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

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An efficient unified approach to direct visual tracking of rigid and deformable surfaces 一种对刚性和可变形表面进行直接视觉跟踪的有效统一方法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4398990
E. Malis
{"title":"An efficient unified approach to direct visual tracking of rigid and deformable surfaces","authors":"E. Malis","doi":"10.1109/IROS.2007.4398990","DOIUrl":"https://doi.org/10.1109/IROS.2007.4398990","url":null,"abstract":"Image-based deformations are generally used for visual tracking of deformable objects moving in the 3D space. For the visual tracking of deformable objects, this assumption has shown to give good results. However it is not satisfying for the visual tracking of 3D rigid objects as the underlying structure cannot be directly estimated. The general belief is that obtaining the 3D structure directly is difficult. In this article, we propose a parameterization that is well adapted either to track deformable objects or to recover the structure of 3D objects. Furthermore, the formulation leads to an efficient implementation that can considerably reduce the computational load and it is therefore more adapted to real-time robotic applications. Experiments with simulated and real data validate the approach for deformable object visual tracking and 3D structure estimation. The computational efficiency is also compared to standard methods.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"21 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":"125439273","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: 38
Design of a new spatial 3-DOF parallel mechanism with application to a PDP TV mounting device 一种新型空间三自由度并联机构的设计及其在PDP电视安装装置中的应用
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399000
J. Chung, B. Yi, Sung Oh
{"title":"Design of a new spatial 3-DOF parallel mechanism with application to a PDP TV mounting device","authors":"J. Chung, B. Yi, Sung Oh","doi":"10.1109/IROS.2007.4399000","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399000","url":null,"abstract":"In this paper, we propose a new 3-DOF parallel mechanism for PDP TV mounting device with 2-rotation and 1-translation. The most important operational requirement of this device is that the device should support large weight of the PDP panel and be foldable to save the space between the PDP panel and the wall. An asymmetric parallel structure that has three kinematic chains with internal four-bar is proposed to meet such requirements. The special four-bar mechanism is foldable and supports large weight structurally, which allows employment of small-sized actuators for motion. The kinematic modeling and kinematic analysis was performed along with actuator sizing. Finally, this mechanism was developed and tested to show the effectiveness as the PDP TV mounting device. It is believed that this device is a successful commercialized parallel mechanism.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"27 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":"126711925","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
Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors 不使用力/扭矩传感器的多个移动机械手处理单个物体的协调运动控制
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399070
Y. Kume, Y. Hirata, K. Kosuge
{"title":"Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors","authors":"Y. Kume, Y. Hirata, K. Kosuge","doi":"10.1109/IROS.2007.4399070","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399070","url":null,"abstract":"In this paper, we propose a coordinated motion control algorithm of multiple mobile manipulators handling a single object without using force/torque sensors. In this control algorithm, each mobile manipulator is controlled as if its grasping point has an impedance dynamics by using the real dynamics of the manipulator instead of force/torque sensors. These mobile manipulators handle a single object in coordination using the leader-follower type control algorithm based on the impedance dynamics. Then, the effect of parameter identification errors is discussed and a method to reduce it is proposed. The proposed control algorithm is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control algorithm.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"51 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":"126717712","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: 41
Dynamic localization of multiple mobile subjects in wireless Ad Hoc networks 无线Ad Hoc网络中多移动主体的动态定位
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399315
R. Garimella, W. Sheng
{"title":"Dynamic localization of multiple mobile subjects in wireless Ad Hoc networks","authors":"R. Garimella, W. Sheng","doi":"10.1109/IROS.2007.4399315","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399315","url":null,"abstract":"In this paper, a dynamic localization algorithm is proposed for the tracking of mobile subjects in a wireless ad hoc network environment. This algorithm integrates a dynamic multidimensional scaling (MDS) method and the dead reckoning method enabled by a wearable position tracking (WePoST) system through sensor fusion technique. The essential idea of the dynamic MDS (DMDS) is to reduce the localization error by increasing the network density and connectivity through the addition of virtual nodes. Sensor fusion technique is used to improve the consistency of the dynamic MDS algorithm by integrating the knowledge of short distance displacement. Tests done in simulation verify the proposed dynamic localization algorithm.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"4 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":"126749820","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
Design and fabrication of miniaturized force sensor with quartz crystal resonators 小型石英晶体谐振力传感器的设计与制造
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399597
Yu-Ching Lin, A. Asakura, T. Fukuda, F. Arai
{"title":"Design and fabrication of miniaturized force sensor with quartz crystal resonators","authors":"Yu-Ching Lin, A. Asakura, T. Fukuda, F. Arai","doi":"10.1109/IROS.2007.4399597","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399597","url":null,"abstract":"A force sensor with quartz crystal resonator has the characteristic that the resonance frequency changes by the external force, which achieves high sensitivity, high-speed response, and wide range measurement by a simple structure. Also it has the superior feature in the temperature and frequency stability. On the other hand, the quartz crystal resonator had been hardly applied to a dynamic force measurement because of low degree of mechanical characteristic, that is, it is weak to the impact, bend, and tension. The objective of this study is to construct the sensor mechanism that safely maintains the quartz crystal resonator for the external force with flat structure. We designed and analyzed a novel retention mechanism of the quartz crystal resonator for the flat structure. The proposed force sensor is flat, small, and sensitive enough to be applied to several usages such as medical treatment and dynamic contact force detection of human.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"102 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":"126924127","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
A new 3D sensing method based on stereo PMP technique for mobile robots 基于立体PMP技术的移动机器人三维传感新方法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399097
Hyunki Lee, H. Cho
{"title":"A new 3D sensing method based on stereo PMP technique for mobile robots","authors":"Hyunki Lee, H. Cho","doi":"10.1109/IROS.2007.4399097","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399097","url":null,"abstract":"Intelligent autonomous mobile robots must be able to sense and recognize 3D environment for navigation and task execution where they live or work. To achieve this, a variety of techniques have been developed for the determination of the 3D geometric information such as stereo vision, laser structured light, laser range finder and so on. However, these methods have several limitations such as susceptibility to noise, low resolution, measurement error in 3D scene. In this paper to overcome these problems we introduce a new sensing method based upon stereo vision methodology which utilizes not only intensity information but also phase information. The novelty of this suggested method comes from the fact that it uses the stereo phase information from the PMP technique together with intensity information captured by stereo image. To verify the efficiency and accuracy of the proposed method, a series of experimental tests is performed. The results show that it greatly enhances correspondence matching performance and measurement resolution.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"161 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":"121404793","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
Topological mapping, localization and navigation using image collections 拓扑映射，定位和导航使用图像集合
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399123
F. Fraundorfer, C. Engels, D. Nistér
{"title":"Topological mapping, localization and navigation using image collections","authors":"F. Fraundorfer, C. Engels, D. Nistér","doi":"10.1109/IROS.2007.4399123","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399123","url":null,"abstract":"In this paper we present a highly scalable vision-based localization and mapping method using image collections. A topological world representation is created online during robot exploration by adding images to a database and maintaining a link graph. An efficient image matching scheme allows real-time mapping and global localization. The compact image representation allows us to create image collections containing millions of images, which enables mapping of very large environments. A path planning method using graph search is proposed and local geometric information is used to navigate in the topological map. Experiments show the good performance of the image matching for global localization and demonstrate path planning and navigation.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"64 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":"125705732","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: 223
Calibration of industrial robots by magnifying errors on a distant plane 通过放大遥远平面上的误差来校准工业机器人
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4398969
Chandra Sekhar Gatla, R. Lumia, John E. Wood, G. Starr
{"title":"Calibration of industrial robots by magnifying errors on a distant plane","authors":"Chandra Sekhar Gatla, R. Lumia, John E. Wood, G. Starr","doi":"10.1109/IROS.2007.4398969","DOIUrl":"https://doi.org/10.1109/IROS.2007.4398969","url":null,"abstract":"This paper describes a robot calibration approach called the virtual closed kinematic chain (ViCKi) method. Traditionally, calibration requires the measurement of the position and orientation of the end effector, and measurement resolution limits the accuracy of the robot model. In ViCKi, we attach a laser to the end effector to create a virtual 7th link. The laser spot produced on a distant plane, the end of this virtual link, magnifies small changes at the end effector, resulting in a high resolution error measurement of the end effector. The accuracy of the robot after using the proposed calibration procedure is measured by aiming at an arbitrary fixed point and measuring the mean and standard deviation of the radius of spread of the projected points. The mean and standard deviation of the radius of spread were improved from 5.64 mm and 1.89 mm to 1.05 mm and 0.587 mm respectively. It is also shown in simulation that the method can be automated by a feedback system that can be implemented in real-time.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"30 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":"125710183","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: 25
Fuzzy logic based approach for robotics systems control. stability analysis 基于模糊逻辑的机器人控制方法。稳定性分析
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399447
Y. Touati, Y. Amirat, A. A. Chérif
{"title":"Fuzzy logic based approach for robotics systems control. stability analysis","authors":"Y. Touati, Y. Amirat, A. A. Chérif","doi":"10.1109/IROS.2007.4399447","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399447","url":null,"abstract":"This paper presents an adaptive fuzzy control approach for complex tasks involving robot-environment interaction. Implementation of this approach is based on the design and optimization of fuzzy logic controller (FLC) performed in two stages. In the first stage, the FLC parameters are trained and optimized offline using a rapid prototyping algorithm combined with a method based on Solis and Wetts algorithm. The latter algorithm allows convergence of the cost function to its global minimum by using a local search algorithm which is a randomized hill-climber with an adaptive step size. For convenience of analysis, the structure of the FLC is divided into multi-input-single-output (MISO) controllers. In the second stage, an online learning of the FLC is then implemented into the proposed control structure. Robustness of the proposed approach is shown by the stability analysis based on the Lyapunov method. To show the performances of the proposed approach, simulations are carried out on a 3DOF robot performing contour following under force constraints.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"23 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":"125918448","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
Feature selection in conditional random fields for activity recognition 活动识别中条件随机场的特征选择
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399441
Douglas L. Vail, J. Lafferty, M. Veloso
{"title":"Feature selection in conditional random fields for activity recognition","authors":"Douglas L. Vail, J. Lafferty, M. Veloso","doi":"10.1109/IROS.2007.4399441","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399441","url":null,"abstract":"Temporal classification, such as activity recognition, is a key component for creating intelligent robot systems. In the case of robots, classification algorithms must robustly incorporate complex, non-independent features extracted from streams of sensor data. Conditional random fields are discriminatively trained temporal models that can easily incorporate such features. However, robots have few computational resources to spare for computing a large number of features from high bandwidth sensor data, which creates opportunities for feature selection. Creating models that contain only the most relevant features reduces the computational burden of temporal classification. In this paper, we show that lscr1 regularization is an effective technique for feature selection in conditional random fields. We present results from a multi-robot tag domain with data from both real and simulated robots that compare the classification accuracy of models trained with lscr1 regularization, which simultaneously smoothes the model and selects features; lscr2 regularization, which smoothes to avoid over-fitting, but performs no feature selection; and models trained with no smoothing.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"6 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":"126056384","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: 51
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