法

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428195

Han Wang, Wei Mou, Xiaozheng Mou, Shenghai Yuan, Soner Ulun, Shuai Yang, Bok-Suk Shin

{"title":"An automatic self-calibration approach for wide baseline stereo cameras using sea surface images","authors":"Han Wang, Wei Mou, Xiaozheng Mou, Shenghai Yuan, Soner Ulun, Shuai Yang, Bok-Suk Shin","doi":"10.1109/ARSO.2015.7428195","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428195","url":null,"abstract":"The calibration process of a stereo rig is normally done by making two cameras view one special designed calibration pattern (such as checkerboard) at the same time to estimate the relative rotation between two cameras. Multiple image pairs from different perspectives are required for better estimation accuracy. Stereo rig with wide baseline is necessary when accurate depth estimation for distant object is desired. However, in order to make calibration pattern to be viewed from both left and right cameras, the wider the baseline the bigger the calibration pattern should be. Manpower even equipment such as crane is required to operate such a big checkerboard for the calibration purpose only. In contrast to the traditional stereo calibration method using calibration pattern, we propose a self-calibration approach that can easily estimate cameras' rotation matrices for stereo rig with very wide baseline using sea horizon and a point at infinite distance. Compared with conventional techniques which require expensive equipments or manpower, our approach only needs a pair of sea images, moreover, special calibration patterns and feature correspondences are not required. As a result, it is flexible and very easy to implement. Real world experiments demonstrate the feasibility of our approach.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116609106","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: 9

State and parameters observation for accurate off-road navigation of wheeled mobile robots 轮式移动机器人越野精确导航的状态与参数观测

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428200

E. Lucet, A. Micaelli

引用次数: 3

Simulation-based optimal motion planning for deformable object 基于仿真的可变形物体运动优化规划

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428219

E. Yoshida, Ko Ayusawa, I. Ramirez-Alpizar, K. Harada, C. Duriez, A. Kheddar

{"title":"Simulation-based optimal motion planning for deformable object","authors":"E. Yoshida, Ko Ayusawa, I. Ramirez-Alpizar, K. Harada, C. Duriez, A. Kheddar","doi":"10.1109/ARSO.2015.7428219","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428219","url":null,"abstract":"This paper presents a method for planning motions of a flexible objects based on precise simulation using Finite Element Method (FEM). The proposed method is applied to ring-shape objects manipulated by robot arms, which is often seen in various applications. Since large deformation is implied, assembly planning with realistic simulation is important to ensure task efficiency for the robot and also to avoid damage of the object. We first verify that the behavior of a ring-shape object by dual-arm manipulation is well predicted using FEM model of bent beam through a simulation along the trajectory computed by optimization-based motion planning previously reported. Next, a precise FEM model is integrated into optimization to compute a trajectory of robot hands minimizing the deformation energy as well as satisfying such criteria as collision avoidance and smoothness. Since the direct computation leads huge computational cost, we present a realistic formula which transforms the planning problem into the static equilibrium problem of several FEM models located along the trajectory. Simulation results show that the proposed method is promising for such assembly tasks requiring large deformation.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121276863","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: 31

Towards LIDAR-RADAR based terrain mapping 走向基于激光雷达-雷达的地形测绘

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428208

J. Guerrero, M. Jaud, R. Lenain, R. Rouveure, P. Faure

引用次数: 5

RoboPainter — A detailed robot design for interior wall painting RoboPainter -一个详细的机器人设计内墙绘画

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428214

M. Sorour

引用次数: 10

Providing and optimizing a robotic construction plan for rescue operations 为救援行动提供并优化机器人施工计划

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428215

H. Ardiny, S. Witwicki, F. Mondada

{"title":"Providing and optimizing a robotic construction plan for rescue operations","authors":"H. Ardiny, S. Witwicki, F. Mondada","doi":"10.1109/ARSO.2015.7428215","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428215","url":null,"abstract":"After a terrible disaster such as an earthquake or a nuclear accident, finding victims and isolating them from hazards are usually the first priorities for rescuers. As the security of rescuers and the stabilization of the environment are critical components of the first rescue phase, we assume that robots could be used to secure the environment by performing construction tasks, to stabilize large structures, and/or protect the victims. In this paper we suggest an approach consisting of using mobile robots to construct protective walls on a site affected by a nuclear disaster. Protective walls can help to block radiation from toxic sources and protect both victims and rescuers. On the other hand, the robot's vulnerability to radiation restricts its freedom of movements into unsafe regions. Therefore, building protective walls needs a plan (construction plan) that involves three competing objectives: victim safety, rescuer safety, and robot safety. Weighting these factors is a societal choice, is not trivial, and impacts the whole system. In this paper, we provide and optimize the construction plan using a genetic algorithm based on three objectives. We analyze the construction plan performance with respect to execution time. We also analyze the trade-offs involved between these competing objectives in different environments with ranging physical complexity (e.g., a number of victims or sources).","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123597354","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: 0

Designing the human-machine interface for highly automated cars — Challenges, exemplary concepts and studies 为高度自动化的汽车设计人机界面——挑战、范例概念和研究

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428223

Philipp Kerschbaum, Lutz Lorenz, Sebastian Hergeth, K. Bengler

引用次数: 9

Control and obstacle collision avoidance method applied to human-robot interaction 人机交互中的控制与避障方法

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428222

A. C. Leite, Thiago B. Almeida-Antonio, P. From, F. Lizarralde, L. Hsu

{"title":"Control and obstacle collision avoidance method applied to human-robot interaction","authors":"A. C. Leite, Thiago B. Almeida-Antonio, P. From, F. Lizarralde, L. Hsu","doi":"10.1109/ARSO.2015.7428222","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428222","url":null,"abstract":"In this work, we present a control and obstacle collision avoidance method for redundant robot manipulators operating in partially structured environments in the presence of humans. The control algorithm is based on the concept of artificial potential fields and it uses the pseudo-inverse of the Jacobian matrix with a weighting factor for the mechanical joint limits, taking advantage of the robot redundancy for the purpose of obstacle avoidance and control goal achievement. The detection algorithm uses a depth sensor based on the structured light to obtain a 2-1/2-D description of the surroundings from a point cloud. Repulsive fields are created around the detected obstacles, allowing for the robot to perform the task of interest without collisions. A filtering methodology based on geometric elements is presented to filter the RGB-D scene captured by the depth sensor, eliminating the robot body and the obstacles located outside its workspace. Experimental results, obtained with a Motoman DIA10 robot and a Microsoft KinectTM, illustrate the feasibility of the proposed scheme.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131010493","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

Embodiment of a humanoid robot is preserved during partial and delayed control 在部分和延迟控制期间保留人形机器人实施例

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428218

Laura Aymerich-Franch, Damien Petit, G. Ganesh, A. Kheddar

{"title":"Embodiment of a humanoid robot is preserved during partial and delayed control","authors":"Laura Aymerich-Franch, Damien Petit, G. Ganesh, A. Kheddar","doi":"10.1109/ARSO.2015.7428218","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428218","url":null,"abstract":"Humanoid robot surrogates promise a plethora of new applications in the field of disaster management and human robot interactions. However, whole body embodiment for teleoperation or telepresence with mobile robot avatars is yet to be fully explored and understood. In this study we investigated whether partial and delayed control, necessitated by the large degree of freedom of a humanoid system, affects embodiment of a walking humanoid robot surrogate. For this, we asked participants to embody a walking humanoid robot in two conditions, one in which they had no control of its movement, and another in which they could control its direction of walking, but with delays. We utilized an embodiment questionnaire to evaluate the embodiment of the humanoid in each condition. Our results show first person visual feedback and congruent visuo-audio feedback to be sufficient for embodiment of the moving robot. Interestingly, participants reported a sense of agency even when they did not control the robot, and critically the sense of agency and embodiment were not affected by partial and delayed control typical of humanoid robots.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125340285","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