2007 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第9页

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach 仿人机器人四足运动中手的位置:一种动力系统方法

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399478

S. Degallier, Ludovic Righetti, A. Ijspeert

引用次数: 26

EMG-based teleoperation of a robot arm using low-dimensional representation 基于肌电图的机械臂低维遥操作

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399452

P. Artemiadis, K. Kyriakopoulos

{"title":"EMG-based teleoperation of a robot arm using low-dimensional representation","authors":"P. Artemiadis, K. Kyriakopoulos","doi":"10.1109/IROS.2007.4399452","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399452","url":null,"abstract":"In robot teleoperation scenarios, the interface between the user and the robot is undoubtedly of high importance. In this paper, electromyographic (EMG) signals from muscles of the human upper limb are used as the control interface between the user and a remote robot arm. The proposed interface consists of surface EMG electrodes, placed at the user's skin at several locations on the arm, letting the user's upper limb free of bulky interface sensors or machinery usually found in conventional teleoperation systems. The motion of the human upper limb entails the activation of a large number of muscles (i.e. more than 30 muscles, not including finger movements). Moreover, the human arm has 7 degrees of freedom (DoFs) suggesting a wide variety of motions. Therefore, the mapping between these two high-dimensional data (i.e. the muscles activation and the motion of the human arm), is an extremely challenging issue. For this reason, a novel methodology is proposed here, where the mapping between the muscles activation and the motion of the user's arm is done in a low-dimensional space. Each of the high-dimensional input (muscle activation) and output (arm motion) vectors, is transformed into an individual low-dimensional space, where the mapping between the two low-dimensional vectors is then feasible. A state-space model is trained to map the low-dimensional representation of the muscles activation to the corresponding motion of the user's arm. After training, the state-space model can decode the human arm motion in real time with high accuracy, using only EMG recordings. The estimated motion is used to control a remote anthropomorphic robot arm. The accuracy of the proposed method is assessed through real-time experiments including motion in two-dimensional (2D) space.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"73 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":"127398203","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: 44

Enabling directional human-robot speech interface via adaptive beamforming and spatial noise reduction 通过自适应波束形成和空间降噪实现定向人机语音接口

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399420

Jounghoon Beh, Taekjin Lee, Sungjoo Ahn, Hyunsool Kim, D. Han, Hanseok Ko

{"title":"Enabling directional human-robot speech interface via adaptive beamforming and spatial noise reduction","authors":"Jounghoon Beh, Taekjin Lee, Sungjoo Ahn, Hyunsool Kim, D. Han, Hanseok Ko","doi":"10.1109/IROS.2007.4399420","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399420","url":null,"abstract":"This paper introduces a home robot application of multi-channel based spatial noise reduction for creating human-robot speech interfaces. A microphone array is employed first to create a speech-only directional conduit, which is realized through adaptive beamforming. Through the directional conduit, the intended speech signal from the desired direction is processed for detection and recognition, while unintended speech-like-sources or undesirable noise from other angles is suppressed. If speech signal is absent among the incoming signals through the conduit, further attenuation of undesirable signals is achieved by using a spatial noise reduction filter. Experimental validation of the technique was conducted using a computer simulation and also an online Samsung AnyBot test. Although the environments exhibited highly non-stationary noise, the method achieved an average speech recognition rate of 87.4% in the case of the computer simulation and 81.6% for the online Samsung AnyBot test. From the cases tested so far, the proposed implementation seems to be effective for practical robot applications in highly non-stationary noise environment.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"5 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":"132436298","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

Incremental learning for place recognition in dynamic environments 动态环境中位置识别的增量学习

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4398986

Jie Luo, Andrzej Pronobis, B. Caputo, P. Jensfelt

引用次数: 108

Development and evaluation of a novel actuator using MR magnetic field 新型磁流变磁场致动器的研制与评价

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399607

Deddy Nur Zaman, Takashi Suzuki, H. Liao, E. Kobayashi, Y. Jimbo, I. Sakuma

{"title":"Development and evaluation of a novel actuator using MR magnetic field","authors":"Deddy Nur Zaman, Takashi Suzuki, H. Liao, E. Kobayashi, Y. Jimbo, I. Sakuma","doi":"10.1109/IROS.2007.4399607","DOIUrl":"https://doi.org/10.1109/IROS.2007.4399607","url":null,"abstract":"Recently, Intra-Operative Magnetic Resonance Imaging (IO-MRI) has attracted attention for the reason of operating quality. In the other hand, surgical assist robot with high accuracy is widely researched. By combining IO-MRI and surgical assist robot to an MR-compatible surgical assist robot, higher quality of operation is expected. In this paper, we introduce a novel actuator for MR-compatible Surgical Assist Robot, which actively uses MR magnetic field and is drive by regulating pulse current. Use of ratchet mechanism enables step wise motion of the rotor similar to stepping motors. The position of the rotor can be controlled without an encoder. Clock-wise rotation, counter clock-wise rotation, constrained and non-constrained conditions were achieved by using this mechanism. Evaluation of the first prototype (84times76times58(mm3), 380 (gram)) shows that it is MR-compatible and has a very high positioning accuracy (step angle CW: 12.04plusmn0.28 (deg), CCW : 12.22plusmn0.36(deg); backlash < 1 (deg)). No-load maximum rotational speed is 35.71(rpm) and maximum torque 15.1times10-3 (Nm).","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"19 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":"132043061","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: 3

Reconfigurable group robots adaptively transforming a mechanical structure - numerical expression of criteria for structural transformation and automatic motion planning method - 自适应转换机械结构的可重构群机器人。结构转换准则的数值表达和自动运动规划方法

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399023

Yosuke Suzuki, N. Inou, H. Kimura, M. Koseki

引用次数: 14

A graph theoretic approach to optimal target tracking for mobile robot teams 移动机器人团队最优目标跟踪的图论方法

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399574

J. Derenick, J. Spletzer, M. A. Hsieh

引用次数: 3

Dynamics of step-climbing with deformable wheels and applications for mobile Robotics 可变形车轮爬阶动力学及其在移动机器人中的应用

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399601

A. Wilhelm, W. Melek, J. Huissoon, C. Clark, G. Hirzinger, N. Sporer, Matthias Fuchs

引用次数: 5

Robot grasp synthesis from virtual demonstration and topology-preserving environment reconstruction 虚拟演示与保拓扑环境重构的机器人抓取综合

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399011

J. Aleotti, S. Caselli

引用次数: 20

Stabilization of the head of an undulating snake-like robot 一个起伏的蛇形机器人头部的稳定

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2007-12-10 DOI: 10.1109/IROS.2007.4399390

Hiroya Yamada, M. Mori, S. Hirose

引用次数: 34