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

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Sensor feedback modification methods that are suitable for the short cycle pattern generation of humanoid walking 适用于类人行走短周期模式生成的传感器反馈修正方法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399378
K. Nishiwaki, S. Kagami
{"title":"Sensor feedback modification methods that are suitable for the short cycle pattern generation of humanoid walking","authors":"K. Nishiwaki, S. Kagami","doi":"10.1109/IROS.2007.4399378","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399378","url":null,"abstract":"A sensor feedback framework that realizes robust walking of humanoids are discussed in the present paper. We have proposed an online walking control system that generates a dynamically stable motion pattern in short cycles, such as 40 [ms]. The system is capable of reflecting the actual motion status modified by sensor feedback to the pattern generation of the next period so that the long-term stability of the walking is maintained using the dynamic model. We herein propose three categories of adaptation as a framework for realizing robust walking via the short-cycle generation system: 1) absorption of the error of the dynamic model, 2) reactive adaptation to the disturbance, and 3) adjustment of the parameters that are used to generate the walking pattern. Feedback methods for each category are discussed and validated on the full-size humanoid HRP-2.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"65 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":"114756833","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
Global stabilization of a four rotor helicopter with bounded inputs 有界输入四旋翼直升机的全局稳定
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399323
A. Hably, N. Marchand
{"title":"Global stabilization of a four rotor helicopter with bounded inputs","authors":"A. Hably, N. Marchand","doi":"10.1109/IROS.2007.4399323","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399323","url":null,"abstract":"This paper proposes a global asymptotic stabilizing control law for a quad-rotor helicopter with bounded inputs. The proposed control design exploits the technique based on the sum of saturating functions and is based on the global stabilization of multiple integrators with bounded inputs. The positiveness of the thrust and the boundedness of the control inputs are taken into account. Numerical simulations show the effectiveness of the proposed controller.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"63 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":"126375852","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: 27
Self-sssembly and morphology control in a swarm-bot 群机器人的自组装与形态控制
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399419
Rehan O'Grady, A. Christensen, M. Dorigo
{"title":"Self-sssembly and morphology control in a swarm-bot","authors":"Rehan O'Grady, A. Christensen, M. Dorigo","doi":"10.1109/IROS.2007.4399419","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399419","url":null,"abstract":"This paper proposes a distributed control mechanism for a self-propelled self-assembling robotic system that allows robots to form specific, connected morphologies. Global morphologies are 'grown' using local visual perception only. The robots in the system do not have access to a blueprint of the global pattern and the algorithmic rules are solely based on what a single robot can see in its immediate surroundings. None of the robots have any predefined position in the final morphology, except for the seed robot that initiates the self-assembly process. Robots that are part of the connected entity indicate where new robots should attach in order to grow the local structure appropriately. The paper demonstrates the efficacy of the mechanism by letting groups of up to 9 real robots self-assemble into four different morphologies: line, star, arrow, and dense.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"116 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":"128054395","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: 5
Traversability classification for UGV navigation: a comparison of patch and superpixel representations UGV导航的可遍历性分类:补丁和超像素表示的比较
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399610
Dongshin Kim, Sangmin Oh, James M. Rehg
{"title":"Traversability classification for UGV navigation: a comparison of patch and superpixel representations","authors":"Dongshin Kim, Sangmin Oh, James M. Rehg","doi":"10.1109/IROS.2007.4399610","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399610","url":null,"abstract":"Robot navigation in complex outdoor terrain can benefit from accurate traversability classification. Appearance- based traversability estimation can provide a long-range sensing capability which complements the traditional use of stereo or LIDAR ranging. In the standard approach to traversability classification, each image frame is decomposed into patches or pixels for further analysis. However, classification at the pixel level is prone to noise and complicates the task of identifying homogeneous regions for navigation. Fixed-sized patches aggregate pixel information, resulting in better noise properties, but they can span multiple distinct image regions, which can degrade the classification performance and make thin obstacles difficult to detect. We address the use of superpixels as the visual primitives for traversability estimation. Superpixels are obtained from an over-segmentation of the image and they aggregate visually homogeneous pixels while respecting natural terrain boundaries. We show that superpixels are superior to patches in classification accuracy and result in more effective navigation in complex terrain environments. Our experimental results include a study of the effect of patch and superpixel size on classification accuracy. We demonstrate that superpixels can be computed on-line on a real robot at a sufficient frame rate to support long-range sensing and planning.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"111 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":"128172708","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: 86
Contour reconstruction using recursive smoothing splines - experimental validation 基于递归平滑样条的轮廓重建-实验验证
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399044
Giacomo Piccolo, M. Karasalo, D. Kragic, Xiaoming Hu
{"title":"Contour reconstruction using recursive smoothing splines - experimental validation","authors":"Giacomo Piccolo, M. Karasalo, D. Kragic, Xiaoming Hu","doi":"10.1109/IROS.2007.4399044","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399044","url":null,"abstract":"In this paper, a recursive smoothing spline approach for contour reconstruction is studied and evaluated. Periodic smoothing splines are used by a robot to approximate the contour of encountered obstacles in the environment. The splines are generated through minimizing a cost function subject to constraints imposed by a linear control system and accuracy is improved iteratively using a recursive spline algorithm. The filtering effect of the smoothing splines allows for usage of noisy sensor data and the method is robust to odometry drift. Experimental evaluation is performed for contour reconstruction of three objects using a SICK laser scanner mounted on a PowerBot from ActivMedia Robotics.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"70 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":"121935989","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: 5
Time domain passivity for delayed haptic telepresence with energy reference 带能量参考的延迟触觉临场感时域被动
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399570
J. Artigas, C. Preusche, G. Hirzinger
{"title":"Time domain passivity for delayed haptic telepresence with energy reference","authors":"J. Artigas, C. Preusche, G. Hirzinger","doi":"10.1109/IROS.2007.4399570","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399570","url":null,"abstract":"This paper presents a new control strategy based on the time domain passivity control approach which copes with the active nature of delayed communication channels. Describing the system by means of network elements, the energy of the communication channel can be computed in real time and subsequently dissipated, thus providing stable operation. This is done bilaterally, since the system energy may flow from master to slave and from slave to master. The approach is accompanied with some experiments which validate the method.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"18 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":"131394555","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: 22
A bounded uncertainty approach to cooperative localization using relative bearing constraints 基于相对方位约束的有界不确定性协同定位方法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399398
C. J. Taylor, J. Spletzer
{"title":"A bounded uncertainty approach to cooperative localization using relative bearing constraints","authors":"C. J. Taylor, J. Spletzer","doi":"10.1109/IROS.2007.4399398","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399398","url":null,"abstract":"This paper describes an approach to cooperative localization which finds its roots in robust estimation, employing an unknown-but-bounded error model for sensor measurements. In this framework, range and bearing measurements obtained by the robots are viewed as constraints which implicitly define a set of feasible solutions in the joint configuration space of the robot team. The scheme produces bounded uncertainty estimates for the relative configuration of the team by using convex optimization techniques to approximate the projection of this feasible set onto various subspaces of the configuration space. The scheme can also be used to localize distributed sensor nodes. An important advantage of the proposed approach is that it is able to produce bounded uncertainty estimates for the relative configuration of the robots even in the case where the relative orientations of the robots are completely unknown. This is an important practical advance since errors in relative orientation are often a major contributor to positioning uncertainty in multi-robot localization schemes.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"40 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":"132387394","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
Decentralised data fusion with exponentials of polynomials 分散数据融合与多项式指数
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399072
Bradley Tonkes, A. Blair
{"title":"Decentralised data fusion with exponentials of polynomials","authors":"Bradley Tonkes, A. Blair","doi":"10.1109/IROS.2007.4399072","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399072","url":null,"abstract":"We demonstrate applicability of a general class of multivariate probability density functions of the form e-P(x), where P(x) is an elliptic polynomial, to decentralised data fusion tasks. In particular, we derive an extension to the covariance Intersect algorithm for this class of distributions and demonstrate the necessary operations - diffusion, multiplication and linear transformation - for Bayesian operations. A simulated target tracking application demonstrates the use of these operations in a decentralised scenario, employing range-only sensing to show their generality beyond Gaussian representations.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"60 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":"130257465","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
Confidence-based cue integration for visual place recognition 基于自信的线索整合视觉位置识别
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399493
Andrzej Pronobis, B. Caputo
{"title":"Confidence-based cue integration for visual place recognition","authors":"Andrzej Pronobis, B. Caputo","doi":"10.1109/IROS.2007.4399493","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399493","url":null,"abstract":"A distinctive feature of intelligent systems is their capability to analyze their level of expertise for a given task; in other words, they know what they know. As a way towards this ambitious goal, this paper presents a recognition algorithm able to measure its own level of confidence and, in case of uncertainty, to seek for extra information so to increase its own knowledge and ultimately achieve better performance. We focus on the visual place recognition problem for topological localization, and we take an SVM approach. We propose a new method for measuring the confidence level of the classification output, based on the distance of a test image and the average distance of training vectors. This method is combined with a discriminative accumulation scheme for cue integration. We show with extensive experiments that the resulting algorithm achieves better performances for two visual cues than the classic single cue SVM on the same task, while minimising the computational load. More important, our method provides a reliable measure of the level of confidence of the decision.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134142657","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: 83
Control robot by a generic control architecture 采用通用控制体系结构控制机器人
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399515
G. Mourioux, C. Novales, G. Poisson
{"title":"Control robot by a generic control architecture","authors":"G. Mourioux, C. Novales, G. Poisson","doi":"10.1109/IROS.2007.4399515","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399515","url":null,"abstract":"In this paper, we present a control architecture based on the concept of levels. The architecture is composed of two parts called the decision part and the perception part. This organization permits to construct various configurations and is adaptable to any application. We implemented this architecture on different robotic platforms: a mobile robot, an omnidirectional robot and medical one. We focused on the generic aspect of the architecture which has the characteristic to include the tele-operation modes.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1028 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":"134317235","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
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