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

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Real-time Estimation of Touch Feeling Factors Using Human Finger Mimetic Tactile Sensors 利用仿人手指触觉传感器实时估计触摸感觉因素
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.281648
S. Okamoto, M. Konyo, Y. Mukaibo, T. Maeno, S. Tadokoro
{"title":"Real-time Estimation of Touch Feeling Factors Using Human Finger Mimetic Tactile Sensors","authors":"S. Okamoto, M. Konyo, Y. Mukaibo, T. Maeno, S. Tadokoro","doi":"10.1109/IROS.2006.281648","DOIUrl":"https://doi.org/10.1109/IROS.2006.281648","url":null,"abstract":"To realize a telepresence system with tactile feedback and force feedback, real-time estimation of various tactile sensation must be conducted. Because several types of tactile sensation consist in touch and human tactile feeling has high time resolution. A man feels active touch extraordinary with time delayed transmission of tactile information. Our proposing human finger mimetic sensor covers three tactile factors, which are roughness, softness and friction of objects to touch. Current tactile telepresence systems represent just one tactile sensation in addition to kinesthetic information. For augmented reality, wider tactile factors must be sensed at a tactile sensor system and transferred to a tactile display system with small time delay. We realized quick estimation of vibrational frequencies of the sensor and softness of objects to regenerate touch feelings to human skin by tactile displays, which usually need time-consuming samples and make it hard to address tactile telepresence system. Quick estimation of vibrational frequency was conducted by emulating impulse emission of Meissner's corpuscles. Quick estimation of Young's modulus of objects was solved by computing strain distribution in a sensor","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":"123916339","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
Visual Servo Velocity and Pose Control of a Wheeled Inverted Pendulum through Partial-Feedback Linearization 基于部分反馈线性化的轮式倒立摆视觉伺服速度与位姿控制
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.281788
N. Gans, S. Hutchinson
{"title":"Visual Servo Velocity and Pose Control of a Wheeled Inverted Pendulum through Partial-Feedback Linearization","authors":"N. Gans, S. Hutchinson","doi":"10.1109/IROS.2006.281788","DOIUrl":"https://doi.org/10.1109/IROS.2006.281788","url":null,"abstract":"Vision-based control of wheeled vehicles is a difficult problem due to nonholonomic constraints on velocities. This is further complicated in the control of vehicles with drift terms and dynamics containing fewer actuators than velocity terms. We explore one such system, the wheeled inverted pendulum, embodied by the Segway. We present two methods of eliminating the effects of nonactuated attitude motions and a novel controller based on partial feedback linearization. This novel controller outperforms a controller based on typical linearization about an equilibrium point","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":"129152203","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: 34
Three-Layer Model for Generation and Recognition of Attention-Drawing Behavior 注意力吸引行为生成与识别的三层模型
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282399
Osamu Sugiyama, T. Kanda, M. Imai, H. Ishiguro, N. Hagita
{"title":"Three-Layer Model for Generation and Recognition of Attention-Drawing Behavior","authors":"Osamu Sugiyama, T. Kanda, M. Imai, H. Ishiguro, N. Hagita","doi":"10.1109/IROS.2006.282399","DOIUrl":"https://doi.org/10.1109/IROS.2006.282399","url":null,"abstract":"This paper presents a three-layer model for generation and recognition of attention-drawing behavior. The model enables a robot to recognize people's attention-drawing behavior as well as to perform attention-drawing behavior to people. It consists of three layers: the PSM (pointing space model), the RTM (reference term model), and the OPM (object property model). The PSM associates the pointing gesture with a reference term, the RTM associates positional relationships with a reference term, and the OPM associates other supplemental verbal cues with a reference term. We implemented the model in a humanoid robot, Robovie, and verified its effectiveness through an experiment","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"44 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":"124109766","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
Efficient Organization of Network Topology based on Reinforcement Signals 基于强化信号的网络拓扑高效组织
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.282338
Chyon Hae Kim, S. Sugano, T. Ogata
{"title":"Efficient Organization of Network Topology based on Reinforcement Signals","authors":"Chyon Hae Kim, S. Sugano, T. Ogata","doi":"10.1109/IROS.2006.282338","DOIUrl":"https://doi.org/10.1109/IROS.2006.282338","url":null,"abstract":"We developed a learning system for autonomous robots that allows for autonomous exploration of the effective output, and has simple external parameters and a low calculation cost. We propose the concept of self-organizing network elements (SONE) for creating learning systems with these characteristics. We created and evaluated a self-organizing logic circuit by using this concept. Our results indicated this learning system had the characteristics","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"7 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":"134090612","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: 1
Spectral Cues for Robust Sound Localization with Pinnae 基于耳廓的鲁棒声音定位的频谱线索
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI: 10.1109/IROS.2006.281827
Tomoko Shimoda, T. Nakashima, M. Kumon, R. Kohzawa, I. Mizumoto, Z. Iwai
{"title":"Spectral Cues for Robust Sound Localization with Pinnae","authors":"Tomoko Shimoda, T. Nakashima, M. Kumon, R. Kohzawa, I. Mizumoto, Z. Iwai","doi":"10.1109/IROS.2006.281827","DOIUrl":"https://doi.org/10.1109/IROS.2006.281827","url":null,"abstract":"An important ability in auditory robots is the localization of sound source. In this paper, a robust method to localize the vertical direction of the sound source with two microphones and pinnae is proposed. In order to achieve vertical sound source localization, the method of detecting spectral cues, the relationship between spectral cues and source direction are studied. In addition, this paper considers sound source separation in order to recognize and isolate spectral cues only from the sound source in order to make the method robust to extraneous noise. Furthermore the authors designed an audio servo with the proposed spectral cues and implemented the method in an actual robot. The experimental results confirmed the effectiveness of the method","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"67 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":"126215747","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: 20
Vehicle Trajectory from an Uncalibrated Stereo-Rig with Super-Homography 一种具有超同形的未校准立体钻机的车辆轨迹
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-10 DOI: 10.1109/IROS.2006.282347
N. Simond, C. Laurgeau
{"title":"Vehicle Trajectory from an Uncalibrated Stereo-Rig with Super-Homography","authors":"N. Simond, C. Laurgeau","doi":"10.1109/IROS.2006.282347","DOIUrl":"https://doi.org/10.1109/IROS.2006.282347","url":null,"abstract":"We present in this article an original manner to estimate the trajectory of a vehicle running in urban-like areas. The method consists in extracting then tracking features (points, lines) with an uncalibrated stereo-rig from the road assumed as a plane to compute homographies relative to the camera(s) motions. The purposed method copes with the dense traffic conditions: the free space required (first ten meters in front of the vehicle) is slightly equivalent to the security distance between two vehicles. Experimental issues from real data are presented and discussed","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"52 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123704678","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
Robotics Component Verification on ISS ROKVISS - Preliminary Results for Telepresence ISS ROKVISS机器人组件验证-远程呈现的初步结果
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282165
C. Preusche, D. Reintsema, K. Landzettel, G. Hirzinger
{"title":"Robotics Component Verification on ISS ROKVISS - Preliminary Results for Telepresence","authors":"C. Preusche, D. Reintsema, K. Landzettel, G. Hirzinger","doi":"10.1109/IROS.2006.282165","DOIUrl":"https://doi.org/10.1109/IROS.2006.282165","url":null,"abstract":"ROKVISS, Germany's newest space robotics technology experiment, was successfully installed outside at the Russian Service Module of the International Space Station (ISS) during an extravehicular space walk at the end of January 2005. Since February 2005 a two joint manipulator is operated from ground via a direct radio link. The aim of ROKVISS is the in flight verification of highly integrated modular robotic joints as well as the demonstration of different control modes, reaching from high system autonomy to force feedback teleoperation (telepresence mode). The experiment will be operated for at least one year in free space to evaluate and qualify intelligent light weight robotics components under realistic circumstances for maintenance and repair tasks as foreseen in upcoming manned and unmanned space applications in near future. This paper focuses in the telepresence control mode, its technology and first results from the space experiment ROKVISS","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2567 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128774279","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: 55
A New 3D Sensor System for Mobile Robots Based on Moire and Stereo Vision Technique 基于云纹和立体视觉技术的移动机器人三维传感系统
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.281927
Hyunki Lee, H. Cho, Minyoung Kim
{"title":"A New 3D Sensor System for Mobile Robots Based on Moire and Stereo Vision Technique","authors":"Hyunki Lee, H. Cho, Minyoung Kim","doi":"10.1109/IROS.2006.281927","DOIUrl":"https://doi.org/10.1109/IROS.2006.281927","url":null,"abstract":"Intelligent autonomous mobile robots must be able to sense and recognize 3D environment for navigation and task execution, where they live or work. To achieve this, a variety of techniques have been developed for the determination of the 3D scene geometric information such as stereo vision, laser structured light, laser range finder and so on. But these methods have many limitations such as susceptibility to noise, low speed in 3D scene etc. To overcome these limitations we introduce a new sensing algorithm, which is based on the moire technique and stereo vision. To verify the efficiency and accuracy of our algorithm, a series of experimental tests is performed","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130873669","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
Stability Boundary for Haptic Rendering: Influence of Physical Damping 触觉渲染的稳定性边界:物理阻尼的影响
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282043
T. Hulin, C. Preusche, G. Hirzinger
{"title":"Stability Boundary for Haptic Rendering: Influence of Physical Damping","authors":"T. Hulin, C. Preusche, G. Hirzinger","doi":"10.1109/IROS.2006.282043","DOIUrl":"https://doi.org/10.1109/IROS.2006.282043","url":null,"abstract":"Physical damping is increasing the z-width of haptic simulations. This paper derives the normalized stability boundaries for physically damped one degree of freedom haptic devices colliding with a virtual wall represented as spring-damper system. These boundaries are independent of the haptic device's mass and the sampling time. Furthermore, the dependency of the maximum stable virtual stiffness is discussed. Moreover, this paper illustrates that the passive region which is defined by Colgate's passivity condition is a subset inside the stable region for undelayed systems, but not for delayed systems","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125794996","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: 42
Hierarchical Featureless Tracking for Position-Based 6-DoF Visual Servoing 基于位置的六自由度视觉伺服的分层无特征跟踪
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.281964
Wolfgang Sepp, S. Fuchs, G. Hirzinger
{"title":"Hierarchical Featureless Tracking for Position-Based 6-DoF Visual Servoing","authors":"Wolfgang Sepp, S. Fuchs, G. Hirzinger","doi":"10.1109/IROS.2006.281964","DOIUrl":"https://doi.org/10.1109/IROS.2006.281964","url":null,"abstract":"Classical position-based visual servoing approaches rely on the presence of distinctive features in the image such as corners and edges. In this contribution we exploit a hierarchical approach for object detection, initial-pose estimation, and real-time tracking based first on colour distribution and subsequently on the shape and texture information. The shape model of the object is not limited to surface primitives but allow for any free-form surface not subject to self-occlusion. We evaluate the approach as part of a handshake scenario where a 7-DoF robot takes a free moving object over from a human","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134345359","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
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