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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

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Real-time Learning Method for Adaptable Motion-Discrimination using Surface EMG Signal 基于表面肌电信号的自适应运动识别实时学习方法
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282492
R. Kato, H. Yokoi, T. Arai
{"title":"Real-time Learning Method for Adaptable Motion-Discrimination using Surface EMG Signal","authors":"R. Kato, H. Yokoi, T. Arai","doi":"10.1109/IROS.2006.282492","DOIUrl":"https://doi.org/10.1109/IROS.2006.282492","url":null,"abstract":"This paper describes a new real-time learning method for the development of a robust motion discriminating method from an EMG signal, to adjust to the change in user's characteristics. This method is done under the assumptions that the input motions are continuous, and the teaching motions are ambiguous in nature, therefore, automatic addition, elimination and selection of learning data are possible. Applying our proposed method, we conducted experiments to discriminate eight forearm motions, with the results, a stable and highly effective discrimination rate was achieved and maintained even when changes occurred in user's characteristics","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121355630","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: 46
Learning Traffic Patterns at Intersections by Spectral Clustering of Motion Trajectories 基于运动轨迹谱聚类的交叉口交通模式学习
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282362
S. Atev, O. Masoud, N. Papanikolopoulos
{"title":"Learning Traffic Patterns at Intersections by Spectral Clustering of Motion Trajectories","authors":"S. Atev, O. Masoud, N. Papanikolopoulos","doi":"10.1109/IROS.2006.282362","DOIUrl":"https://doi.org/10.1109/IROS.2006.282362","url":null,"abstract":"We address the problem of automatically learning the layout of a traffic intersection from trajectories of vehicles obtained by a vision tracking system. We present a similarity measure which is suitable for use with spectral clustering in problems that emphasize spatial distinctions between vehicle trajectories. The robustness of the method to small perturbations and its sensitivity to the choice of parameters are evaluated using real-world data","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134614064","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: 87
Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot 人形机器人的类人行走，膝盖伸展，脚后跟接触，脚趾脱落
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.281834
Y. Ogura, K. Shimomura, H. Kondo, A. Morishima, Tatsu Okubo, S. Momoki, Hun-ok Lim, A. Takanishi
{"title":"Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot","authors":"Y. Ogura, K. Shimomura, H. Kondo, A. Morishima, Tatsu Okubo, S. Momoki, Hun-ok Lim, A. Takanishi","doi":"10.1109/IROS.2006.281834","DOIUrl":"https://doi.org/10.1109/IROS.2006.281834","url":null,"abstract":"A humanoid robot, WABIAN-2R, capable of human-like walk with stretched knees and heel-contact and toe-off motions is proposed in this paper. WABIAN-2R has two 1-DOF passive joints in its feet to enable it to bend its toes in steady walking. Further, it has two 6-DOF legs, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, a new algorithm for generating walking patterns with stretched knees and heel-contact and toe-off motions based on the ZMP criterion is described. In this pattern generation, some parameters of the foot trajectories of a biped robot are optimized by using a genetic algorithm in order to generate a continuous and smooth leg motion. Software simulations and walking experiments are conducted, and the effectiveness of the pattern generation and mechanism of WABIAN-2R, which have the ability to realize more human-like walking styles in a humanoid robot, are confirmed","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114817277","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: 211
Analysis of Static and Dynamic Characteristics of a Tactile Sensor using Carbon Micro Coil inside an Elastic Material 弹性材料内碳微线圈触觉传感器静动态特性分析
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282321
Masato Homma, M. Konyo, T. Maeno, S. Motojima
{"title":"Analysis of Static and Dynamic Characteristics of a Tactile Sensor using Carbon Micro Coil inside an Elastic Material","authors":"Masato Homma, M. Konyo, T. Maeno, S. Motojima","doi":"10.1109/IROS.2006.282321","DOIUrl":"https://doi.org/10.1109/IROS.2006.282321","url":null,"abstract":"Carbon micro coil (CMC) tactile sensor, containing CMCs in elastic material, is considered to have LCR circuit. When the sensor is transformed by mechanical force, LCR circuit changes in the sensor. In consequence, the sensor is able to detect various kind of tactile information by measuring impedance. In this paper, we focused on LCR circuit formed by distribution of CMCs. By changing CMC weight percent, we made the sensors in which CMCs are in contact and not in contact. First, we analyzed static characteristics of CMC tactile sensor. When the sensor is under unloaded condition, we measured the relationship between frequency of alternating voltage and impedance. As the result, we found that electrical parameters change with CMC weight percent. When the sensor is under transformed condition, we measured relationship between strain and impedance. As the result, we found that impedance changes by deformation of CMC and change in distance between CMCs. Secondly, we analyzed dynamic characteristics of CMC tactile sensor. We measured relationship between mechanical frequency and impedance by exciting vibration on CMC tactile sensor","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127042364","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
Path Following Control with Slip Compensation on Loose Soil for Exploration Rover 基于滑移补偿的探测车松软土路径跟踪控制
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282271
G. Ishigami, K. Nagatani, Kazuya Yoshida
{"title":"Path Following Control with Slip Compensation on Loose Soil for Exploration Rover","authors":"G. Ishigami, K. Nagatani, Kazuya Yoshida","doi":"10.1109/IROS.2006.282271","DOIUrl":"https://doi.org/10.1109/IROS.2006.282271","url":null,"abstract":"In this paper, a path following control strategy for lunar/planetary exploration rovers is described, taking into account slip motion of the rover. It is determined that the slip motion of each wheel of the rover must be increased and cannot be neglected when the rover travels on loose soil. Because of slip, following an arbitrary path on loose soil is a difficult task. In order to improve this situation, the authors have developed a path following algorithm with slip compensation. In this algorithm, both steering and driving maneuvers of the rover are derived not only to follow an arbitrary path, but also simultaneously compensate for the slip. The performance of the path following strategy is confirmed through numerical simulation using the wheel-and-vehicle model elaborated in our previous research. The slip motion of the wheel is also addressed, based on a terramechanics approach. The proposed path following algorithm shows better performance than traditional control without slip compensation in the simulation","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125144485","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: 66
Velocity-Bounding Stiff Position Controller 速度绑定僵硬位置控制器
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282243
Ryo Kikuuwe, Takahiro Yamamoto, H. Fujimoto
{"title":"Velocity-Bounding Stiff Position Controller","authors":"Ryo Kikuuwe, Takahiro Yamamoto, H. Fujimoto","doi":"10.1109/IROS.2006.282243","DOIUrl":"https://doi.org/10.1109/IROS.2006.282243","url":null,"abstract":"High-gain PID position control, which is widely used with robots having complex dynamics, involves some risks in cases of abnormal events, such as unexpected environment contacts, temporal power failures, and wrong position commands from a higher-level controller. We previously proposed a proxy-based sliding mode control (PSMC) scheme, which is an extension of PID control that ensures slow, moderate, overdamped recovery from a large positional error at abnormal events without sacrificing tracking accuracy during normal operation. Its weakness is that the velocity is not bounded. This paper proposes a velocity-bounding PSMC (VB-PSMC) scheme, which is an extension of PSMC to impose an arbitrary magnitude limit on the velocity. The VB-PSMC method can be used as a lowest-level position servo that is safer than PSMC and much safer than conventional PID control. The advantage of VB-PSMC was demonstrated through implementation experiments","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129340037","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
Casting and Winding Manipulation with Hyper-Flexible Manipulator 用超柔性机械手控制铸件和卷绕
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282123
Takahiro Suzuki, Y. Ebihara, Y. Ando, M. Mizukawa
{"title":"Casting and Winding Manipulation with Hyper-Flexible Manipulator","authors":"Takahiro Suzuki, Y. Ebihara, Y. Ando, M. Mizukawa","doi":"10.1109/IROS.2006.282123","DOIUrl":"https://doi.org/10.1109/IROS.2006.282123","url":null,"abstract":"Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, casting and winding manipulation of hyperflexible manipulators (HFM) is proposed. The HFM is modeled as an underactuated multi-link system connected by non-elastic passive joints, and simulation results with dynamic parameters heuristically determined corresponding to the experimental results show the validity of the proposed non-elastic model. The simulation results also correspond to the experimental ones with actuation at the base joint. Observations on the simulation results is derived to reveal a better casting actuation to succeed in winding to an object. Then, single swing actuation for winding is proposed and verified in simulations","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127378628","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
Human Observation Based Mobile Robot Navigation in Intelligent Space 基于人类观测的智能空间移动机器人导航
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.281808
Takeshi Sasaki, H. Hashimoto
{"title":"Human Observation Based Mobile Robot Navigation in Intelligent Space","authors":"Takeshi Sasaki, H. Hashimoto","doi":"10.1109/IROS.2006.281808","DOIUrl":"https://doi.org/10.1109/IROS.2006.281808","url":null,"abstract":"In this paper, we investigate a mobile robot navigation system which can localize the mobile robot correctly and navigate based on observation of human walking in order to operate in the human shared space with minimal disturbance to humans. To realize this system, we utilize many intelligent devices embedded in the environment. The human walking paths are obtained from distributed vision systems and frequently used paths in the environment are extracted. The mobile robot navigation based on observation of human is also performed with the support of the system. The position and orientation of the mobile robot are estimated from wheel encoder and 3D ultrasonic positioning system measurement data using extended Kalman filter. The system navigates the mobile robot along the frequently used paths by tracking control","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125986869","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: 29
Grasping Force Control in Master-Slave System with Partial Slip Sensor 基于部分滑移传感器的主从系统抓取力控制
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282173
Yuta Koda, T. Maeno
{"title":"Grasping Force Control in Master-Slave System with Partial Slip Sensor","authors":"Yuta Koda, T. Maeno","doi":"10.1109/IROS.2006.282173","DOIUrl":"https://doi.org/10.1109/IROS.2006.282173","url":null,"abstract":"This paper discusses the development and control of the master-slave system capable of grasping an object with unknown coefficient of static friction. Partial slip information is known to be essential for conducting stable grasping in teleoperating system. The developed partial slip sensor contains strain gages in several ridges placed on the curvature contact surface of the elastic body. By measuring strain velocity of each ridge with the strain gages, the vibration that occurs due to the partial slip can be detected. We developed the master-slave system with the slave robot uses the developed sensor to detect a partial slip and automatically controls the grasping force. When an operator intentionally decreases the grasping force applied to the master device in order to release an object, the suppressor suppresses grasping force that is automatically increased by the slave robot. Through the grasp manipulation experiment, the validity of the developed system was confirmed","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122078485","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: 21
Design and Control of a Humanoid Robot 仿人机器人的设计与控制
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282409
T. Tsay, C. H. Lai
{"title":"Design and Control of a Humanoid Robot","authors":"T. Tsay, C. H. Lai","doi":"10.1109/IROS.2006.282409","DOIUrl":"https://doi.org/10.1109/IROS.2006.282409","url":null,"abstract":"This study constructs a wheeled humanoid robot as our preliminary research of humanoid robots. The humanoid robot developed herein comprises mainly a wheeled mobile base, a fixed torso mounted on a mobile base, two 7 DOF robot arms, two 7 DOF robot hands and one 5 DOF robotic binocular head. A coordinated visually guided control structure is then proposed for this humanoid robot. Image processing algorithms are also proposed to increase the perception capability of rapidly detecting the location of a target object in a natural environment, thus reducing the computational burden for image processing. Finally, one experiment is conducted to verify the theoretical derivations and the performance of the humanoid robot. Three objects, i.e., a rectangular parallelepiped, a cup with a handle and a bottle-shaded container with square bottom, are placed on a table, with one selected as the target object. Experimental results indicate that the robotic head and the robot arm of the humanoid robot can coordinate with each other to locate and grasp the target object successfully","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134129461","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
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