发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Meld: A declarative approach to programming ensembles 集成:一种编程集成的声明式方法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399480
Michael P. Ashley-Rollman, S. Goldstein, Peter Lee, T. Mowry, P. Pillai
{"title":"Meld: A declarative approach to programming ensembles","authors":"Michael P. Ashley-Rollman, S. Goldstein, Peter Lee, T. Mowry, P. Pillai","doi":"10.1109/IROS.2007.4399480","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399480","url":null,"abstract":"This paper presents Meld, a programming language for modular robots, i.e., for independently executing robots where inter-robot communication is limited to immediate neighbors. Meld is a declarative language, based on P2, a logic- programming language originally designed for programming overlay networks. By using logic programming, the code for an ensemble of robots can be written from a global perspective, as opposed to a large collection of independent robot views. This greatly simplifies the thought process needed for programming large ensembles. Initial experience shows that this also leads to a considerable reduction in code size and complexity. An initial implementation of Meld has been completed and has been used to demonstrate its effectiveness in the Claytronics simulator. Early results indicate that Meld programs are considerably more concise (more than 20times shorter) than programs written in C++, while running nearly as efficiently.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"263 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":"122093387","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: 105
Analyzing gaussian proposal distributions for mapping with rao-blackwellized particle filters 分析高斯建议分布与rao-blackwell化粒子滤波器的映射
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399005
C. Stachniss, G. Grisetti, Wolfram Burgard, N. Roy
{"title":"Analyzing gaussian proposal distributions for mapping with rao-blackwellized particle filters","authors":"C. Stachniss, G. Grisetti, Wolfram Burgard, N. Roy","doi":"10.1109/IROS.2007.4399005","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399005","url":null,"abstract":"Particle filters are a frequently used filtering technique in the robotics community. They have been successfully applied to problems such as localization, mapping, or tracking. The particle filter framework allows the designer to freely choose the proposal distribution which is used to obtain the next generation of particles in estimating dynamical processes. This choice greatly influences the performance of the filter. Many approaches have achieved good performance through informed proposals which explicitly take into account the current observation. A popular approach is to approximate the desired proposal distribution by a Gaussian. This paper presents a statistical analysis of the quality of such Gaussian approximations. We also propose a way to obtain the optimal proposal in a non-parametric way and then identify the error introduced by the Gaussian approximation. Furthermore, we present an alternative sampling strategy that better deals with situations in which the target distribution is multi-modal. Experimental results indicate that our alternative sampling strategy leads to accurate maps more frequently that the Gaussian approach while requiring only minimal additional computational overhead.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"56 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":"122151713","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: 43
Moth plume-tracing derived algorithm for identifying chemical source in near-shore ocean environments 近岸海洋环境中化学源识别的蛾羽追踪算法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4398955
Wei Li
{"title":"Moth plume-tracing derived algorithm for identifying chemical source in near-shore ocean environments","authors":"Wei Li","doi":"10.1109/IROS.2007.4398955","DOIUrl":"https://doi.org/10.1109/IROS.2007.4398955","url":null,"abstract":"This paper derives a single chemical sensor based algorithm from the moth-inspired chemical plume strategies for identifying plume sources in fluid-advected environments. We evaluate the algorithm performance using a simulated plume with significant meander and filament intermittency. The in- water test runs demonstrated the algorithm effective and robust to the variation of near-shore ocean environments.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"29 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":"124044024","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
Energy-based 6-DOF penetration depth computation for penalty-based haptic rendering algorithms 基于能量的六自由度穿透深度计算，用于基于惩罚的触觉渲染算法
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399505
Maxim P. Kolesnikov, M. Žefran
{"title":"Energy-based 6-DOF penetration depth computation for penalty-based haptic rendering algorithms","authors":"Maxim P. Kolesnikov, M. Žefran","doi":"10.1109/IROS.2007.4399505","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399505","url":null,"abstract":"Existing penalty-based haptic rendering approaches compute penetration depth in strictly translational sense and cannot properly take object rotation into account. We aim to provide a theoretical foundation for computing the penetration depth on the group of rigid-body motions SE(3). We propose a penalty-based six-degrees-of-freedom (6-DOF) haptic rendering algorithm based on determining the closest-point projection of the inadmissible configuration onto the set of admissible configurations. Energy is used to define the metric on the configuration space. Once the projection is found the 6-DOF wrench can be computed. The configuration space is locally represented with exponential coordinates to make the algorithm more efficient. Numerical examples compare the proposed algorithm with the existing approaches and show its advantages.","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":"126148629","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
Temporal segmentation and recognition of body motion data based on inter-limb correlation analysis 基于肢体间相关分析的肢体运动数据时间分割与识别
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399341
T. Nakata
{"title":"Temporal segmentation and recognition of body motion data based on inter-limb correlation analysis","authors":"T. Nakata","doi":"10.1109/IROS.2007.4399341","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399341","url":null,"abstract":"A method for segmentation and recognition of human body behavior data is proposed. Recognition of human body movements is getting larger interests in robotic research field, since robots must recognize human behavior in order to interact with human in the real world. In addition, there is demand for quantitative methods to analyze human body movements, since human body movements can be used as models of robot behaviors. The author proposes a scheme for human behavior recognition based on two process steps: analysis of movement correlations among limbs and temporal segmentation of motion data. Inter-limb movement correlations are widely observed in various behaviors and well represent contents of behavior, so it will be a universal feature value for general behavior. Observing changes of inter-limb correlations, we can segment motion capture data into temporal fragment of action units. Using this segmentation technique in an experiment, the system succeeded recognizing various types of human behavior efficiently.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"34 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":"124647139","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: 11
Development of robot hand for therapist education/training on rehabilitation 用于康复治疗师教育/培训的机器人手的开发
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399377
T. Mouri, H. Kawasaki, Y. Nishimoto, T. Aoki, Y. Ishigure
{"title":"Development of robot hand for therapist education/training on rehabilitation","authors":"T. Mouri, H. Kawasaki, Y. Nishimoto, T. Aoki, Y. Ishigure","doi":"10.1109/IROS.2007.4399377","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399377","url":null,"abstract":"Students studying to become therapists have few opportunities for repeated training for the rehabilitation of contracture joints. This paper proposes the concept of a robot hand system for repeated rehabilitation training. A novel robot hand and artificial skin are developed in collaboration with doctors and therapists. Development of the robot hand is based on new design concepts aimed at imitating a human hand with a disability. The joint torque of a disabled person can be estimated by distributed tactile sensors. A model of contracture joints with tendon adhesion is introduced. The robot hand in imitation of contracture joints is governed by the force control based on torque control. The effectiveness of the proposed method is demonstrated experimentally.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"26 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":"124780504","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
Evolving gaits for increased discriminability in terrain classification 在地形分类中提高可分辨性的进化步态
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399500
A. Larson, R. Voyles, Jaewook Bae, R. Godzdanker
{"title":"Evolving gaits for increased discriminability in terrain classification","authors":"A. Larson, R. Voyles, Jaewook Bae, R. Godzdanker","doi":"10.1109/IROS.2007.4399500","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399500","url":null,"abstract":"Limbs are an attractive approach to certain niche robotic applications, such as urban search and rescue, that require both small size and the ability to locomote through highly rubbled terrain. Unfortunately, a large number of degrees of freedom implies there is a large space of non- optimal locomotion trajectories (gaits), making gait adaptation critical. On the other hand, these extra degrees of freedom open many possibilities for active sensing of the terrain, which is essential information for adapting the gait. In previous work, we developed a metric for terrain classification that makes use of the loping body motion (i.e. gait bounce) during locomotion. In this work we present a framework for evolving gaits to better differentiate the gait bounce signal across terrains. This framework includes a limb/terrain interaction model that estimates gait bounce based on established models of wheel/terrain interaction, and an objective function that can be optimized for terrain discriminability. Additional objective functions for improved locomotion are presented, as well as culling agents that help guide the evolution process away from real-world impossibilities.","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":"129434371","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
Foul 2050: thoughts on physical interaction in human-robot soccer 犯规2050:关于人机足球中身体互动的思考
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399464
S. Haddadin, Tim Laue, U. Frese, G. Hirzinger
{"title":"Foul 2050: thoughts on physical interaction in human-robot soccer","authors":"S. Haddadin, Tim Laue, U. Frese, G. Hirzinger","doi":"10.1109/IROS.2007.4399464","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399464","url":null,"abstract":"The RoboCup community has one definite goal: winning against the human world soccer champion team by the year 2050. This implies real tackles and fouls between humans and robots and rises safety concerns for the robots and even more important for the human players. Nowadays, similar questions are discussed in the field of physical human- robot interaction (pHRI), but mainly in the context of industrial and service robotics applications. Our paper is an attempt for a pHRI view on human-robot soccer. Technically, this will be years ahead, but still we believe it is enlighting to analyze the RoboCup vision from the perspective of pHRI. We take scenes from the 2006 FIFA World Cup as examples and discuss what could have happened if one of the teams consisted of robots instead of humans.","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":"128441719","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: 24
Humanoid robot which can lift a 30kg box by whole body contact and tactile feedback 仿人机器人，通过全身接触和触觉反馈，可以举起30公斤的箱子
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399592
Y. Ohmura, Y. Kuniyoshi
{"title":"Humanoid robot which can lift a 30kg box by whole body contact and tactile feedback","authors":"Y. Ohmura, Y. Kuniyoshi","doi":"10.1109/IROS.2007.4399592","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399592","url":null,"abstract":"We present realization of a humanoid which can lift a heavy object by whole body contact. Most humanoid motions are limited to the posture of the end-effectors only landing. In principle these humanoids can not do natural motion. If a humanoid robot is allowed arbitrary contact with the surrounding objects, it can improve the performance and operate a heavier object. We propose a \"whole body contact motion\" of a humanoid robot. It is defined as a control of contact state of a humanoid robot which has the distributed tactile sensors. We develop conformable and scalable tactile skin and an adult-size humanoid with a smooth surfaces for arbitrary contact. We install the skin on the entire surfaces of the humanoid. Finally we describe the humanoid lifting a 30kg box by tactile feedback.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"128 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":"128188129","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: 108
Safety verification of a fault tolerant reconfigurable autonomous goal-based robotic control system 基于目标的容错可重构自主机器人控制系统的安全性验证
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399230
Julia M. B. Braman, R. Murray, D. Wagner
{"title":"Safety verification of a fault tolerant reconfigurable autonomous goal-based robotic control system","authors":"Julia M. B. Braman, R. Murray, D. Wagner","doi":"10.1109/IROS.2007.4399230","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399230","url":null,"abstract":"Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called mission data system (MDS), developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper, a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task is simulated in MDS and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"49 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":"129582794","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: 23
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信