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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

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Computational sensor networks 计算传感器网络
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-04-01 DOI: 10.1007/978-0-387-09643-8
T. Henderson
{"title":"Computational sensor networks","authors":"T. Henderson","doi":"10.1007/978-0-387-09643-8","DOIUrl":"https://doi.org/10.1007/978-0-387-09643-8","url":null,"abstract":"","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115743729","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: 18
Design method of brachiation controller based on virtual holonomic constraint 基于虚拟完整约束的摆振控制器设计方法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-26 DOI: 10.1109/AIM.2007.4412603
T. Fukuda, S. Kojima, K. Sekiyama, Y. Hasegawa
{"title":"Design method of brachiation controller based on virtual holonomic constraint","authors":"T. Fukuda, S. Kojima, K. Sekiyama, Y. Hasegawa","doi":"10.1109/AIM.2007.4412603","DOIUrl":"https://doi.org/10.1109/AIM.2007.4412603","url":null,"abstract":"This paper describes a control for the brachiation robot with holonomic constraint. In our previous work, the brachiation controller is composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion and gripping the target ladder with another arm. However, the conventional control can not apply brachiation in irregular ladder. And the convetional control was not consider energy efficiency. Thus, a novel method to achieve brachiation in irregular ladder and an energy-efficient brachiation by exacting a swing-back during locomotion is proposed. Experimental results show that the proposed method can improve the locomotion action as much as over 30% in energy consumption.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127047696","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: 15
Real-time wide-angle stereo visual SLAM on large environments using SIFT features correction 基于SIFT特征校正的大环境下实时广角立体视觉SLAM
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399065
{"title":"Real-time wide-angle stereo visual SLAM on large environments using SIFT features correction","authors":"","doi":"10.1109/IROS.2007.4399065","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399065","url":null,"abstract":"This paper presents a new method for real-time SLAM calculation applied to autonomous robot navigation in large environments without restrictions. It is exclusively based on the information provided by a cheap wide-angle stereo camera. Our approach divide the global map into local sub- maps identified by the so-called SIFT fingerprint. At the sub- map level (low level SLAM), 3D sequential mapping of natural land-marks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. A high abstraction level to reduce the global accumulated drift, keeping real-time constraints, has been added (high level SLAM). This uses a SIFT correction method based on the sub-maps' fingerprints. A comparison of the low SLAM level using our method and SIFT features has been carried out. Some experimental results using a real large environment are presented.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115751913","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: 17
3D relative pose estimation from distance-only measurements 基于距离测量的三维相对姿态估计
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399075
N. Trawny, Xun S. Zhou, Ke X. Zhou, S. Roumeliotis
{"title":"3D relative pose estimation from distance-only measurements","authors":"N. Trawny, Xun S. Zhou, Ke X. Zhou, S. Roumeliotis","doi":"10.1109/IROS.2007.4399075","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399075","url":null,"abstract":"In this paper, we develop an algorithm for determining the relative position and attitude of two robots moving in 3D, using only dead-reckoning and inter-robot distance measurements. From the mechanical analogue of parallel manipulators, it is known that this problem has 40 solutions when six distance measurements are available. These general solutions are not known in closed-form, and existing closed-form solutions require additional bearing sensors, or impose strong constraints on the geometric structure of the manipulator (in our case, the robots' trajectories). This paper presents, for the first time, an efficient, algebraic algorithm to solve the relative pose using 10 distance measurements, without imposing any constraints on the robots' motion. We further present a weighted least-squares refinement step, and validate our algorithm in various simulations, demonstrating its efficiency and accuracy.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116990272","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: 34
Real-time robot vision for collision avoidance inspired by neuronal circuits of insects 受昆虫神经回路启发的实时机器人避碰视觉
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399089
H. Okuno, T. Yagi
{"title":"Real-time robot vision for collision avoidance inspired by neuronal circuits of insects","authors":"H. Okuno, T. Yagi","doi":"10.1109/IROS.2007.4399089","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399089","url":null,"abstract":"A real-time vision sensor for collision avoidance was designed. To respond selectively to approaching objects on direct collision course, the sensor employs an algorithm inspired by the visual nervous system in a locust, which can avoid a collision robustly by using visual information. We implemented the architecture of the locust nervous system with a compact hardware system which contains mixed analog- digital integrated circuits consisting of an analog resistive network and field-programmable gate array (FPGA) circuits. The response properties of the system were examined by using simulated movie images, and the system was tested also in real- world situations by loading it on a motorized car. The system was confirmed to respond selectively to colliding objects even in complicated real-world situations.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"6 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120998003","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: 12
Robustification of decentralized PID control for small unmanned rotorcraft 小型无人旋翼机分散PID控制的鲁棒性
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399405
M. Castillo-Effen, C. Castillo, W. Moreno, K. Valavanis
{"title":"Robustification of decentralized PID control for small unmanned rotorcraft","authors":"M. Castillo-Effen, C. Castillo, W. Moreno, K. Valavanis","doi":"10.1109/IROS.2007.4399405","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399405","url":null,"abstract":"This paper presents a practical and simple approach to the design of autonomous flight control of miniature helicopters. It considers a standard easily tunable PID control as the starting step of the design. Then, robust loop-shaping techniques are applied to derive a controller with optimal properties with respect to robustness, noise sensitivity, and bandwidth. Comprehensive analysis and simulation experiments show the validity and practicality of the proposed control design and analysis procedures.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"229 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121137347","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
Investigation of the effects on stability of foot rolling motion based on a simnle walking model 基于简单步行模型的足部滚动运动稳定性影响研究
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399303
S. Aoi, Yuuki Sato, K. Tsuchiya
{"title":"Investigation of the effects on stability of foot rolling motion based on a simnle walking model","authors":"S. Aoi, Yuuki Sato, K. Tsuchiya","doi":"10.1109/IROS.2007.4399303","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399303","url":null,"abstract":"The motion of the lower limbs in bipedal walking is characterized by a foot-rolling motion, including heel-strike and toe-off. In this paper, the dynamical influence of this motion on walking stability is examined using a simple walking model driven by a rhythmic signal from an internal oscillator. In order to model the rolling motion, a circular arc is attached to the tip of the legs. In particular, we obtained approximate periodic solutions and analyzed the dependence of the local stability on the circular arc radius using a Poincare map, which revealed that the circular arc radius is optimal when it is similar in size to the leg length, to maximize the stable region for such characteristic parameters as mass ratio and walking speed. On the other hand, it is also found that a circular arc radius of zero maximizes the rate of convergence to the stable walking motion. These conflicting results imply that the optimal radius of a circular arc with respect to local stability exists from a trade-off between these different criteria, which should be considered in designing a biped robot.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127298481","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
Biologically-inspired robotics vision monte-carlo localization in the outdoor environment 生物启发机器人视觉蒙特卡罗定位在户外环境
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399349
Christian Siagian, L. Itti
{"title":"Biologically-inspired robotics vision monte-carlo localization in the outdoor environment","authors":"Christian Siagian, L. Itti","doi":"10.1109/IROS.2007.4399349","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399349","url":null,"abstract":"We present a robot localization system using biologically-inspired vision. Our system models two extensively studied human visual capabilities: (1) extracting the \"gist\" of a scene to produce a coarse localization hypothesis, and (2) refining it by locating salient landmark regions in the scene. Gist is computed here as a holistic statistical signature of the image, yielding abstract scene classification and layout. Saliency is computed as a measure of interest at every image location, efficiently directing the time-consuming landmark identification process towards the most likely candidate locations in the image. The gist and salient landmark features are then further processed using a Monte-Carlo localization algorithm to allow the robot to generate its position. We test the system in three different outdoor environments - building complex (126times180 ft. area, 3794 testing images), vegetation-filled park (270times360 ft. area, 7196 testing images), and open-field park (450times585 ft. area, 8287 testing images) - each with its own challenges. The system is able to localize, on average, within 6.0, 10.73, and 32.24 ft., respectively, even with multiple kidnapped-robot instances.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125119438","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: 2
Discrete trajectory control algorithms for NIMS3D, an autonomous underconstrained three-dimensional cabled robot 自主无约束三维有线机器人NIMS3D的离散轨迹控制算法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399112
P. Borgstrom, N. P. Borgstrom, M. Stealey, Brett L. Jordan, G. Sukhatme, M. Batalin, W. Kaiser
{"title":"Discrete trajectory control algorithms for NIMS3D, an autonomous underconstrained three-dimensional cabled robot","authors":"P. Borgstrom, N. P. Borgstrom, M. Stealey, Brett L. Jordan, G. Sukhatme, M. Batalin, W. Kaiser","doi":"10.1109/IROS.2007.4399112","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399112","url":null,"abstract":"In this paper we present algorithms that enable precise trajectory control of NIMS3D, an underconstrained, three-dimensional cabled robot intended for use in actuated sensing. We begin by offering a brief system overview and then describe methods to determine the range of operation of the robot. Next, a discrete-time model of the system is presented. Thereafter, we present an online algorithm for modeling motor behavior. The majority of the paper is dedicated to describing three feedback control laws used to enable accurate trajectory tracking for both linear and non-linear motion profiles. We present experimental results that highlight the strengths and weaknesses of these mechanisms and conclude by offering a series of future plans for NIMS3D.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125965391","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
Task constrained motion planning in robot joint space 机器人关节空间的任务约束运动规划
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399305
Mike Stilman
{"title":"Task constrained motion planning in robot joint space","authors":"Mike Stilman","doi":"10.1109/IROS.2007.4399305","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399305","url":null,"abstract":"We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained motion for joint space planners and develops two simple and efficient methods for constrained sampling of joint configurations: Tangent Space Sampling (TS) and First-Order Retraction (FR). Constrained joint space planning is important for many real world problems involving redundant manipulators. On the one hand, tasks are designated in work space coordinates: rotating doors about fixed axes, sliding drawers along fixed trajectories or holding objects level during transport. On the other, joint space planning gives alternative paths that use redundant degrees of freedom to avoid obstacles or satisfy additional goals while performing a task. In simulation, we demonstrate that our methods are faster and significantly more invariant to problem/algorithm parameters than existing techniques.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126058871","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: 194
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