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

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Multi-robot routing with rewards and disjoint time windows 具有奖励和不相交时间窗口的多机器人路径
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399625
J. Melvin, P. Keskinocak, Sven Koenig, C. Tovey, Banu Yuksel Ozkaya
{"title":"Multi-robot routing with rewards and disjoint time windows","authors":"J. Melvin, P. Keskinocak, Sven Koenig, C. Tovey, Banu Yuksel Ozkaya","doi":"10.1109/IROS.2007.4399625","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399625","url":null,"abstract":"Multiple robots are often faster and more fault- tolerant than single robots for applications such as planetary exploration and search and rescue. We study applications where robots move in two-dimensional terrain and have to visit targets of given priorities during given time windows that do not overlap. We analyze the complexity of these coordination tasks and, where possible, use techniques from operations research to develop coordination methods that are efficient and optimize the team performance. We then develop auction-based coordination methods that build on these results and show experimentally that they run in seconds and achieve good team performance for NP-hard coordination tasks.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"39 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":"114394913","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: 40
Development of holonomic omnidirectional Vehicle with “Omni-Ball”: spherical wheels “全球”球形车轮全向车的研制
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399560
K. Tadakuma, R. Tadakuma, Jose Berengueres
{"title":"Development of holonomic omnidirectional Vehicle with “Omni-Ball”: spherical wheels","authors":"K. Tadakuma, R. Tadakuma, Jose Berengueres","doi":"10.1109/IROS.2007.4399560","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399560","url":null,"abstract":"In this paper, mechanical design of a novel spherical wheel shape for a omni-directional mobile robot is presented. The wheel is used in a omnidirectional mobile robot realizing high step-climbing capability with its hemispherical wheel. Conventional omniwheels can realize omnidirectional motion, however they have a poor step overcoming ability due to the sub-wheel small size. The proposed design solves this drawback by means of a 4 wheeled design. \"omni-ball\" is formed by two passive rotational hemispherical wheels and one active rotational axis. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the omnidirectional vechicle with this proposed omni-ball mechanism was confirmed. An prototype has been developed to illustrate the concept. Motion experiments, with a test vehicle are also presented.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"690 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":"114490866","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: 52
Multi-cue 3D object recognition in knowledge-based vision-guided humanoid robot system 基于知识的视觉引导类人机器人系统中的多线索三维物体识别
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399245
K. Okada, Mitsuharu Kojima, S. Tokutsu, T. Maki, Yuto Mori, M. Inaba
{"title":"Multi-cue 3D object recognition in knowledge-based vision-guided humanoid robot system","authors":"K. Okada, Mitsuharu Kojima, S. Tokutsu, T. Maki, Yuto Mori, M. Inaba","doi":"10.1109/IROS.2007.4399245","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399245","url":null,"abstract":"A vision based object recognition subsystem on knowledge-based humanoid robot system is presented. Humanoid robot system for real world service application must integrate an object recognition subsystem and a motion planning subsystem in both mobility and manipulation tasks. These requirements involve the vision system capable of self-localization for navigation tasks and object recognition for manipulation tasks, while communicating with the motion planning subsystem. In this paper, we describe a design and implementation of knowledge based visual 3D object recognition system with multi-cue integration using particle filter technique. The particle filter provides very robust object recognition performance and knowledge based approach enables robot to perform both object localization and self localization with movable/fixed information. Since this object recognition subsystem share knowledge with a motion planning subsystem, we are able to generate vision-guided humanoid behaviors without considering visual processing functions. Finally, in order to demonstrate the generality of the system, we demonstrated several vision-based humanoid behavior experiments in a daily life environment.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"35 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":"116593258","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: 52
Analysis and parameter optimization of an elastic path controller 弹性路径控制器的分析与参数优化
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399033
Longjiang Zhou, C. Teo, E. Burdet
{"title":"Analysis and parameter optimization of an elastic path controller","authors":"Longjiang Zhou, C. Teo, E. Burdet","doi":"10.1109/IROS.2007.4399033","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399033","url":null,"abstract":"This paper presents an analysis of a newly developed elastic path controller (EPC) that can be used in assistive devices with human operators. The technique of robust control is also utilized to determine the parameters of the EPC in order to ensure that the EPC can tolerate possible uncertainties or disturbances in the environment. The new EPC is applied to a robotic wheelchair and tested in simulation. The results demonstrate the efficacy of the EPC.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"9 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":"129546967","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
Ultrasonic motor driving method for EMI-free image in MR image-guided surgical robotic system 磁共振成像引导手术机器人系统中无emi图像的超声电机驱动方法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399391
Takashi Suzuki, H. Liao, E. Kobayashi, I. Sakuma
{"title":"Ultrasonic motor driving method for EMI-free image in MR image-guided surgical robotic system","authors":"Takashi Suzuki, H. Liao, E. Kobayashi, I. Sakuma","doi":"10.1109/IROS.2007.4399391","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399391","url":null,"abstract":"Electromagnetic interference (EMI) between magnetic resonance (MR) imager and surgical manipulator is a severe problem, that degrades the image quality, in MR image- guided surgical robotic systems. We propose a novel motor driving method to acquire noise-free image. Noise generation accompanied by motor actuation is permitted only during the \"dead time\" when the MR imager stops signal acquisition to wait for relaxation of protons. For the synchronized control between MR imager and motor driving system, we adopted a radio-frequency pulse signal detected by a special antenna as a synchronous trigger. This method can be applied widely because it only senses a part of the scanning signal and requires neither hardware nor software changes to the MR imager. The evaluation results showed the feasibility of RF pulse as a synchronous trigger and the availability of sequence-based noise reduction method.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"80 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":"129604022","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
Real time tracking algorithm of sEMG-based human arm motion 基于表面肌电信号的人体手臂运动实时跟踪算法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399238
Hyeon-Jae Yu, Youn-Jung Choi
{"title":"Real time tracking algorithm of sEMG-based human arm motion","authors":"Hyeon-Jae Yu, Youn-Jung Choi","doi":"10.1109/IROS.2007.4399238","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399238","url":null,"abstract":"This paper suggests the real time tracking algorithm for human arm motion by processing the signals of surface EMG (ElectroMyoGram) sensors attached on both upper arm and shoulder. The signals acquired by using surface EMG sensors are processed with choosing the maximum in a short period, taking the absolute value, and filtering noises out with a low-pass filter. The processed signals are directly used for the motion generation of virtual arm in real time simulator. The virtual arm of simulator has two degrees of freedom and complies with the desired flexion/extension motions of both the elbow and shoulder of human. Also, we show the validity of the suggested algorithms through the experimental results.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"16 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":"129620788","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
Pivoting based manipulation by humanoids: a controllability analysis 基于旋转的类人操纵:可控性分析
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399212
E. Yoshida, Mathieu Poirier, J. Laumond, R. Alami, K. Yokoi
{"title":"Pivoting based manipulation by humanoids: a controllability analysis","authors":"E. Yoshida, Mathieu Poirier, J. Laumond, R. Alami, K. Yokoi","doi":"10.1109/IROS.2007.4399212","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399212","url":null,"abstract":"Pivoting manipulation has such advantages as dexterity and safety over other methods to move bulky or heavy objects. In this paper we aim to show that a polyhedral object can be displaced to arbitrary position and orientation on a plane (i.e. such a pivoting system is controllable). More than that we show it is small time controllable, i.e. the reachable space from a starting point contains always a neighbor no matter how cluttered the environment is. As a consequence of this analysis, we propose a steering method to plan a manipulation path to be performed by a humanoid robot: first we use a classical nonholonomic path planner that accounts for the robot motion constraints, and then we transform that path into a sequence of pivoting operations. While the feasibility of elementary pivoting tasks has been already experienced by the humanoid robot HRP-2, we present here the very first simulations of the plans generated by our steering method.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"13 3 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":"128543846","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: 13
Application of FFP-actuators to legged locomotion robots ffp致动器在有腿运动机器人中的应用
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4398975
Mami Nishida, Kazuo Tanaka
{"title":"Application of FFP-actuators to legged locomotion robots","authors":"Mami Nishida, Kazuo Tanaka","doi":"10.1109/IROS.2007.4398975","DOIUrl":"https://doi.org/10.1109/IROS.2007.4398975","url":null,"abstract":"This paper describes an application of flexible flat plate (FFP) actuators (consisting of shape memory alloy (SMA) and polyethylene plate) to some legged locomotion robots. A key feature is that the legged locomotion robots developed in this paper have no joints. In other words, the FFP actuators that become the robot legs (links) can directly generate power by their deflections. In addition, the assembly time of the FFP actuators is short due to their simple structure. After investigating the fundamental properties of the FFP actuators, we propose ten types of FFP-actuators that are available for assembling a wide variety of legged locomotion robots. Two-legged and four-legged locomotion robots developed in this paper realize walking by transferring the elastic potential energy (generated by deflections of the FFP actuators) to kinematic energy. We demonstrate that the leg displacement can be controlled by adjusting the deflection of the FFP actuators with simple ON-OFF signals.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"39 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":"129307603","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 framework for planning motion in environments with moving obstacles 在有移动障碍物的环境中规划运动的框架
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399540
S. Rodríguez, Jyh-Ming Lien, N. Amato
{"title":"A framework for planning motion in environments with moving obstacles","authors":"S. Rodríguez, Jyh-Ming Lien, N. Amato","doi":"10.1109/IROS.2007.4399540","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399540","url":null,"abstract":"In this paper we present a heuristic approach to planning in an environment with moving obstacles. Our approach assumes that the robot has no knowledge of the future trajectory of the moving objects. Our framework also distinguishes between two types of moving objects in the environment: hard and soft objects. We distinguish between the two types of objects in the environment as varying application domains could allow for some collision between some types of moving objects. For example, a robot planning a path in an environment with people could have the people modeled as circular disks with a safe zone surrounding each person. Although the robot may try to stay out of each safe zone, violating that criteria would not necessarily result in planning failure. We will show the effectiveness of our planner in general dynamic environments with the soft objects having varying behaviors.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 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":"129324630","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
Robust control design of impedance control for industrial robots 工业机器人阻抗控制鲁棒控制设计
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399456
D. Surdilovic
{"title":"Robust control design of impedance control for industrial robots","authors":"D. Surdilovic","doi":"10.1109/IROS.2007.4399456","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399456","url":null,"abstract":"A widespread application of impedance control in industrial robotic systems is still a challenging problem. One of limitations is the absence of a widely-accepted framework for the synthesis of the impedance control parameters that ensure stability of both contact transition and interaction processes and guarantee desired contact performance. The existing design procedures based on robot passivity appear to be exceedingly conservative in applications in which the interaction between an industrial robot and a stiff environment should be controlled. The proposed new interaction stability paradigm ensures contact stability during all phases of interaction. Moreover, the new design framework realizes low-impedance performance allowing considerable reduction of high apparent industrial robot inertia and stiffness. The novel stability criteria are established based on robust control theory and take into account estimates of environmental stiffness, tolerating thereby large uncertainties and variations in industrial environments. These criteria are proved by extensively testing in industrial and space robots and have been recently extended to control synthesis of human robot interaction systems (haptic admittance displays and rehabilitation robots).","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"35 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":"126885159","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
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