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

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Automatic childbirth procedures implanted on the BirthSIM simulator 在BirthSIM模拟器上植入自动分娩程序
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282648
O. Olaby, R. Moreau, X. Brun, T. Redarce, O. Dupuis
{"title":"Automatic childbirth procedures implanted on the BirthSIM simulator","authors":"O. Olaby, R. Moreau, X. Brun, T. Redarce, O. Dupuis","doi":"10.1109/IROS.2006.282648","DOIUrl":"https://doi.org/10.1109/IROS.2006.282648","url":null,"abstract":"This paper presents some new automatic procedures for the BirthSIM childbirth simulator. BirthSIM is able to simulate the uterine contractions and the mother's voluntary efforts, this enables the operator to synchronize these two types of efforts during a normal childbirth, or to synchronize these two efforts with the operator's tractive instrumental effort during childbirth using obstetric instruments. One originality of the BirthSIM simulator is to allow the medical team to acquire a better understanding of the application of these two synchronization concepts. With the aim of implanting various childbirth procedures, four control algorithms and switching algorithms are used to control successively: force, position, force-velocity or force-position. These control algorithms are important to produce the movement of the head, the mother's natural contractions and the mother's pushing action. Different childbirth cases are simulated using an electropneumatic system. The validity of the proposed control method for simulating childbirth modes has been evaluated by an expert obstetrician","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"27 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":"133629654","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
A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure 柔性机械臂的笛卡儿柔度控制器
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282539
C. Ott, A. Albu-Schäffer, G. Hirzinger
{"title":"A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure","authors":"C. Ott, A. Albu-Schäffer, G. Hirzinger","doi":"10.1109/IROS.2006.282539","DOIUrl":"https://doi.org/10.1109/IROS.2006.282539","url":null,"abstract":"In this paper the Cartesian compliance control of a manipulator mounted on a flexible base is considered. The proposed control law aims at achieving a desired stiffness and damping in Cartesian coordinates while taking account of the base flexibility. The controller does not use any measurement of the base motion, however a model of the base stiffness is required. For the closed loop system, asymptotic stability in case of free motion is proven. Furthermore, considering interaction tasks, it is shown that the controlled manipulator system has a useful passivity property","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"30 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":"132814818","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
Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty 具有参数不确定性的自由漂浮机器人抓取翻滚目标的阻抗控制
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.281785
S. Abiko, R. Lampariello, G. Hirzinger
{"title":"Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty","authors":"S. Abiko, R. Lampariello, G. Hirzinger","doi":"10.1109/IROS.2006.281785","DOIUrl":"https://doi.org/10.1109/IROS.2006.281785","url":null,"abstract":"This paper addresses an impedance control for a free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, considering the grasped target as a disturbance force on the end-effector, the proposed control method is completely independent of the target inertial parameters and the end-effector can follow a given trajectory in the presence of model uncertainty. To verify the effectiveness of the proposed method, a three-dimensional realistic numerical simulation is carried out","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"63 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":"116175511","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: 69
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm DLR-III轻型机械臂的碰撞检测与安全反应
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282053
Alessandro De Luca, A. Albu-Schäffer, S. Haddadin, G. Hirzinger
{"title":"Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm","authors":"Alessandro De Luca, A. Albu-Schäffer, S. Haddadin, G. Hirzinger","doi":"10.1109/IROS.2006.282053","DOIUrl":"https://doi.org/10.1109/IROS.2006.282053","url":null,"abstract":"A robot manipulator sharing its workspace with humans should be able to quickly detect collisions and safely react for limiting injuries due to physical contacts. In the absence of external sensing, relative motions between robot and human are not predictable and unexpected collisions may occur at any location along the robot arm. Based on physical quantities such as total energy and generalized momentum of the robot manipulator, we present an efficient collision detection method that uses only proprioceptive robot sensors and provides also directional information for a safe robot reaction after collision. The approach is first developed for rigid robot arms and then extended to the case of robots with elastic joints, proposing different reaction strategies. Experimental results on collisions with the DLR-III lightweight manipulator are reported","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"50 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":"121443956","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: 673
Time Domain Passivity Control-based Telepresence with Time Delay 基于时域被动控制的时滞网真
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.281914
J. Artigas, J. Vilanova, C. Preusche, G. Hirzinger
{"title":"Time Domain Passivity Control-based Telepresence with Time Delay","authors":"J. Artigas, J. Vilanova, C. Preusche, G. Hirzinger","doi":"10.1109/IROS.2006.281914","DOIUrl":"https://doi.org/10.1109/IROS.2006.281914","url":null,"abstract":"This paper analyses the time domain passivity control approach in the time-delayed telepresence context, and proposes a method which provides stable operation. The passivity controller for the two-port network which is created by the bilateral control and communication elements in (J. H. Ryu, et al., May 2002) is shown to be not valid if a time delay is introduced in the communication channel. Classical stability analysis for the delayed system is presented and used as argument and benchmark for the proposed solution. Simulations and experimental results are discussed and compared with classical stability analysis","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"41 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131717463","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: 37
Incremental Topological Mapping Using Omnidirectional Vision 基于全向视觉的增量拓扑映射
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282583
Christoffer Valgren, A. Lilienthal, T. Duckett
{"title":"Incremental Topological Mapping Using Omnidirectional Vision","authors":"Christoffer Valgren, A. Lilienthal, T. Duckett","doi":"10.1109/IROS.2006.282583","DOIUrl":"https://doi.org/10.1109/IROS.2006.282583","url":null,"abstract":"This paper presents an algorithm that builds topological maps, using omnidirectional vision as the only sensor modality. Local features are extracted from images obtained in sequence, and are used both to cluster the images into nodes and to detect links between the nodes. The algorithm is incremental, reducing the computational requirements of the corresponding batch algorithm. Experimental results in a complex, indoor environment show that the algorithm produces topologically correct maps, closing loops without suffering from perceptual aliasing or false links. Robustness to lighting variations was further demonstrated by building correct maps from combined multiple datasets collected over a period of 2 months","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"7 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":"115915146","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: 36
Agile Robot Development (aRD): A Pragmatic Approach to Robotic Software 敏捷机器人开发(aRD):机器人软件的实用方法
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.281756
G. Hirzinger, B. Bäuml
{"title":"Agile Robot Development (aRD): A Pragmatic Approach to Robotic Software","authors":"G. Hirzinger, B. Bäuml","doi":"10.1109/IROS.2006.281756","DOIUrl":"https://doi.org/10.1109/IROS.2006.281756","url":null,"abstract":"Mechatronic systems are reaching a new level of complexity, both for the single component and for overall systems making necessary a new software concept for the development and usage of such systems. Here we introduce the agile robot development (aRD) concept, which is a flexible, pragmatic and distributed software design to support and simplify the development of complex mechatronic and robotic systems. It gives easy access to scalable computing performance (even in hard realtime) and is motivated by the abstract view on a robotic system as being a decentral net of calculation blocks and communication links. We discuss design considerations and an implementation of this concept and demonstrate its performance with first applications","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":"122916763","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: 38
High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network 基于can网络的空间机器人高保真分布式半实物仿真
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282602
Ran Wei, M. Jin, J. Xia, Zongwu Xie, J. Shi, Hong Liu
{"title":"High Fidelity Distributed Hardware-in-the-Loop Simulation For Space Robot on CAN-based Network","authors":"Ran Wei, M. Jin, J. Xia, Zongwu Xie, J. Shi, Hong Liu","doi":"10.1109/IROS.2006.282602","DOIUrl":"https://doi.org/10.1109/IROS.2006.282602","url":null,"abstract":"The cost and risks associated with the execution of robotics tasks in space require that all procedures be verified on Earth prior to their execution. The DLR-HIT Joint Robotics Lab is responsible for the verification of all the tasks of space manipulator of the Chinese free-flight robot space satellite system. We are currently developing the free-flight robot task verification facility (FTVF) through a hardware-in-the-loop way. It consists of a series of simulation and analysis tools to be used for verifying the kinematics (clearance, interface reach, degrees of freedom), dynamics (computed torque, flexibility), visual accessibility (ability to see the work site) and computation power (control period). This paper presents both theoretical and experimental study on the control of a free-flying robot manipulator for space application. The goal of the study is to develop a new control method and hardware-in-the-loop simulation system for target capturing with vision sensor in micro-gravity space environment, considering the dynamical interaction between the space robot and its mobile satellite base. Finally experimental results demonstrate the effect of the simulation system","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"59 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":"131583308","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
Passivity-based Object-Level Impedance Control for a Multifingered Hand 基于被动的多指手对象级阻抗控制
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282170
T. Wimböck, C. Ott, G. Hirzinger
{"title":"Passivity-based Object-Level Impedance Control for a Multifingered Hand","authors":"T. Wimböck, C. Ott, G. Hirzinger","doi":"10.1109/IROS.2006.282170","DOIUrl":"https://doi.org/10.1109/IROS.2006.282170","url":null,"abstract":"Holding an object and manipulating it in 6D is a key application for multifingered robot hands. In the past many algorithms were proposed based on a weighted pseudoinverse of the grasp map combined with an internal force control. The majority of these algorithms require robust contact detection/tracking and switching controllers. Employing the virtual object introduced by Stramigioli we present an object-level control law. We define a novel virtual object frame based on the robot hand configuration. Our control law takes a desired object frame and desired grasping forces as input, it is passive, has an intuitive physical meaning, and stability is even given in case a finger looses contact with the object. A damping design as a function of the desired object stiffness and the combined hand-object inertia is presented. The performance of the controller is proven in two experiments implemented on the DLR Hand II","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"135 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":"131192838","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: 88
EMG Control for a Five-fingered Underactuated Prosthetic Hand Based on Wavelet Transform and Sample Entropy 基于小波变换和样本熵的五指欠驱动假手肌电控制
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI: 10.1109/IROS.2006.282425
Jingdong Zhao, Zongwu Xie, Li Jiang, H. Cai, Hong Liu, G. Hirzinger
{"title":"EMG Control for a Five-fingered Underactuated Prosthetic Hand Based on Wavelet Transform and Sample Entropy","authors":"Jingdong Zhao, Zongwu Xie, Li Jiang, H. Cai, Hong Liu, G. Hirzinger","doi":"10.1109/IROS.2006.282425","DOIUrl":"https://doi.org/10.1109/IROS.2006.282425","url":null,"abstract":"A new five-fingered underactuated prosthetic hand control system is presented in this paper. The prosthetic hand control part is based on an EMG motion pattern classifier which combines VLR (variable learning rate) based neural network with wavelet transform and sample entropy. This motion pattern classifier can successfully identify flexion and extension of the thumb, the index finger and the middle finger, by measuring the surface EMG signals through three electrodes mounted on the flexor digitorum profundus, flexor pollicis longus and extensor digitorum. Furthermore, via continuously controlling single finger's motion, the prosthetic hand can achieve more prehensile postures such as power grasp, fingertip grasp, etc. The experimental results show that the classifier has a great potential application to the control of bionic man-machine systems because of its high recognition capability","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"33 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":"121369410","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: 45
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